Merge remote-tracking branch 'sunnypilot/sunnypilot/master' into feat/relc

# Conflicts: # openpilot/sunnypilot/modeld_v2/modeld.py # openpilot/sunnypilot/selfdrive/controls/lib/relc.py # openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py # sunnypilot/sunnylink/params_metadata.json
2026-07-23 05:42:07 +08:00 · 2026-07-20 09:31:17 -04:00
parent e1f2f2b43e bf1b93f757
commit e6ae30191e
1945 changed files with 13232 additions and 101865 deletions
@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/
@@ -10,14 +10,5 @@
 *.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_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
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
@@ -1,8 +0,0 @@
---
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
---
-
@@ -8,24 +8,24 @@ chore:

 car:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'

 simulation:
  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
+    - any-glob-to-all-files: 'openpilot/tools/sim/**'

 ui:
  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'

 tools:
  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
+    - any-glob-to-all-files: 'openpilot/tools/**'

 multilanguage:
  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'

 autonomy:
  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"
@@ -44,8 +44,8 @@ Explain how you tested this bug fix.

 **Checklist**

- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
+- [ ] added entry to CAR in openpilot/selfdrive/car/*/values.py and ran `openpilot/selfdrive/car/docs.py` to generate new docs
+- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/car/tests/routes.py)
 - [ ] route with openpilot:
 - [ ] route with stock system:
 - [ ] car harness used (if comma doesn't sell it, put N/A):
@@ -12,7 +12,7 @@ jobs:
      issues: write
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: false

@@ -24,7 +24,7 @@ jobs:

    # Check PR target branch
    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
      if: github.repository == 'sunnypilot/sunnypilot'
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD
@@ -30,7 +30,7 @@ jobs:
        run: |
          cd sunnypilot
          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

@@ -120,6 +120,7 @@ jobs:
    with:
      upstream_branch: ${{ matrix.model.ref }}
      custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
    secrets: inherit
@@ -157,6 +158,7 @@ jobs:
    with:
      upstream_branch: ${{ matrix.model.ref }}
      custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
      artifact_suffix: -retry
@@ -24,6 +24,11 @@ on:
        required: false
        type: string
        default: ''
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
      bypass_push:
        description: 'Bypass pushing to GitLab for build-all'
        required: false
@@ -39,6 +44,11 @@ on:
        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
      recompiled_dir:
        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
@@ -82,7 +92,7 @@ jobs:
    with:
      upstream_branch: ${{ inputs.upstream_branch }}
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
+      is_20hz: ${{ inputs.is_20hz }}
      artifact_suffix: ${{ inputs.artifact_suffix }}
    secrets: inherit

@@ -6,7 +6,7 @@ on:
      - master
  pull_request:
    paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
  workflow_dispatch:
  workflow_call:
    inputs:
@@ -30,36 +30,68 @@ jobs:
      - name: Checkout sunnypilot cereal
        uses: actions/checkout@v6
        with:
-          sparse-checkout: cereal
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false

      - name: Init sunnypilot opendbc submodule
        run: git submodule update --init --depth 1 opendbc_repo

-      - name: Checkout upstream openpilot cereal
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Checkout upstream openpilot
        uses: actions/checkout@v6
        with:
          repository: 'commaai/openpilot'
          path: upstream_openpilot
-          sparse-checkout: cereal
          ref: "refs/heads/master"

      - name: Init upstream opendbc submodule
        working-directory: upstream_openpilot
        run: git submodule update --init --depth 1 opendbc_repo

-      - name: Install uv
-        run: pip install uv
+      - name: Locate upstream capnp paths
+        id: locate-capnp
+        run: |
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"

      - name: Generate sunnypilot schema
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}

      - name: Validate against upstream
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}
@@ -17,29 +17,41 @@ jobs:
    - name: Wait for process replay
      id: wait
      continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
      with:
        ref: ${{ github.event.pull_request.head.sha }}
        check-name: process replay
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        allowed-conclusions: success,failure
        wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
    - name: Download diff
      if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
        name: diff_report_${{ github.event.number }}
        path: .
-        allow_forks: true
    - name: Comment on PR
      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
      with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -22,7 +22,7 @@ jobs:
    steps:
    - uses: commaai/timeout@v1

-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: true

@@ -34,7 +34,7 @@ jobs:
        python scripts/docs.py build

    # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
      with:
        path: openpilot-docs
@@ -45,7 +45,7 @@ jobs:
      run: |
        set -x

-        source release/identity.sh
+        source tools/release/identity.sh

        cd openpilot-docs
        git checkout --orphan tmp
@@ -11,7 +11,7 @@ jobs:
      contents: write
    steps:
      - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
        with:
          script: |
            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
    steps:
    - name: Check for trigger phrase
      id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
      with:
        script: |
          const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:

    - name: Checkout repository
      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
      with:
        ref: refs/pull/${{ github.event.issue.number }}/head

@@ -86,7 +86,7 @@ jobs:

    - name: Delete trigger comment
      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
      with:
        script: |
          await github.rest.issues.deleteComment({
@@ -4,7 +4,7 @@ on:
  pull_request:
    types: [opened, reopened, synchronize]
    paths:
-      - 'selfdrive/modeld/models/*.onnx'
+      - 'openpilot/selfdrive/modeld/models/*.onnx'
  workflow_dispatch:

 jobs:
@@ -16,11 +16,11 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
      - name: Checkout
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          submodules: true
      - name: Checkout master
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          ref: master
          path: base
@@ -36,7 +36,7 @@ jobs:
          echo "EOF" >> $GITHUB_OUTPUT

      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
+        uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0
        with:
          header: model-review
          message: ${{ steps.report.outputs.content }}
@@ -15,17 +15,17 @@ jobs:
    steps:
    - name: Wait for green check mark
      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
      with:
        ref: master
        wait-interval: 30
        running-workflow-name: 'build __nightly'
        repo-token: ${{ secrets.GITHUB_TOKEN }}
        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
      with:
        submodules: true
        fetch-depth: 0
    - run: ./tools/op.sh setup
    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh
@@ -3,6 +3,8 @@ name: repo maintenance
 on:
  schedule:
    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
  workflow_dispatch:

 env:
@@ -12,9 +14,11 @@ jobs:
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: >-
+      github.repository == 'sunnypilot/sunnypilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: true
    - run: ./tools/op.sh setup
@@ -50,10 +54,10 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
      with:
        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -75,3 +79,43 @@ jobs:
          ${{ steps.pip_tree.outputs.PIP_TREE }}
          ```
        labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }
@@ -6,7 +6,7 @@ env:
  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
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models

 on:
  workflow_call:
@@ -92,7 +92,7 @@ jobs:
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
    runs-on: [self-hosted, tici]
@@ -128,7 +128,10 @@ jobs:
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -148,6 +151,7 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
          rm -rf ${{ env.MODELS_DIR }}/*.onnx

@@ -155,27 +159,63 @@ jobs:
        uses: actions/download-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
+          path: ${{ env.MODELS_DIR }}
      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{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
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"

-          # Loop through all .onnx files
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          # Generate metadata for all ONNX files
          find "${{ 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
+            echo "Generating metadata: $onnx_file"
+            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

+          # Detect model type and build compile args
+          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
+          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
+          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
+          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
+          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+
+          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+          if [ -f "$VISION_ONNX" ]; then
+            ONNX_ARGS="--vision-onnx $VISION_ONNX"
+            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_multi_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+            elif [ -f "$POLICY_ONNX" ]; then
+              MODEL_TYPE=vision_policy
+              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+            fi
+          elif [ -f "$SUPERCOMBO_ONNX" ]; then
+            MODEL_TYPE=supercombo
+            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+          fi
+
+          if [ -n "$MODEL_TYPE" ]; then
+            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
+              --model-type $MODEL_TYPE \
+              --model-size $MODEL_SIZE \
+              --camera-resolutions $CAMERA_RES \
+              $ONNX_ARGS \
+              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
+
      - name: Validate Model Outputs
        run: |
          source /etc/profile
@@ -194,6 +234,8 @@ jobs:
          rsync -avm \
            --include='*.dlc' \
            --include='*.pkl' \
+            --include='*.chunk*' \
+            --include='*.chunkmanifest' \
            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
@@ -226,4 +268,5 @@ jobs:
      - name: Re-enable powersave
        if: always()
        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
@@ -79,7 +79,7 @@ jobs:
            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT

-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/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}" >> $GITHUB_OUTPUT
          fi
@@ -152,7 +152,10 @@ jobs:
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -172,20 +175,26 @@ jobs:
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

      - name: Build Main Project
        run: |
          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          cd $BUILD_DIR
+          ln -sfn msgq_repo/msgq msgq
+          ln -sfn opendbc_repo/opendbc opendbc
+          ln -sfn rednose_repo/rednose rednose
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+          ln -sfn tinygrad_repo/tinygrad tinygrad
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
@@ -208,17 +217,17 @@ jobs:
            --exclude='Jenkinsfile' \
            --exclude='**/release/' \
            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
            --exclude='**/__pycache__/' \
            --exclude='${{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*' \
+            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
+            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='openpilot/third_party/*x86*' \
+            --exclude='openpilot/third_party/*Darwin*' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -237,6 +246,7 @@ jobs:
      - name: Re-enable powersave
        if: always()
        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable


@@ -363,7 +373,7 @@ jobs:
              owner: context.repo.owner,
              repo: context.repo.repo,
              issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
            });

            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
@@ -35,27 +35,27 @@ jobs:
      STRIPPED_DIR: /tmp/releasepilot
      PYTHONPATH: /tmp/releasepilot
    steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
      with:
        submodules: true
    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
      with:
        timeout_minutes: 2
        max_attempts: 3
        command: git lfs pull
    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      timeout-minutes: 3
+      run: TARGET_DIR=$STRIPPED_DIR tools/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
+      run: python3 openpilot/system/manager/build.py
    - name: Run tests
      timeout-minutes: 1
      working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
+      run: tools/release/check-dirty.sh
    - name: Check submodules
      if: github.repository == 'sunnypilot/sunnypilot'
      timeout-minutes: 3
@@ -75,15 +75,13 @@ jobs:
            export CHECK_PR_REFS=true
          fi
        fi
-        release/check-submodules.sh
+        tools/release/check-submodules.sh

  build_mac:
    name: build macOS
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - name: Remove Homebrew from environment
      run: |
        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -101,9 +99,7 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Static analysis
      timeout-minutes: 1
@@ -118,16 +114,18 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
    - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
+      env:
+        RAYLIB_BACKEND: headless
      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 $PYTEST -m 'not slow'
@@ -142,44 +140,42 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
    - 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)
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
    - name: Print diff
      id: print-diff
      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
    - name: Print diff report
      if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v7
      if: always()
      continue-on-error: true
      with:
        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        path: openpilot/selfdrive/test/process_replay/diff.txt
    - name: Upload diff report
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
      if: always() && github.event_name == 'pull_request'
      continue-on-error: true
      with:
        name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
    - name: Checkout ci-artifacts
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+      uses: actions/checkout@v7
      with:
        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
        path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
+    - name: Prepare refs
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
@@ -187,17 +183,23 @@ jobs:
        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 .
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
        echo "${{ 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 --force
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
    - name: Run regen
      if: false
      timeout-minutes: 4
      env:
        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
+      run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py

  simulator_driving:
    name: simulator driving
@@ -209,17 +211,16 @@ jobs:
      || fromJSON('["ubuntu-24.04"]') }}
    if: false  # FIXME: Started to timeout recently
    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
    - name: Driving test
      timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py

  create_ui_report:
    name: Create UI Report
@@ -230,19 +231,21 @@ jobs:
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
+      - uses: actions/checkout@v7
      - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
      - name: Build openpilot
-        run: scons -j$(nproc)
+        run: scons
      - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
        run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
      - name: Upload UI Report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
        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
+          path: openpilot/selfdrive/ui/tests/diff/report
@@ -8,9 +8,9 @@ on:
    branches:
      - 'master'
    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
  workflow_dispatch:

 env:
@@ -34,12 +34,12 @@ jobs:
      pull-requests: write
      actions: read
    steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
        with:
          submodules: true

      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
        with:
          ref: ${{ env.SHA }}
          check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +53,7 @@ jobs:
          echo "run_id=$(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
-        uses: dawidd6/action-download-artifact@v6
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +62,7 @@ jobs:
          path: ${{ github.workspace }}/pr_ui

      - name: Getting mici master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +70,7 @@ jobs:
          ref: openpilot_master_ui_mici_raylib

      - name: Getting big master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
        with:
          repository: sunnypilot/ci-artifacts
          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +97,7 @@ jobs:
          done

      - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3

      - name: Finding diffs
        if: github.event_name == 'pull_request_target'
@@ -115,13 +115,13 @@ jobs:
            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"

            diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?

-            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/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"

            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
            if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +156,7 @@ jobs:
          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_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/openpilot/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"
@@ -164,12 +164,12 @@ jobs:

      - name: Comment on PR
        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
        with:
          message: |
            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
            ## UI Preview
            ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/

+# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
@@ -44,18 +51,18 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json

 # build artifacts
 docs_site/
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test

 .coverage*
 coverage.xml
@@ -6,7 +6,7 @@
  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
  path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
  path = rednose_repo
  url = https://github.com/commaai/rednose.git
@@ -17,5 +17,5 @@
  path = tinygrad_repo
  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
@@ -6,9 +6,9 @@
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
      ]
    },
    {
@@ -16,7 +16,7 @@
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
      ]
    },
    {
@@ -17,11 +17,5 @@
    "**/.git",
    "**/.venv",
    "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "third_party/**",
-    "tools/**",
  ]
 }
@@ -1,3 +1,35 @@
+sunnypilot Version 2026.002.000 (2026-06-28)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
@@ -1,38 +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 && \
-    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 ${OPENPILOT_PATH}
-
-COPY --chown=$USER . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/$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 '*'
@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'

 set -e

@@ -63,6 +63,8 @@ if [ -f /data/openpilot/launch_env.sh ]; then
  source /data/openpilot/launch_env.sh
 fi

+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
@@ -93,7 +95,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
          retry (3) {
            def date = sh(script: 'date', returnStdout: true).trim();
            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
          }
          steps.each { item ->
            def name = item[0]
@@ -166,8 +168,8 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +181,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
      ])
    }

@@ -187,12 +189,12 @@ node {
      parallel (
        'nightly': {
          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
          ])
        },
        'nightly-dev': {
          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"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
          ])
        },
      )
@@ -202,52 +204,51 @@ node {
    parallel (
      'onroad tests': {
        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]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("check dirty", "tools/release/check-dirty.sh"),
+          step("onroad tests", "pytest openpilot/selfdrive/test/test_onroad.py -s", [timeout: 60]),
        ])
      },
      'HW + Unit Tests': {
        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          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 manager", "pytest system/manager/test/test_manager.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "pytest -s openpilot/selfdrive/test//test_power_draw.py"),
+          step("test encoder", "pytest openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "pytest openpilot/system/manager/test/test_manager.py"),
        ])
      },
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest openpilot/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 pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "pytest openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'sensord': {
        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"),
        ])
      },
      'replay': {
        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"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
        ])
      },
      'tizi': {
        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.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 amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "pytest openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "pytest openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "pytest openpilot/common/hardware/tici/tests/test_amplifier.py"),
        ])
      },

@@ -1,7 +1,13 @@
-Version 0.11.1 (2026-04-22)
+Version 0.11.2 (2026-06-15)
+========================
+
+
+Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!

 Version 0.11.0 (2026-03-17)
@@ -1098,7 +1104,7 @@ Version 0.2.1  (2016-12-14)

 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
 * controlsd has been refactored
 * Shipped plant model and testing maneuvers
 * visiond exits more gracefully now
@@ -10,25 +10,43 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes

+TICI = os.path.isfile('/TICI')
+
 SCons.Warnings.warningAsException(True)

 Decider('MD5-timestamp')

-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))

 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')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
          action='store_false',
          dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=(not TICI and not release),
          help='the minimum build to run openpilot. no tests, tools, etc.')

+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
+elif arch == "aarch64" and TICI:
  arch = "larch64"
 assert arch in [
  "larch64",  # linux tici arm64
@@ -37,8 +55,29 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
+acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# TICI CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
+acados_include_dirs = [
+  acados.INCLUDE_DIR,
+  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
+  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
+]


 # ***** enforce a whitelist of system libraries *****
@@ -82,10 +121,10 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
  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"
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
+    "ACADOS_SOURCE_DIR": acados.DIR,
+    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
+    "TERA_PATH": acados.TERA_PATH
  },
  CCFLAGS=[
    "-g",
@@ -103,30 +142,27 @@ env = Environment(
  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",
+    "#openpilot",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#openpilot/cereal/gen/cpp",
+    acados_include_dirs,
    [x.INCLUDE_DIR for x in pkgs],
+    "#",
  ],
  LIBPATH=[
-    "#common",
+    "#openpilot/common",
    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
+    "#openpilot/selfdrive/pandad",
+    "#rednose_repo/rednose/helpers",
    [x.LIB_DIR for x in pkgs],
  ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
  CYTHONCFILESUFFIX=".cpp",
  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
@@ -174,16 +210,6 @@ if not GetOption('verbose'):
  ):
    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 **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
@@ -199,18 +225,28 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')

-Export('env', 'arch')
+Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')

 # 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)
+cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)

+def prune_cache_dir(target=None, source=None, env=None):
+  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
+  cache_size = sum(os.path.getsize(f) for f in cache_files)
+  for f in cache_files:
+    if cache_size < cache_size_limit:
+      break
+    cache_size -= os.path.getsize(f)
+    os.unlink(f)
+
 # ********** start building stuff **********

 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -221,7 +257,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})

-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])

 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -232,38 +268,79 @@ Export('messaging')
 SConscript(['panda/SConscript'])

 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])

 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])

 if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
+  SConscript(['openpilot/system/camerad/SConscript'])

 # Build selfdrive
 SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
 ])

-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])

-# Build tools
-if arch != "larch64":
+# Build desktop-only tools
+if GetOption('extras') and arch != "larch64":
  SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
  ])


 env.CompilationDatabase('compile_commands.json')
+
+# progress output
+def count_scons_nodes(nodes):
+  seen = set()
+  stack = list(nodes)
+
+  while stack:
+    node = stack.pop().disambiguate()
+    if node in seen:
+      continue
+    seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
+    executor = node.get_executor()
+    if executor is not None:
+      stack += executor.get_all_prerequisites() + executor.get_all_children()
+
+  return len(seen)
+
+progress_interval = 5
+progress_count = 0
+build_product_nodes = set()
+progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
+
+def progress_function(node):
+  global progress_count
+  if progress_count >= progress_total:
+    return
+  progress_count = min(progress_count + progress_interval, progress_total)
+  progress = round(100. * progress_count / progress_total, 1)
+  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
+  if progress == 100. and sys.stderr.isatty():
+    sys.stderr.write("\n")
+  sys.stderr.flush()
+
+Progress(progress_function, interval=progress_interval)
+AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-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', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')
@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-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"))
@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp
@@ -1,256 +0,0 @@
-#!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
-"""
-
-from __future__ import annotations
-
-import argparse
-import json
-import os
-import sys
-from typing import Any
-
-NO_DISCRIMINANT = 0xFFFF
-
-
-def hex_id(value: int) -> str:
-  return f"0x{value:016x}"
-
-
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
-def encode_struct(schema: Any) -> dict:
-  node = schema.node
-  return {
-    "typeId": hex_id(node.id),
-    "displayName": node.displayName,
-    "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
-  }
-
-
-def _child_struct_schema(field: Any) -> Any:
-  proto = field.proto
-  if proto.which() == "group":
-    return field.schema
-  type_node = proto.slot.type
-  which = type_node.which()
-  if which == "struct":
-    return field.schema
-  if which == "list":
-    container = field.schema
-    element_type = type_node.list.elementType
-    while element_type.which() == "list":
-      container = container.elementType
-      element_type = element_type.list.elementType
-    if element_type.which() == "struct":
-      return container.elementType
-  return None
-
-
-def collect_schema(root: Any) -> dict[str, dict]:
-  structs: dict[str, dict] = {}
-  stack = [root]
-  while stack:
-    schema = stack.pop()
-    type_id = hex_id(schema.node.id)
-    if type_id in structs:
-      continue
-    structs[type_id] = encode_struct(schema)
-    for _name, field in schema.fields.items():
-      try:
-        child = _child_struct_schema(field)
-      except Exception:
-        child = None
-      if child is not None:
-        stack.append(child)
-  return structs
-
-
-def load_log(cereal_dir: str) -> Any:
-  import capnp
-  cereal_dir = os.path.abspath(cereal_dir)
-  capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
-
-
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
-  payload = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  with open(path, "w", encoding="utf-8") as handle:
-    json.dump(payload, handle, indent=2, sort_keys=True)
-  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
-
-
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
-def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
-  violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
-
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
-      continue
-
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
-        violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
-        )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
-
-  return violations
-
-
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
-  peer_dump = load_peer(peer_path)
-  local_dump = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
-
-  if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
-    return 0
-
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
-  for v in violations:
-    print(f"  {v}")
-  return 1
-
-
-def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
-  mode = parser.add_mutually_exclusive_group(required=True)
-  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
-  args = parser.parse_args()
-
-  if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
-
-
-if __name__ == "__main__":
-  sys.exit(main())
@@ -1,37 +0,0 @@
-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)
@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}
@@ -1 +0,0 @@
-#define COMMA_VERSION "0.11.1"
@@ -5,18 +5,18 @@ import pytest

 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.common.hardware import TICI, HARDWARE

-# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
-# pending https://github.com/pytest-dev/pytest-cpp/pull/147
+# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
+  "openpilot/selfdrive/test/process_replay/test_processes.py",
+  "openpilot/selfdrive/test/process_replay/test_regen.py",
+
+  "openpilot/tools/sim/",
+
+  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
+  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
+  "openpilot/sunnypilot/modeld_v2/tests/test_warp.py",
 ]


@@ -97,15 +97,3 @@ def pytest_collection_modifyitems(config, items):
      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
      class_property_value = getattr(item.cls, class_property_name)
      item.add_marker(pytest.mark.xdist_group(class_property_value))
-
-
-@pytest.hookimpl(trylast=True)
-def pytest_configure(config):
-  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "nocapture: don't capture test output"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "shared_download_cache: share download cache between tests"
-  config.addinivalue_line("markers", config_line)
@@ -4,24 +4,24 @@

 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.

-# 340 Supported Cars
+# 341 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|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 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 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 MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 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 MDX 2022-24">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 2021-22|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 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 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</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 2021-22|All|openpilot available[<sup>1,5</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 2021-22">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[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>|||
+|Audi[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|Q3 2019-24|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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" /></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>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>|||
+|CUPRA[<sup>12</sup>](#footnotes)|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 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>|||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |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" /></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" /></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|Focus 2018-22[<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 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<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 2018-22">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" /></a>|
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |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" /></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" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</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" /></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 2018-22|All|openpilot available[<sup>1,5</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|City (Brazil only) 2023|All|openpilot available[<sup>1,5</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" /></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" /></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" /></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" /></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|Civic 2019-21|All|openpilot available[<sup>1,5</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" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</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" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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>1,5</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>1,5</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" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</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>1,5</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>1,5</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 2017-22|Honda Sensing|openpilot available[<sup>1,5</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 2017-22|Honda Sensing|openpilot available[<sup>1,5</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|e 2020|All|openpilot available[<sup>1,5</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|HR-V 2023-25|All|openpilot available[<sup>1,5</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>1,5</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>1,5</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>1,5</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 2021-26|All|openpilot available[<sup>1,5</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 (Singapore) 2021|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 (Singapore) 2021">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>|||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|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 Ioniq 6 (without 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>|||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|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 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" /></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" /></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" /></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>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</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" /></a>||
+|Nissan[<sup>6</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>6</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>|||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1S 2025|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 B 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 2025">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 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" /></a>|
 |Rivian|R1T 2025|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 B 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 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></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" /></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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>|||
+|SEAT[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>7</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>7</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>7</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>7</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>7</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>7</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>7</sup>](#footnotes)|openpilot available[<sup>1,8</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" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</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>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 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>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 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>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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>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 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>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|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 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>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</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>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</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>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</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>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</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>|||
@@ -279,8 +280,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></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 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></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>|||
@@ -312,60 +313,61 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></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" /></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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 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 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[<sup>12</sup>](#footnotes)|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 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>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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>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 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>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 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>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|Taos 2022-24|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|Tiguan 2018-24|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 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[<sup>12</sup>](#footnotes)|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 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[<sup>12</sup>](#footnotes)|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 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 `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>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</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>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <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 four 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 />

 ## 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/).
@@ -68,6 +68,6 @@ A good pull request has all of the following:
 ### A guide for forks

 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.

-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
+To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
+that alerts when it detects driver distraction.

 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http

 ### 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)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/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
@@ -2,13 +2,13 @@

 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.

-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.

 For each segment, openpilot records the following log types:

 ## rlog.zst

-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.

 ## {f,e,d}camera.hevc

@@ -20,7 +20,7 @@ Each camera stream is H.265 encoded and written to its respective file.

 ## qlog.zst & qcamera.ts

-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.

 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.

@@ -8,7 +8,7 @@ from markdown.extensions import Extension
 from markdown.preprocessors import Preprocessor
 from markdown.treeprocessors import Treeprocessor

-from zensical.extensions.links import LinksProcessor
+from zensical.extensions.links import LinksTreeprocessor

 GlossaryTerm = tuple[str, re.Pattern[str], str]

@@ -78,7 +78,7 @@ class GlossaryTreeprocessor(Treeprocessor):
  def run(self, root: ET.Element) -> None:
    at = self.md.treeprocessors.get_index_for_name("zrelpath")
    processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksProcessor):
+    if not isinstance(processor, LinksTreeprocessor):
      raise TypeError("Links processor not registered")
    if processor.path == GLOSSARY_PAGE:
      return
@@ -30,7 +30,7 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b

 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.

-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic

 # How do I port car?

@@ -5,7 +5,7 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*

-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.

 ## Replaying CAN data
 *Hardware required: jungle and comma four*
@@ -20,7 +20,7 @@ source .venv/bin/activate

 Then, compile openpilot:
 ```bash
-scons -j$(nproc)
+scons
 ```

 ## 2. Run replay
@@ -28,10 +28,10 @@ scons -j$(nproc)
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo

 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```

 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.

 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```

-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:

 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is

 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)

@@ -19,12 +19,12 @@ function agnos_init {

  # Check if AGNOS update is required
  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/tici/agnos.json"
    if $AGNOS_PY --verify $MANIFEST; then
      sudo reboot
    fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
 }

@@ -70,6 +70,14 @@ function launch {
  ln -sfn $(pwd) /data/pythonpath
  export PYTHONPATH="$PWD"

+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
  # hardware specific init
  if [ -f /AGNOS ]; then
    agnos_init
@@ -79,7 +87,7 @@ function launch {
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
-  cd system/manager
+  cd openpilot/system/manager
  if [ ! -f $DIR/prebuilt ]; then
    ./build.py
  fi
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="17.2"
+  export AGNOS_VERSION="18.4"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -1,20 +1,3 @@
 #!/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
@@ -1 +0,0 @@
-msgq_repo/msgq
@@ -1 +0,0 @@
-opendbc_repo/opendbc
@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks

 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline openpilot's cereal spec. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**

 An example of compatible changes:
 ```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
--- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
+--- a/openpilot/cereal/custom.capnp
+++ b/openpilot/cereal/custom.capnp
@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
 }

 struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
+diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
--- a/cereal/log.capnp
-+++ b/cereal/log.capnp
+--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -2558,14 +2558,14 @@ struct Event {

     # DO change the name of the field
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging

 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])
@@ -0,0 +1,22 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
+
+# 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', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')
@@ -0,0 +1,11 @@
+import os
+import capnp
+from importlib.resources import as_file, files
+
+capnp.remove_import_hook()
+
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+  CEREAL_PATH = fspath.as_posix()
+  opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");

@0xb526ba661d550a59;
@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");

@0x80ef1ec4889c2a63;
@@ -760,18 +760,6 @@ struct LateralLQRState @0x9024e2d790c82ade {
  steeringAngleDesiredDeg @6 :Float32;
 }

-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
 struct LateralPlannerSolution @0x84caeca5a6b4acfe {
  x @0 :List(Float32);
  y @1 :List(Float32);
@@ -1,7 +1,7 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");

-using Car = import "car.capnp";
+using Car = import "/car.capnp";
 using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";

@@ -273,11 +273,7 @@ struct GPSNMEAData {
  nmea @2 :Text;
 }

-# android sensor_event_t
 struct SensorEventData {
-  version @0 :Int32;
-  sensor @1 :Int32;
-  type @2 :Int32;
  timestamp @3 :Int64;

  union {
@@ -296,7 +292,10 @@ struct SensorEventData {

  struct SensorVec {
    v @0 :List(Float32);
-    status @1 :Int8;
+
+    deprecated :group {
+      status @1 :Int8;
+    }
  }

  enum SensorSource {
@@ -314,7 +313,11 @@ struct SensorEventData {
    mmc5603nj @11;
  }

+  # formerly based on android sensor_event_t
  deprecated :group {
+    version @0 :Int32;
+    sensor @1 :Int32;
+    type @2 :Int32;
    uncalibrated @10 :Bool;
  }
 }
@@ -411,6 +414,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
  deviceType @45 :InitData.DeviceType;

+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
@@ -457,10 +464,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  }

  enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
  }

  enum NetworkType {
@@ -681,33 +688,47 @@ struct PeripheralState {
  }
 }

+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+  }
+}
+
 struct RadarState @0x9a185389d6fdd05f {
-  mdMonoTime @6 :UInt64;
-  carStateMonoTime @11 :UInt64;
+  mdMonoTime @6 :UInt64;  # for debugging
  radarErrors @13 :Car.RadarData.Error;

  leadOne @3 :LeadData;
  leadTwo @4 :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;
+    dRel @0 :Float32;  # m from the front bumper of the car
+    yRel @1 :Float32;  # m in car frame, left positive
+    vRel @2 :Float32;  # m/s relative longitudinal speed
+    vLead @4 :Float32;  # m/s absolute lead speed
+    vLeadK @8 :Float32;  # kalman-filtered lead speed
+    aLeadK @9 :Float32;  # kalman-filtered lead accel
+    present @11 :Bool;  # true if a lead is present
+    aLeadTau @12 :Float32;  # lead accel time constant
+    modelProb @13 :Float32;  # vision model lead probability
+    radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
+    radarTrackId @15 :Int32 = -1;  # for debugging

    deprecated :group {
+      aRel @3 :Float32;
      aLead @5 :Float32;
+      dPath @6 :Float32;
+      vLat @7 :Float32;
+      fcw @10 :Bool;
    }
  }

@@ -720,6 +741,7 @@ struct RadarState @0x9a185389d6fdd05f {
    calPerc @9 :Int8;
    canMonoTimes @10 :List(UInt64);
    cumLagMs @5 :Float32;
+    carStateMonoTime @11 :UInt64;
    radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
  }
 }
@@ -768,13 +790,30 @@ struct SelfdriveState {
  alertStatus @5 :AlertStatus;
  alertSize @6 :AlertSize;
  alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
  alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;

  # configurable driving settings
  experimentalMode @10 :Bool;
  personality @11 :LongitudinalPersonality;

+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    preAlert @9;
+  }
+
  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
    preEnabled @1;
@@ -795,6 +834,10 @@ struct SelfdriveState {
    mid @2;
    full @3;
  }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }

 struct ControlsState @0x97ff69c53601abf1 {
@@ -815,7 +858,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    debugState @59 :LateralDebugState;
    torqueState @60 :LateralTorqueState;

-    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    curvatureState @65 :LateralCurvatureState;
    lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
    indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
  }
@@ -864,6 +907,18 @@ struct ControlsState @0x97ff69c53601abf1 {
    saturated @3 :Bool;
  }

+  struct LateralCurvatureState @0xad9d8095c06f7c61 {
+    active @0 :Bool;
+    actualCurvature @1 :Float32;
+    desiredCurvature @2 :Float32;
+    error @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+  }
+
  deprecated :group {
    vEgo @0 :Float32;
    vEgoRaw @32 :Float32;
@@ -903,7 +958,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    alertStatus @38 :SelfdriveState.AlertStatus;
    alertSize @39 :SelfdriveState.AlertSize;
    alertType @44 :Text;
-    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
    engageable @41 :Bool;  # can OP be engaged?
    state @31 :SelfdriveState.OpenpilotState;
    enabled @19 :Bool;
@@ -986,7 +1041,6 @@ struct ModelDataV2 {
  roadEdgeStds @14 :List(Float32);

  # predicted lead cars
-  leads @11 :List(LeadDataV2);
  leadsV3 @18 :List(LeadDataV3);

  meta @12 :MetaData;
@@ -996,8 +1050,9 @@ struct ModelDataV2 {
  action @26: Action;

  lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
+  leadsDEPRECATED @11 :List(LeadDataV2DEPRECATED);

-  struct LeadDataV2 {
+  struct LeadDataV2DEPRECATED {
    prob @0 :Float32; # probability that car is your lead at time t
    t @1 :Float32;

@@ -1117,7 +1172,7 @@ struct EncodeIndex {
  }
 }

-struct AndroidLogEntry {
+struct OperatingSystemLogEntry {
  id @0 :UInt8;
  ts @1 :UInt64;
  priority @2 :UInt8;
@@ -1255,7 +1310,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
 struct LiveLocationKalman {

  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations

  positionECEF @0 : Measurement;
  positionGeodetic @1 : Measurement;
@@ -1312,7 +1367,7 @@ struct LiveLocationKalman {

 struct LivePose {
  # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
  orientationNED @0 :XYZMeasurement;
  velocityDevice @1 :XYZMeasurement;
  accelerationDevice @2 :XYZMeasurement;
@@ -2054,16 +2109,15 @@ struct DriverStateV2 {
    facePosition @2 :List(Float32);
    facePositionStd @3 :List(Float32);
    faceProb @4 :Float32;
-    eyesVisibleProb @14 :Float32;
-    eyesClosedProb @15 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
    phoneProb @13 :Float32;
+    sleepProb @14 :Float32;

    deprecated :group {
-      leftEyeProb @5 :Float32;
-      rightEyeProb @6 :Float32;
-      leftBlinkProb @7 :Float32;
-      rightBlinkProb @8 :Float32;
-      sunglassesProb @9 :Float32;
      notReadyProb @12 :List(Float32);
      occludedProb @10 :Float32;
      readyProb @11 :List(Float32);
@@ -2076,7 +2130,7 @@ struct DriverStateV2 {
  }
 }

-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
  events @18 :List(OnroadEvent);
  faceDetected @1 :Bool;
  isDistracted @2 :Bool;
@@ -2104,6 +2158,82 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
  }
 }

+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  lockoutRecoveryPercent @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    # ordinal must match the name to prevent bugs
+    # comparing against the raw ordinal value
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
+}
+
 struct Boot {
  wallTimeNanos @0 :UInt64;
  pstore @4 :Map(Text, Data);
@@ -2176,6 +2306,7 @@ struct LiveDelayData {
  lateralDelayEstimateStd @5 :Float32;
  points @4 :List(Float32);
  calPerc @6 :Int8;
+  version @7 :Int32;

  enum Status {
    unestimated @0;
@@ -2229,7 +2360,8 @@ struct Sentinel {
 }

 struct UIDebug {
-  drawTimeMillis @0 :Float32;
+  cpuTimeMillis @0 :Float32;
+  frameTimeMillis @1 :Float32;
 }

 struct ManagerState {
@@ -2377,7 +2509,6 @@ struct Event {
    boot @60 :Boot;

    # ********** openpilot daemon msgs **********
-    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
    selfdriveState @130 :SelfdriveState;
@@ -2402,7 +2533,6 @@ struct Event {
    qcomGnss @31 :QcomGnss;
    gpsLocationExternal @48 :GpsLocationData;
    gpsLocation @21 :GpsLocationData;
-    gnssMeasurements @91 :GnssMeasurements;
    liveParameters @61 :LiveParametersData;
    liveTorqueParameters @94 :LiveTorqueParametersData;
    liveDelay @146 : LiveDelayData;
@@ -2410,7 +2540,7 @@ struct Event {
    thumbnail @66: Thumbnail;
    onroadEvents @134: List(OnroadEvent);
    carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @151 :DriverMonitoringState;
    livePose @129 :LivePose;
    modelV2 @75 :ModelDataV2;
    drivingModelData @128 :DrivingModelData;
@@ -2434,9 +2564,8 @@ struct Event {
    rawAudioData @147 :AudioData;

    # systems stuff
-    androidLog @20 :AndroidLogEntry;
+    operatingSystemLog @20 :OperatingSystemLogEntry;
    managerState @78 :ManagerState;
-    uploaderState @79 :UploaderState;
    procLog @33 :ProcLog;
    clocks @35 :Clocks;
    deviceState @6 :DeviceState;
@@ -2446,12 +2575,6 @@ struct Event {
    # touch frame
    touch @135 :List(Touch);

-    # navigation
-    navInstruction @82 :NavInstruction;
-    navRoute @83 :NavRoute;
-    navThumbnail @84: Thumbnail;
-    mapRenderState @105: MapRenderState;
-
    # UI services
    uiDebug @102 :UIDebug;

@@ -2553,5 +2676,13 @@ struct Event {
    gyroscope2DEPRECATED @100 :SensorEventData;
    accelerometer2DEPRECATED @101 :SensorEventData;
    temperatureSensor2DEPRECATED @123 :SensorEventData;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
+    gpsNMEADEPRECATED @3 :GPSNMEAData;
+    uploaderStateDEPRECATED @79 :UploaderState;
+    navInstructionDEPRECATED @82 :NavInstruction;
+    navRouteDEPRECATED @83 :NavRoute;
+    navThumbnailDEPRECATED @84 :Thumbnail;
+    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
+    mapRenderStateDEPRECATED @105: MapRenderState;
  }
 }
@@ -9,8 +9,8 @@ import time

 from typing import Optional, List, Union, Dict

-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage

 NO_TRAVERSAL_LIMIT = 2**64-1
@@ -259,11 +259,11 @@ class PubMaster:
    self.sock[s].send(dat)

  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
+    try:
+      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
+      return True
+    except TimeoutError:
+      return False

  def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()  # type: ignore
+    return self.sock[s].all_readers_updated()
@@ -1,7 +1,7 @@
 #include <cassert>

-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"

 ExitHandler do_exit;
@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"

 #include <cassert>
 #include <cstring>
@@ -8,7 +8,7 @@

 #include <capnp/serialize.h>

-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"

@@ -1,8 +1,8 @@
-#include "cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"

 #include <cassert>

-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"

 extern ExitHandler do_exit;
@@ -8,7 +8,7 @@
 #include <vector>

 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"

 class MsgqToZmq {
 public:
@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>

-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"

 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

@@ -8,9 +8,10 @@ import time
 from openpilot.common.parameterized import parameterized
 import pytest

-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from opendbc.car.structs import car
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST

 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]

@@ -30,7 +31,7 @@ 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", "brake", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
  msg = messaging.new_message("carState")
  cs = msg.carState
  for f in fields:
@@ -2,11 +2,11 @@ import random
 import time
 from typing import Sized, cast

-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+import openpilot.cereal.messaging as messaging
+from openpilot.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
+from openpilot.cereal.services import SERVICE_LIST


 class TestSubMaster:
@@ -1,10 +1,10 @@
-import os
+import subprocess
 import tempfile
-from typing import Dict
+
 from openpilot.common.parameterized import parameterized

-import cereal.services as services
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.services as services
+from openpilot.cereal.services import SERVICE_LIST


 class TestServices:
@@ -17,5 +17,5 @@ class TestServices:

  def test_generated_header(self):
    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
+      ret = subprocess.run(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11", shell=True).returncode
      assert ret == 0, "generated services header is not valid C"
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+"""Validate sunnypilot routes are parseable by stock commaai/openpilot.
+
+Cap'n Proto is wire-compatible across renames, type relocations, and
+additive fields. The only breaking change is a union variant that
+upstream doesn't recognize — an unknown discriminant makes the entire
+union unreadable.
+
+This script checks: for every struct with a union that exists in both
+schemas, does sunnypilot introduce union variants upstream doesn't have?
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+from typing import Any
+
+NO_DISCRIMINANT = 0xFFFF
+
+
+def hex_id(value: int) -> str:
+  return f"0x{value:016x}"
+
+
+def encode_struct(schema: Any) -> dict:
+  node = schema.node
+  fields = []
+  for name, field in schema.fields.items():
+    proto = field.proto
+    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
+  return {
+    "typeId": hex_id(node.id),
+    "displayName": node.displayName,
+    "hasUnion": node.struct.discriminantCount > 0,
+    "fields": fields,
+  }
+
+
+def _child_struct_schema(field: Any) -> Any:
+  proto = field.proto
+  if proto.which() == "group":
+    return field.schema
+  type_node = proto.slot.type
+  which = type_node.which()
+  if which == "struct":
+    return field.schema
+  if which == "list":
+    container = field.schema
+    element_type = type_node.list.elementType
+    while element_type.which() == "list":
+      container = container.elementType
+      element_type = element_type.list.elementType
+    if element_type.which() == "struct":
+      return container.elementType
+  return None
+
+
+def collect_schema(root: Any) -> dict[str, dict]:
+  structs: dict[str, dict] = {}
+  stack = [root]
+  while stack:
+    schema = stack.pop()
+    type_id = hex_id(schema.node.id)
+    if type_id in structs:
+      continue
+    structs[type_id] = encode_struct(schema)
+    for _name, field in schema.fields.items():
+      try:
+        child = _child_struct_schema(field)
+      except Exception:
+        child = None
+      if child is not None:
+        stack.append(child)
+  return structs
+
+
+def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
+
+
+def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
+  log = load_log(cereal_dir, extra_imports)
+  payload = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  with open(path, "w", encoding="utf-8") as handle:
+    json.dump(payload, handle, indent=2, sort_keys=True)
+  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
+
+
+def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
+  violations: list[str] = []
+  sunnypilot_structs = sunnypilot_dump["structs"]
+  upstream_structs = upstream_dump["structs"]
+
+  for type_id, sp_struct in sunnypilot_structs.items():
+    if not sp_struct["hasUnion"]:
+      continue
+    up_struct = upstream_structs.get(type_id)
+    if up_struct is None:
+      continue
+
+    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
+    display = sp_struct["displayName"]
+
+    for field in sp_struct["fields"]:
+      if field.get("discriminant") is None:
+        continue
+      if field["ordinal"] not in up_ordinals:
+        violations.append(
+          f"{display} @{field['ordinal']} '{field['name']}': "
+          f"union variant not present upstream (discriminant={field['discriminant']})"
+        )
+
+  return violations
+
+
+def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
+  log = load_log(cereal_dir, extra_imports)
+  with open(peer_path, "r", encoding="utf-8") as f:
+    peer_dump = json.load(f)
+  local_dump = {
+    "root": hex_id(log.Event.schema.node.id),
+    "structs": collect_schema(log.Event.schema),
+  }
+  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
+
+  if not violations:
+    print("cereal compat OK: upstream can parse sunnypilot routes.")
+    return 0
+
+  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
+  for v in violations:
+    print(f"  {v}")
+  return 1
+
+
+def main() -> int:
+  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
+  mode = parser.add_mutually_exclusive_group(required=True)
+  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
+  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
+  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
+  args = parser.parse_args()
+
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file, args.import_path)
+    return 0
+  return run_read(args.cereal_dir, args.file, args.import_path)
+
+
+if __name__ == "__main__":
+  sys.exit(main())
@@ -24,10 +24,7 @@ _services: dict[str, tuple] = {
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
  "accelerometer": (True, 104., 104),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
  "temperatureSensor": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
  "touch": (True, 20., 1),
  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -44,7 +41,7 @@ _services: dict[str, tuple] = {
  "liveCalibration": (True, 4., 4),
  "liveTorqueParameters": (True, 4., 1),
  "liveDelay": (True, 4., 1),
-  "androidLog": (True, 0.),
+  "operatingSystemLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
@@ -56,7 +53,6 @@ _services: dict[str, tuple] = {
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
-  "gnssMeasurements": (True, 10., 10),
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
  "livePose": (True, 20., 4),
@@ -75,10 +71,6 @@ _services: dict[str, tuple] = {
  "drivingModelData": (True, 20., 10),
  "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.),
  "userBookmark": (True, 0., 1),
  "soundPressure": (True, 10., 10),
@@ -114,8 +106,6 @@ _services: dict[str, tuple] = {
  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                idx, (name, vals) in enumerate(_services.items())}
@@ -1 +0,0 @@
-../common
@@ -5,6 +5,7 @@ common_libs = [
  'swaglog.cc',
  'util.cc',
  'ratekeeper.cc',
+  'yuv.cc',
 ]

 _common = env.Library('common', common_libs, LIBS="json11")
@@ -12,7 +13,7 @@ Export('_common')

 if GetOption('extras'):
  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
+              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
              LIBS=[_common, 'json11', 'zmq', 'pthread'])

 # Cython bindings
@@ -3,8 +3,8 @@ 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
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.version import get_version

 # name: jwt signature algorithm
 KEYS = {"id_rsa": "RS256",
@@ -1,4 +1,4 @@
 import os


-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../.."))
@@ -0,0 +1,3 @@
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+
+__all__ = ["LPABase", "LPAError", "LPAProfileNotFoundError", "Profile"]
@@ -0,0 +1,55 @@
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+
+
+class LPAError(RuntimeError):
+  pass
+
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
+
+  @property
+  def is_comma(self) -> bool:
+    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+
+
+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 process_notifications(self) -> None:
+    pass
+
+  @abstractmethod
+  def is_euicc(self) -> bool:
+    pass
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+
+import argparse
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.esim.base import LPABase, Profile
+
+
+def sorted_profiles(lpa: LPABase) -> list[Profile]:
+  return sorted(lpa.list_profiles(), key=lambda p: p.iccid)
+
+
+def resolve_iccid(lpa: LPABase, ref: str) -> str:
+  # ref is either a 1-based index into the sorted list, or a literal iccid
+  if ref.isdigit():
+    profiles = sorted_profiles(lpa)
+    idx = int(ref) - 1
+    if not 0 <= idx < len(profiles):
+      raise SystemExit(f'no profile at index {ref} (have {len(profiles)})')
+    return profiles[idx].iccid
+  return ref
+
+
+def print_profiles(lpa: LPABase) -> None:
+  profiles = sorted_profiles(lpa)
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) != 1 else ""}:')
+  for i, p in enumerate(profiles, start=1):
+    print(f'{i}. {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
+  sub = parser.add_subparsers(dest='cmd')
+
+  sub.add_parser('list', help='list profiles')
+
+  p_switch = sub.add_parser('switch', help='switch to profile')
+  p_switch.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_delete = sub.add_parser('delete', help='delete profile (warning: this cannot be undone)')
+  p_delete.add_argument('profile', help='iccid or 1-based index from `list`')
+
+  p_download = sub.add_parser('download', help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  p_download.add_argument('qr')
+  p_download.add_argument('name')
+
+  p_nickname = sub.add_parser('nickname', help='update the nickname for a profile')
+  p_nickname.add_argument('profile', help='iccid or 1-based index from `list`')
+  p_nickname.add_argument('name')
+
+  args = parser.parse_args()
+
+  lpa = HARDWARE.get_sim_lpa()
+  if args.cmd == 'switch':
+    lpa.switch_profile(resolve_iccid(lpa, args.profile))
+  elif args.cmd == 'delete':
+    iccid = resolve_iccid(lpa, args.profile)
+    confirm = input(f'are you sure you want to delete profile {iccid}? (y/N) ')
+    if confirm == 'y':
+      lpa.delete_profile(iccid)
+    else:
+      print('cancelled')
+      exit(0)
+  elif args.cmd == 'download':
+    lpa.download_profile(args.qr, args.name)
+  elif args.cmd == 'nickname':
+    lpa.nickname_profile(resolve_iccid(lpa, args.profile), args.name)
+  else:
+    if args.cmd is None:
+      parser.print_help()
+    print_profiles(lpa)
@@ -4,10 +4,8 @@ import atexit
 import base64
 import fcntl
 import hashlib
-import math
 import os
 import requests
-import serial
 import subprocess
 import sys
 import termios
@@ -20,7 +18,8 @@ from typing import Any
 from pathlib import Path

 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.base import LPABase, LPAError, Profile
+from openpilot.common.esim.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
+from openpilot.common.serial import Serial, SerialException

 GSMA_CI_BUNDLE = str(Path(__file__).parent / "gsma_ci_bundle.pem")

@@ -29,15 +28,13 @@ 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
 HTTP_TIMEOUT = 30
 OPEN_ISDR_RETRIES = 10
 OPEN_ISDR_RETRY_DELAY_S = 0.25
 OPEN_ISDR_RESET_ATTEMPT = 5
 SEND_APDU_RETRIES = 3
-LOCK_FILE = '/dev/shm/modem_lpa.lock'
+LOCK_FILE = '/dev/shm/modem.lock'
 DEBUG = os.environ.get("DEBUG") == "1"


@@ -97,7 +94,7 @@ BPP_ERROR_MESSAGES = {
  12: "Profile installation failed. The QR code may have already been used.",
 }

-# SGP.22 §5.2.6 — SM-DP+ reason/subject codes mapped to user-friendly messages
+# SGP.22 §5.2.6 SM-DP+ reason/subject codes mapped to user-friendly messages
 ES9P_ERROR_MESSAGES: dict[tuple[str, str], str] = {
  ('3.8', '8.2.6'): "This eSIM profile is already installed on another device. Please use a new QR code.",
  ('3.8', '8.2.1'): "This eSIM profile has expired. Please request a new QR code.",
@@ -136,8 +133,7 @@ class AtClient:
    self._device = device
    self._baud = baud
    self._timeout = timeout
-    self._serial: serial.Serial | None = None
-    self._use_dbus = not os.path.exists(device)
+    self._serial: Serial | None = None

  def send_raw(self, data: bytes) -> None:
    self._ensure_serial()
@@ -189,37 +185,14 @@ class AtClient:
        pass
      self._serial = None
    if self._serial is None:
-      self._serial = serial.Serial(self._device, baudrate=self._baud, timeout=self._timeout)
-
-  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 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 DEBUG:
-      for line in lines:
-        print(f"DBUS << {line}", file=sys.stderr)
-    return lines
+      self._serial = Serial(self._device, baudrate=self._baud, timeout=self._timeout)

  def query(self, cmd: str) -> list[str]:
-    if self._use_dbus:
-      return self._dbus_query(cmd)
    self._ensure_serial()
    try:
      self._send(cmd)
      return self._expect()
-    except serial.SerialException:
+    except SerialException:
      self._ensure_serial(reconnect=True)
      self._send(cmd)
      return self._expect()
@@ -232,10 +205,10 @@ class AtClient:
        pass
      self.channel = None
    # drain any unsolicited responses before opening
-    if self._serial and not self._use_dbus:
+    if self._serial:
      try:
        self._serial.reset_input_buffer()
-      except (OSError, serial.SerialException, termios.error):
+      except (OSError, SerialException, termios.error):
        self._ensure_serial(reconnect=True)
    for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
      if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
@@ -257,7 +230,7 @@ class AtClient:
      try:
        self._open_isdr_once()
        return
-      except (RuntimeError, TimeoutError, termios.error, serial.SerialException):
+      except (RuntimeError, TimeoutError, termios.error, SerialException):
        time.sleep(OPEN_ISDR_RETRY_DELAY_S)
        if attempt == OPEN_ISDR_RESET_ATTEMPT:
          self._reset_modem()
@@ -604,8 +577,9 @@ def load_bpp(client: AtClient, b64_bpp: str) -> dict:
  result = None
  for chunk in _split_bpp(bpp):
    response = es10x_command(client, chunk)
-    if response:
-      result = _parse_install_result(response) or result
+    if response and (parsed := _parse_install_result(response)):
+      result = parsed
+      break

  if result is None:
    raise RuntimeError("Profile installation failed: no result from eUICC")
@@ -716,22 +690,29 @@ class TiciLPA(LPABase):
    atexit.register(self._client.close)

  @contextmanager
-  def _acquire_channel(self):
+  def _acquire_lock(self):
    fd = os.open(LOCK_FILE, os.O_CREAT | os.O_RDWR)
    try:
      fcntl.flock(fd, fcntl.LOCK_EX)
-      self._client.open_isdr()
      yield
    finally:
-      if self._client.channel:
-        try:
-          self._client.query(f"AT+CCHC={self._client.channel}")
-        except (RuntimeError, TimeoutError):
-          pass
-        self._client.channel = None
      fcntl.flock(fd, fcntl.LOCK_UN)
      os.close(fd)

+  @contextmanager
+  def _acquire_channel(self):
+    with self._acquire_lock():
+      try:
+        self._client.open_isdr()
+        yield
+      finally:
+        if self._client.channel:
+          try:
+            self._client.query(f"AT+CCHC={self._client.channel}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+
  def list_profiles(self) -> list[Profile]:
    with self._acquire_channel():
      return [
@@ -754,7 +735,10 @@ class TiciLPA(LPABase):
      process_notifications(self._client)

  def delete_profile(self, iccid: str) -> None:
-    if self.is_comma_profile(iccid):
+    profile = next((p for p in self.list_profiles() if p.iccid == iccid), None)
+    if profile is None:
+      raise LPAProfileNotFoundError(f"profile not found: {iccid}")
+    if profile.is_comma:
      raise LPAError("refusing to delete a comma profile")
    with self._acquire_channel():
      request = encode_tlv(TAG_DELETE_PROFILE, encode_tlv(TAG_ICCID, string_to_tbcd(iccid)))
@@ -788,7 +772,20 @@ class TiciLPA(LPABase):
        code = self._enable_profile(iccid)
      if code not in (PROFILE_OK, PROFILE_NOT_IN_DISABLED_STATE):
        raise LPAError(f"EnableProfile failed: {PROFILE_ERROR_CODES.get(code, 'unknown')} (0x{code:02X})")
-    from openpilot.system.hardware import HARDWARE
-    if HARDWARE.get_device_type() == "mici":
-      self._client.send_raw(b'AT+CFUN=0\rAT+CFUN=1\r')  # mici has no SIM presence pin; raw because CFUN=0 drops serial
-      self._client._ensure_serial(reconnect=True)
+
+  def is_euicc(self) -> bool:
+    # +CCHO:<n> -> ISD-R applet present, eUICC. Any error -> non-eUICC.
+    with self._acquire_lock():
+      try:
+        lines = self._client.query(f'AT+CCHO="{ISDR_AID}"')
+      except RuntimeError:
+        return False
+      for line in lines:
+        if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+          try:
+            self._client.query(f"AT+CCHC={ch}")
+          except (RuntimeError, TimeoutError):
+            pass
+          self._client.channel = None
+          return True
+      return False
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+import io
+import sys
+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 _chunk_paths(path, num_chunks):
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+def get_chunk_targets(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return _chunk_paths(path, num_chunks)
+
+def chunk_file(path, targets):
+  manifest_path, *chunk_paths = targets
+  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / 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}"
+  with open(path, 'rb') as f:
+    for chunk_path in chunk_paths:
+      with open(chunk_path, 'wb') as out:
+        out.write(f.read(CHUNK_SIZE))
+  Path(manifest_path).write_text(str(len(chunk_paths)))
+  os.remove(path)
+
+def get_existing_chunks(path):
+  if os.path.isfile(path):
+    return [path]
+  if os.path.isfile(manifest := get_manifest_path(path)):
+    num_chunks = int(Path(manifest).read_text().strip())
+    return _chunk_paths(path, num_chunks)
+  raise FileNotFoundError(path)
+
+class ChunkStream(io.RawIOBase):
+  def __init__(self, paths):
+    self._paths = iter(paths)
+    self._buf = memoryview(b'')
+
+  def readable(self):
+    return True
+
+  def readinto(self, b):
+    n = 0
+    while n < len(b):
+      if not self._buf:
+        p = next(self._paths, None)
+        if p is None:
+          break
+        with open(p, 'rb') as f:
+          self._buf = memoryview(f.read())
+        continue
+      take = min(len(b) - n, len(self._buf))
+      b[n:n + take] = self._buf[:take]
+      self._buf = self._buf[take:]
+      n += take
+    return n
+
+def open_file_chunked(path):
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+  elif os.path.isfile(path):
+    paths = [path]
+  else:
+    raise FileNotFoundError(path)
+  return io.BufferedReader(ChunkStream(paths))
+
+
+if __name__ == "__main__":
+  path = sys.argv[1]
+  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
+  chunk_file(path, chunk_paths)
@@ -1,9 +1,9 @@
 import os
 from typing import cast

-from openpilot.system.hardware.base import HardwareBase
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.pc.hardware import Pc
+from openpilot.common.hardware.base import HardwareBase
+from openpilot.common.hardware.tici.hardware import Tici
+from openpilot.common.hardware.pc.hardware import Pc

 TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')
@@ -5,15 +5,13 @@
 #include <map>
 #include <string>

-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"

 // no-op base hw class
 class HardwareNone {
 public:
  static std::string get_name() { return ""; }
  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
-  static int get_voltage() { return 0; }
-  static int get_current() { return 0; }

  static std::string get_serial() { return "cccccc"; }

@@ -24,6 +22,4 @@ public:
  static void set_ir_power(int percentage) {}

  static bool PC() { return false; }
-  static bool TICI() { return false; }
-  static bool AGNOS() { return false; }
 };
@@ -2,24 +2,12 @@ import os
 from abc import abstractmethod, ABC
 from dataclasses import dataclass, fields

-from cereal import log
+from openpilot.cereal import log
+from openpilot.common.esim.base import LPABase

 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:
  # a zone from /sys/class/thermal/thermal_zone*
@@ -66,37 +54,6 @@ 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 process_notifications(self) -> 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]:
@@ -128,7 +85,7 @@ class HardwareBase(ABC):
  def get_device_type(self):
    pass

-  def get_imei(self, slot) -> str:
+  def get_imei(self) -> str:
    return ""

  def get_serial(self):
@@ -185,27 +142,12 @@ class HardwareBase(ABC):
  def get_gpu_usage_percent(self):
    return 0

-  def get_modem_version(self):
-    return None
-
  def get_modem_temperatures(self):
    return []

  def initialize_hardware(self):
    pass

-  def configure_modem(self):
-    pass
-
-  def reboot_modem(self):
-    pass
-
-  def get_networks(self):
-    return None
-
-  def has_internal_panda(self) -> bool:
-    return False
-
  def reset_internal_panda(self):
    pass

@@ -215,11 +157,5 @@ 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
@@ -2,14 +2,14 @@

 #include <string>

-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 #include "common/util.h"

 #if __TICI__
-#include "system/hardware/tici/hardware.h"
+#include "common/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
-#include "system/hardware/pc/hardware.h"
+#include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC
 #endif

@@ -2,7 +2,7 @@ import os
 import platform
 from pathlib import Path

-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC

 DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"

@@ -2,13 +2,11 @@

 #include <string>

-#include "system/hardware/base.h"
+#include "common/hardware/base.h"

 class HardwarePC : public HardwareNone {
 public:
  static std::string get_name() { return "pc"; }
  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
  static bool PC() { return true; }
-  static bool TICI() { return util::getenv("TICI", 0) == 1; }
-  static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
 };
@@ -0,0 +1,10 @@
+from openpilot.cereal import log
+from openpilot.common.hardware.base import HardwareBase
+
+class Pc(HardwareBase):
+  def get_device_type(self):
+    return "pc"
+
+  def get_network_type(self):
+    # some stuff is gated on wifi, so just assume for now
+    return log.DeviceState.NetworkType.wifi
--- a/Show More
+++ b/Show More