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+sunnypilot - 0.9.2.x (2023-02-22)
+========================
+* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
+
+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/common/params.cc b/common/params.cc
index 05bf7761f6..44fb814d25 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -254,6 +254,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastCarModel", PERSISTENT},
     {"LastSpeedLimitSignTap", PERSISTENT},
     {"LiveTorque", PERSISTENT},
+    {"MadsCruiseMain", PERSISTENT},
     {"MadsIconToggle", PERSISTENT},
     {"MapboxFullScreen", PERSISTENT},
     {"MaxTimeOffroad", PERSISTENT},
diff --git a/panda b/panda
index 7a02545e10..d17249e7ec 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7a02545e10d539f85ef5aae9f5418f4d1b157bb2
+Subproject commit d17249e7eca062db2aa773ef0efaba0865b930d9
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index b418179e0e..623bf4688d 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_meas_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
 
 
 class CarController:
@@ -49,7 +49,12 @@ class CarController:
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
+      if self.CP.carFingerprint in RAM_DT:
+        if CS.out.vEgo >= self.CP.minEnableSpeed and CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+          lkas_control_bit = True
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2) :
+          lkas_control_bit = False
+      elif CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
       elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 22b2073883..cbd498fb7e 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -62,10 +62,11 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
-      ret.minSteerSpeed = 14.5
-      # Older EPS FW allow steer to zero
-      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
-        ret.minSteerSpeed = 0.
+      ret.minSteerSpeed = 0.5
+      ret.minEnableSpeed = 14.5
+      # Certain EPS FW allow steer to zero
+      if any(fw.ecu == 'eps' and (fw.fwVersion[:4] <= b"6831" or fw.fwVersion[:4] <= b"6827") for fw in car_fw):
+        ret.minEnableSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 17ba59f964..e6ba8fe0ce 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -43,7 +43,7 @@ class CarControllerParams:
     elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
+      self.STEER_MAX = 350  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 60a8b6f352..0055d45dca 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -77,7 +77,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
     signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
     checks.append(("BRAKE_MODULE", 50))
 
-  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+  if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
     signals.append(("EPB_STATE", "EPB_STATUS"))
     checks.append(("EPB_STATUS", 50))
 
@@ -124,6 +124,12 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
     checks.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.carFingerprint == CAR.CLARITY:
+    signals += [
+      ("BRAKE_ERROR_1", "BRAKE_ERROR"),
+      ("BRAKE_ERROR_2", "BRAKE_ERROR")
+    ]
+    checks.append(("BRAKE_ERROR", 100)),
   elif CP.openpilotLongitudinalControl:
     signals += [
       ("BRAKE_ERROR_1", "STANDSTILL"),
@@ -197,6 +203,8 @@ class CarState(CarStateBase):
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
+    elif self.CP.carFingerprint == CAR.CLARITY:
+      self.brake_error = cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"]
     elif self.CP.openpilotLongitudinalControl:
       self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
@@ -227,7 +235,7 @@ class CarState(CarStateBase):
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
     # TODO: set for all cars
-    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
+    if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
       ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@@ -297,7 +305,8 @@ class CarState(CarStateBase):
       if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
         ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
     else:
-      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
+      aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE"
+      ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5)
 
     self.acc_hud = False
     self.lkas_hud = False
@@ -338,7 +347,8 @@ class CarState(CarStateBase):
         checks.append(("ACC_HUD", 10))
 
     elif CP.carFingerprint not in HONDA_BOSCH:
-      signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
+      aeb_sig = "COMPUTER_BRAKE_ALT" if CP.carFingerprint == CAR.CLARITY else "COMPUTER_BRAKE"
+      signals += [(aeb_sig, "BRAKE_COMMAND"),
                   ("AEB_REQ_1", "BRAKE_COMMAND"),
                   ("FCW", "BRAKE_COMMAND"),
                   ("CHIME", "BRAKE_COMMAND"),
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 1fe0a13767..29f01b841d 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -33,8 +33,6 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   pcm_fault_cmd = False
 
   values = {
-    "COMPUTER_BRAKE": apply_brake,
-    "BRAKE_PUMP_REQUEST": pump_on,
     "CRUISE_OVERRIDE": pcm_override,
     "CRUISE_FAULT_CMD": pcm_fault_cmd,
     "CRUISE_CANCEL_CMD": pcm_cancel_cmd,
@@ -47,6 +45,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_REQ_2": 0,
     "AEB_STATUS": 0,
   }
+
+  if car_fingerprint == CAR.CLARITY:
+    values["COMPUTER_BRAKE_ALT"] = apply_brake
+    values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0
+  else:
+    values["COMPUTER_BRAKE"] = apply_brake
+    values["BRAKE_PUMP_REQUEST"] = pump_on
+
   bus = get_pt_bus(car_fingerprint)
   return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 65deab7401..efd9d98760 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -272,6 +272,26 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
+    elif candidate == CAR.CLARITY:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY
+      ret.mass = 4052. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.wheelbase = 2.75
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.steerRatio = 16.50  # 12.72 is end-to-end spec
+      if eps_modified:
+        for fw in car_fw:
+          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralTuning.pid.kf = 0.00004
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]]
+            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
+          elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
+            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [0, 2560, 3840]]
+            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      tire_stiffness_factor = 1.
+
     else:
       raise ValueError(f"unsupported car {candidate}")
 
@@ -292,7 +312,7 @@ class CarInterface(CarInterfaceBase):
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC, CAR.CLARITY}) or ret.enableGasInterceptor
     ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 05c6f25432..a5871e961f 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -96,6 +96,7 @@ class CAR:
   RIDGELINE = "HONDA RIDGELINE 2017"
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
+  CLARITY = "HONDA CLARITY 2018"
 
 
 class Footnote(Enum):
@@ -151,6 +152,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
+  CAR.CLARITY: HondaCarInfo("Honda Clarity 2018-22"),
 }
 
 HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -1553,6 +1555,31 @@ FW_VERSIONS = {
       b'37805-64D-P510\x00\x00',
     ],
   },
+  CAR.CLARITY: {
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-TRW-A910\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-TRW-A010\x00\x00',
+      b'57114-TRW-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-TRW-A020\x00\x00',
+      b'39990-TRW,A020\x00\x00',  # modified firmware
+      b'39990,TRW,A020\x00\x00',  # extra modified firmware
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-TRW-A210\x00\x00',
+      b'77959-TRW-A220\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-TRW-A010\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78109-TRW-A020\x00\x00',
+      b'78109-TRW-A030\x00\x00',
+    ],
+  },
 }
 
 DBC = {
@@ -1579,6 +1606,7 @@ DBC = {
   CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
   CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
   CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
+  CAR.CLARITY: dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
 }
 
 STEER_THRESHOLD = {
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index f23246e25c..e6e93bc731 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -53,7 +53,8 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
       # Certain Impreza / Crosstrek EPS use 3071 max value and do not work with stock value/scaling.
-      if any(fw.ecu == "eps" and fw.fwVersion in (b'z\xc0\x00\x00', b'z\xc0\x04\x00', b'z\xc0\x08\x00', b'\x8a\xc0\x00\x00') for fw in car_fw):
+      if any(fw.ecu == "eps" and fw.fwVersion in (b'z\xc0\x00\x00', b'z\xc0\x04\x00', b'z\xc0\x08\x00', b'\x8a\xc0\x00\x00',
+                                                  b'\x8a\xc0\x10\x00') for fw in car_fw):
         ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_MAX_STEER_IMPREZA_2018
         ret.steerActuatorDelay = 0.18  # measured
         ret.lateralTuning.pid.kf = 0.00003333
diff --git a/selfdrive/car/sunnypilot_carname.json b/selfdrive/car/sunnypilot_carname.json
index 0745f5e64d..b4c3d74cc3 100644
--- a/selfdrive/car/sunnypilot_carname.json
+++ b/selfdrive/car/sunnypilot_carname.json
@@ -27,6 +27,12 @@
   "Chrysler Pacifica Hybrid 2017": "CHRYSLER PACIFICA HYBRID 2017",
   "Chrysler Pacifica Hybrid 2018": "CHRYSLER PACIFICA HYBRID 2018",
   "Chrysler Pacifica Hybrid 2019-22": "CHRYSLER PACIFICA HYBRID 2019",
+  "Ford Bronco Sport 2021-22": "FORD BRONCO SPORT 1ST GEN",
+  "Ford Escape 2020-22": "FORD ESCAPE 4TH GEN",
+  "Ford Explorer 2020-22": "FORD EXPLORER 6TH GEN",
+  "Ford Focus EU 2018": "FORD FOCUS 4TH GEN",
+  "Ford Kuga 2020-22": "FORD ESCAPE 4TH GEN",
+  "Ford Maverick 2022-23": "FORD MAVERICK 1ST GEN",
   "Genesis G70 2018-19": "GENESIS G70 2018",
   "Genesis G70 2020-21": "GENESIS G70 2020",
   "Genesis G70 Non-SCC 2021": "GENESIS G70 2021 NON-SCC",
@@ -35,7 +41,9 @@
   "Genesis G90 2017-18": "GENESIS G90 2017",
   "Genesis GV60 (Advanced Trim) 2023": "GENESIS GV60 ELECTRIC 1ST GEN",
   "Genesis GV60 (Performance Trim) 2023": "GENESIS GV60 ELECTRIC 1ST GEN",
-  "Genesis GV70 2022-23": "GENESIS GV70 1ST GEN",
+  "Genesis GV70 (2.5T Trim) 2022-23": "GENESIS GV70 1ST GEN",
+  "Genesis GV70 (3.5T Trim) 2022-23": "GENESIS GV70 1ST GEN",
+  "Genesis GV80 2023": "GENESIS GV80 2023",
   "GMC Acadia 2018": "GMC ACADIA DENALI 2018",
   "GMC Sierra 1500 2020-21": "CHEVROLET SILVERADO 1500 2020",
   "Holden Astra 2017": "HOLDEN ASTRA RS-V BK 2017",
@@ -47,6 +55,7 @@
   "Honda Civic Hatchback 2017-21": "HONDA CIVIC (BOSCH) 2019",
   "Honda Civic Hatchback 2022": "HONDA CIVIC 2022",
   "Honda Civic Sedan 1.6 Diesel 2019": "HONDA CIVIC SEDAN 1.6 DIESEL 2019",
+  "Honda Clarity 2018-22": "HONDA CLARITY 2018",
   "Honda CR-V 2015-16": "HONDA CR-V 2016",
   "Honda CR-V 2017-22": "HONDA CR-V 2017",
   "Honda CR-V EU 2016": "HONDA CR-V EU 2016",
@@ -60,7 +69,7 @@
   "Honda Inspire 2018": "HONDA ACCORD 2018",
   "Honda Odyssey 2018-20": "HONDA ODYSSEY 2018",
   "Honda Odyssey Chinese 2019": "HONDA ODYSSEY CHN 2019",
-  "Honda Passport 2019-21": "HONDA PILOT 2017",
+  "Honda Passport 2019-22": "HONDA PILOT 2017",
   "Honda Pilot 2016-22": "HONDA PILOT 2017",
   "Honda Ridgeline 2017-23": "HONDA RIDGELINE 2017",
   "Hyundai Elantra 2017-19": "HYUNDAI ELANTRA 2017",
@@ -94,7 +103,7 @@
   "Hyundai Sonata Hybrid 2020-22": "HYUNDAI SONATA HYBRID 2021",
   "Hyundai Tucson 2021": "HYUNDAI TUCSON 2019",
   "Hyundai Tucson Diesel 2019": "HYUNDAI TUCSON 2019",
-  "Hyundai Tucson Hybrid 2022": "HYUNDAI TUCSON HYBRID 4TH GEN",
+  "Hyundai Tucson Hybrid 2022-23": "HYUNDAI TUCSON HYBRID 4TH GEN",
   "Hyundai Veloster 2019-20": "HYUNDAI VELOSTER 2019",
   "Jeep Grand Cherokee 2016-18": "JEEP GRAND CHEROKEE V6 2018",
   "Jeep Grand Cherokee 2019-21": "JEEP GRAND CHEROKEE 2019",
@@ -103,6 +112,7 @@
   "Kia EV6 (with HDA II) 2022-23": "KIA EV6 2022",
   "Kia EV6 (without HDA II) 2022-23": "KIA EV6 2022",
   "Kia Forte 2019-21": "KIA FORTE E 2018 & GT 2021",
+  "Kia Forte 2023": "KIA FORTE E 2018 & GT 2021",
   "Kia Forte Non-SCC 2019": "KIA FORTE 2019 NON-SCC",
   "Kia Forte Non-SCC 2021": "KIA FORTE LXS 2021 NON-SCC",
   "Kia K5 2021-22": "KIA K5 2021",
@@ -140,6 +150,7 @@
   "Lexus RX Hybrid 2016-19": "LEXUS RX HYBRID 2017",
   "Lexus RX Hybrid 2020-21": "LEXUS RX HYBRID 2020",
   "Lexus UX Hybrid 2019-22": "TOYOTA COROLLA HYBRID TSS2 2019",
+  "Lincoln Aviator 2021": "FORD EXPLORER 6TH GEN",
   "MAN eTGE 2020-23": "VOLKSWAGEN CRAFTER 2ND GEN",
   "MAN TGE 2017-23": "VOLKSWAGEN CRAFTER 2ND GEN",
   "Mazda 3 2017-18": "MAZDA 3",
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index cb423e1d87..1b0026b6e5 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -15,6 +15,7 @@ HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
 HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
 HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
 HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+HONDA CLARITY 2018: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
 HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
 HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
 HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index dbb09740d1..8d11892296 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -62,7 +62,7 @@ def manager_init() -> None:
     ("DevUI", "1"),
     ("DevUIRow", "1"),
     ("DisableOnroadUploads", "0"),
-    ("DisengageLateralOnBrake", "1"),
+    ("DisengageLateralOnBrake", "0"),
     ("DynamicLaneProfile", "1"),
     ("DynamicLaneProfileToggle", "0"),
     ("EnableMads", "1"),