diff --git a/.gitattributes b/.gitattributes index 1cf541aa3a..5cb404146d 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11,4 +11,4 @@ *.wav 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 +openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md deleted file mode 100644 index b986273097..0000000000 --- a/.github/pull_request_template.md +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - diff --git a/.github/workflows/diff_report.yaml b/.github/workflows/diff_report.yaml index 0f706ea2ed..202bc0ec79 100644 --- a/.github/workflows/diff_report.yaml +++ b/.github/workflows/diff_report.yaml @@ -40,6 +40,7 @@ jobs: echo "run-id=$run_id" >> "$GITHUB_OUTPUT" - name: Download diff if: steps.wait.outcome == 'success' + continue-on-error: true uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c with: github-token: ${{ secrets.GITHUB_TOKEN }} @@ -48,7 +49,7 @@ jobs: name: diff_report_${{ github.event.number }} path: . - name: Comment on PR - if: steps.wait.outcome == 'success' + if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != '' uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b with: file-path: diff_report.txt diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 0af94ba0da..5c1a8f4dde 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -15,6 +15,11 @@ concurrency: group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} cancel-in-progress: true +env: + GIT_CONFIG_COUNT: 1 + GIT_CONFIG_KEY_0: lfs.fetchexclude + GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx + jobs: docs: name: build docs @@ -30,8 +35,7 @@ jobs: - name: Build docs run: | git lfs pull - pip install zensical - python scripts/docs.py build + python docs/serve.py --build # Push to docs.comma.ai - uses: actions/checkout@v7 @@ -52,7 +56,7 @@ jobs: git rm -rf . # copy over docs - cp -r ../docs_site/ docs/ + cp -r ../docs/_site/ docs/ # GitHub pages config touch docs/.nojekyll diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml deleted file mode 100644 index 82c732dc3b..0000000000 --- a/.github/workflows/model_review.yaml +++ /dev/null @@ -1,42 +0,0 @@ -name: "model review" - -on: - pull_request: - types: [opened, reopened, synchronize] - paths: - - 'openpilot/selfdrive/modeld/models/*.onnx' - workflow_dispatch: - -jobs: - comment: - permissions: - contents: read - pull-requests: write - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - steps: - - name: Checkout - uses: actions/checkout@v7 - with: - submodules: true - - name: Checkout master - uses: actions/checkout@v7 - with: - ref: master - path: base - - run: git lfs pull - - run: cd base && git lfs pull - - - name: scripts/reporter.py - id: report - run: | - echo "content<> $GITHUB_OUTPUT - echo "## Model Review" >> $GITHUB_OUTPUT - PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT - echo "EOF" >> $GITHUB_OUTPUT - - - name: Post model report comment - uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0 - with: - header: model-review - message: ${{ steps.report.outputs.content }} \ No newline at end of file diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 56aa126684..2240713bcb 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -4,6 +4,11 @@ on: - cron: '0 9 * * *' workflow_dispatch: +env: + GIT_CONFIG_COUNT: 1 + GIT_CONFIG_KEY_0: lfs.fetchexclude + GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx + jobs: build___nightly: name: build __nightly diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 87556b4011..731300512b 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -9,6 +9,9 @@ on: env: PYTHONPATH: ${{ github.workspace }} + GIT_CONFIG_COUNT: 1 + GIT_CONFIG_KEY_0: lfs.fetchexclude + GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx jobs: package_updates: @@ -81,7 +84,7 @@ jobs: labels: bot cleanup_closed_branches: - if: github.repository == 'commaai/openpilot' + if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request' runs-on: ubuntu-latest permissions: contents: write diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index 621aa123c5..b2e4096960 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -20,7 +20,9 @@ concurrency: env: CI: 1 PYTHONPATH: ${{ github.workspace }} - PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical + GIT_CONFIG_COUNT: 1 + GIT_CONFIG_KEY_0: lfs.fetchexclude + GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx jobs: build_release: @@ -125,10 +127,7 @@ jobs: timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }} env: RAYLIB_BACKEND: headless - run: | - # 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' + run: tools/op.sh test process_replay: name: process replay @@ -193,12 +192,6 @@ jobs: 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: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py simulator_driving: name: simulator driving @@ -219,7 +212,7 @@ jobs: env: # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe EGL_PLATFORM: surfaceless - run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py + run: python openpilot/tools/sim/tests/test_metadrive_bridge.py create_ui_report: name: Create UI Report diff --git a/.gitignore b/.gitignore index a033f70507..9dee0af9af 100644 --- a/.gitignore +++ b/.gitignore @@ -15,7 +15,7 @@ a.out .cache/ bin/ -# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml) +# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml) /msgq /opendbc /rednose @@ -39,6 +39,8 @@ bin/ *.os-* *.so *.a +st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z] +*.unchunked *.clb *.class *.pyxbldc @@ -54,7 +56,7 @@ compare_runtime*.html openpilot/selfdrive/modeld/models/tg_input_devices.json # build artifacts -docs_site/ +docs/_site/ openpilot/selfdrive/pandad/pandad openpilot/cereal/services.h openpilot/cereal/gen diff --git a/Jenkinsfile b/Jenkinsfile index d57e9502aa..db18d13ddd 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -30,14 +30,14 @@ export GIT_COMMIT=${env.GIT_COMMIT} export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN} export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN} export AZURE_TOKEN='${env.AZURE_TOKEN}' -# only use 1 thread for tici tests since most require HIL +# only use 1 thread since most require real hardware that can't be shared export PYTEST_ADDOPTS="-n0 -s" export GIT_SSH_COMMAND="ssh -i /data/gitkey" source ~/.bash_profile -if [ -f /TICI ]; then +if [ -f /AGNOS ]; then source /etc/profile rm -rf /tmp/tmp* @@ -206,35 +206,35 @@ node { deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [ 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]), + step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]), ]) }, 'HW + Unit Tests': { deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [ 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"), + step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"), + step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]), + step("test manager", "./openpilot/system/manager/test/test_manager.py"), ]) }, 'camerad OX03C10': { deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [ 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]), + step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"), + step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]), ]) }, 'camerad OS04C10': { deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [ 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]), + step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"), + step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]), ]) }, 'sensord': { deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [ step("build", "cd openpilot/system/manager && ./build.py"), - step("test sensord", "pytest openpilot/system/sensord/tests/test_sensord.py"), + step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"), ]) }, 'replay': { @@ -246,9 +246,9 @@ node { 'tizi': { deviceStage("tizi", "tizi", ["UNSAFE=1"], [ 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"), + step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"), + step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"), + step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"), ]) }, diff --git a/RELEASES.md b/RELEASES.md index 770a7c40fe..36ddadb431 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,14 @@ -Version 0.11.2 (2026-06-15) -======================== - +Version 0.11.2 (2026-08-12) +======================= +* New driving model + * Big model with 880M parameters +* Support for big models running on an external GPU +* Live stream cameras from comma connect +* Generate dashcam clips from comma connect +* Remote comma body control from comma connect +* New alert sounds +* CUPRA Born 2021-2023 support thanks to DaHansi! +* Volkswagen ID.4 2021-2025 support thanks to DaHansi! Version 0.11.1 (2026-05-18) ======================== diff --git a/SConstruct b/SConstruct index 8cf191daab..4e9dedd947 100644 --- a/SConstruct +++ b/SConstruct @@ -10,7 +10,7 @@ import numpy as np import SCons.Errors from SCons.Defaults import _stripixes -TICI = os.path.isfile('/TICI') +COMMA_HARDWARE = os.path.isfile('/AGNOS') SCons.Warnings.warningAsException(True) @@ -24,7 +24,7 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r AddOption('--minimal', action='store_false', dest='extras', - default=(not TICI and not release), + default=(not COMMA_HARDWARE and not release), help='the minimum build to run openpilot. no tests, tools, etc.') submodule_python_paths = [ @@ -46,22 +46,22 @@ if external_pythonpath := os.environ.get("PYTHONPATH"): arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() if platform.system() == "Darwin": arch = "Darwin" -elif arch == "aarch64" and TICI: - arch = "larch64" +elif arch == "aarch64" and COMMA_HARDWARE: + arch = "comma_arm64" assert arch in [ - "larch64", # linux tici arm64 - "aarch64", # linux pc arm64 - "x86_64", # linux pc x64 - "Darwin", # macOS arm64 (x86 not supported) + "comma_arm64", # linux comma hardware (AGNOS) arm64 + "aarch64", # linux pc arm64 + "x86_64", # linux pc x64 + "Darwin", # macOS arm64 (x86 not supported) ] -pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd'] +pkg_names = ['acados', 'capnproto', '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. +# COMMA_HARDWARE 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( @@ -129,10 +129,11 @@ env = Environment( CCFLAGS=[ "-g", "-fPIC", + "-pipe", "-O2", "-Wunused", "-Werror", - "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local", + "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local", "-Wno-unknown-warning-option", "-Wno-inconsistent-missing-override", "-Wno-c99-designator", @@ -164,24 +165,24 @@ env = Environment( COMPILATIONDB_USE_ABSPATH=True, REDNOSE_ROOT="#rednose_repo", tools=["default", "cython", "compilation_db", "rednose_filter"], - toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"], + toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"], ) # SCons' Darwin linker tool doesn't define the variables used to expand RPATH. if arch == "Darwin": env["RPATHPREFIX"] = "-Wl,-rpath," env["RPATHSUFFIX"] = "" env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}" -if arch != "larch64": +if arch != "comma_arm64": env['_LIBFLAGS'] = _libflags # Arch-specific flags and paths -if arch == "larch64": +if arch == "comma_arm64": env["CC"] = "clang" env["CXX"] = "clang++" env.Append(LIBPATH=[ "/usr/lib/aarch64-linux-gnu", ]) - arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"] + arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"] env.Append(CCFLAGS=arch_flags) env.Append(CXXFLAGS=arch_flags) elif arch == "Darwin": @@ -233,7 +234,7 @@ Export('envCython', 'np_version') Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs') # Setup cache dir -default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache' +default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" 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) @@ -280,7 +281,7 @@ SConscript([ 'openpilot/system/loggerd/SConscript', ]) -if arch == "larch64": +if arch == "comma_arm64": SConscript(['openpilot/system/camerad/SConscript']) # Build selfdrive @@ -295,7 +296,7 @@ SConscript([ SConscript(['openpilot/sunnypilot/SConscript']) # Build desktop-only tools -if GetOption('extras') and arch != "larch64": +if GetOption('extras') and arch != "comma_arm64": SConscript([ 'openpilot/tools/replay/SConscript', 'openpilot/tools/cabana/SConscript', diff --git a/conftest.py b/conftest.py deleted file mode 100644 index d7bc7a6bf1..0000000000 --- a/conftest.py +++ /dev/null @@ -1,99 +0,0 @@ -import contextlib -import gc -import os -import pytest - -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.system.manager import manager -from openpilot.common.hardware import TICI, HARDWARE - -# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml -collect_ignore = [ - "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", -] - - -def pytest_sessionstart(session): - # TODO: fix tests and enable test order randomization - if session.config.pluginmanager.hasplugin('randomly'): - session.config.option.randomly_reorganize = False - - -@pytest.hookimpl(hookwrapper=True, trylast=True) -def pytest_runtest_call(item): - # ensure we run as a hook after capturemanager's - if item.get_closest_marker("nocapture") is not None: - capmanager = item.config.pluginmanager.getplugin("capturemanager") - with capmanager.global_and_fixture_disabled(): - yield - else: - yield - - -@contextlib.contextmanager -def clean_env(): - starting_env = dict(os.environ) - yield - os.environ.clear() - os.environ.update(starting_env) - - -@pytest.fixture(scope="function", autouse=True) -def openpilot_function_fixture(request): - with clean_env(): - # setup a clean environment for each test - with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: - prefix = os.environ["OPENPILOT_PREFIX"] - - yield - - # ensure the test doesn't change the prefix - assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"] - - # cleanup any started processes - manager.manager_cleanup() - - # some processes disable gc for performance, re-enable here - if not gc.isenabled(): - gc.enable() - gc.collect() - -# If you use setUpClass, the environment variables won't be cleared properly, -# so we need to hook both the function and class pytest fixtures -@pytest.fixture(scope="class", autouse=True) -def openpilot_class_fixture(): - with clean_env(): - yield - - -@pytest.fixture(scope="function") -def tici_setup_fixture(request, openpilot_function_fixture): - """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first.""" - if 'skip_tici_setup' in request.keywords: - return - HARDWARE.initialize_hardware() - HARDWARE.set_power_save(False) - os.system("pkill -9 -f athena") - - -@pytest.hookimpl(tryfirst=True) -def pytest_collection_modifyitems(config, items): - skipper = pytest.mark.skip(reason="Skipping tici test on PC") - for item in items: - if "tici" in item.keywords: - if not TICI: - item.add_marker(skipper) - else: - item.fixturenames.append('tici_setup_fixture') - - if "xdist_group_class_property" in item.keywords: - 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)) diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md index 0c011ee22b..dd8d569821 100644 --- a/docs/CONTRIBUTING.md +++ b/docs/CONTRIBUTING.md @@ -61,7 +61,7 @@ A good pull request has all of the following: * Report bugs in GitHub issues. * Report driving issues in the `#driving-feedback` Discord channel. -* Consider opting into driver camera uploads to improve the driver monitoring model. +* Consider opting into cabin camera uploads to improve the driver monitoring model. * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models. * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release. * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k). diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md deleted file mode 100644 index e803a3fb8a..0000000000 --- a/docs/DEVELOPMENT.md +++ /dev/null @@ -1,24 +0,0 @@ -# Docs development - -The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai). -The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml). - -Those commands must be run in the root directory of openpilot, **not /docs** - -**1. Install the docs dependencies** -``` bash -uv pip install .[docs] -``` - -**2. Build the new site** -``` bash -docs build -``` - -**3. Run the new site locally** -``` bash -docs serve -``` - -References: -* https://zensical.org/docs/ diff --git a/docs/LIMITATIONS.md b/docs/LIMITATIONS.md index 8c112659c2..5f9b7517bd 100644 --- a/docs/LIMITATIONS.md +++ b/docs/LIMITATIONS.md @@ -52,7 +52,7 @@ Many factors can impact the performance of openpilot DM, causing it to be unable * Low light conditions, such as driving at night or in dark tunnels. * Bright light (due to oncoming headlights, direct sunlight, etc.). -* The driver's face is partially or completely outside field of view of the driver facing camera. -* The driver facing camera is obstructed, covered, or damaged. +* The driver's face is partially or completely outside field of view of the cabin camera. +* The cabin camera is obstructed, covered, or damaged. The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention. diff --git a/docs/README.md b/docs/README.md new file mode 100644 index 0000000000..d6a0126b39 --- /dev/null +++ b/docs/README.md @@ -0,0 +1,14 @@ +# Docs development + +The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai). +The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml). + +**1. Build the site** +``` bash +python docs/serve.py --build +``` + +**2. Run the site locally** (rebuilds on change) +``` bash +python docs/serve.py +``` diff --git a/docs/assets/comma-logo.png b/docs/assets/comma-logo.png index 2838d92bfb..19b67d0739 120000 --- a/docs/assets/comma-logo.png +++ b/docs/assets/comma-logo.png @@ -1 +1 @@ -../../selfdrive/assets/icons_mici/settings/comma_icon.png \ No newline at end of file +../../openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png \ No newline at end of file diff --git a/docs/assets/favicon.svg b/docs/assets/favicon.svg new file mode 100644 index 0000000000..304454837a --- /dev/null +++ b/docs/assets/favicon.svg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e019ed5af500e8820d05934d47e0380728e1b30e01a179f786dc4edb1eccbd7 +size 349 diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md deleted file mode 100644 index 4f4dd54756..0000000000 --- a/docs/concepts/glossary.md +++ /dev/null @@ -1,3 +0,0 @@ -# openpilot glossary - -{{GLOSSARY_DEFINITIONS}} diff --git a/docs/concepts/logs.md b/docs/concepts/logs.md index dd954d4c76..a1e655935d 100644 --- a/docs/concepts/logs.md +++ b/docs/concepts/logs.md @@ -10,13 +10,13 @@ For each segment, openpilot records the following log types: 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 +## camera video files Each camera stream is H.265 encoded and written to its respective file. -* `fcamera.hevc` is the road camera +* `fcamera.hevc` is the narrow road camera (the main forward camera) * `ecamera.hevc` is the wide road camera -* `dcamera.hevc` is the driver camera +* `dcamera.hevc` is the cabin camera ## qlog.zst & qcamera.ts diff --git a/docs/contributing/feedback.md b/docs/contributing/feedback.md index 335d24e13a..587816d140 100644 --- a/docs/contributing/feedback.md +++ b/docs/contributing/feedback.md @@ -21,14 +21,14 @@ In general, driver monitoring feedback is very actionable, and we can fix your c To post your feedback: 1. Join the [community Discord](https://discord.comma.ai). -2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue. -3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera. +2. If cabin camera recording is toggled off, temporarily enable cabin camera recording in the settings until you reproduce the issue. +3. Using comma connect, identify the relevant segment and upload the segment's logs and cabin camera. 4. Post the segment in the `#openpilot-experience` channel on Discord with a good description. Before posting feedback, please ensure: - **openpilot is up to date** you should be on the latest openpilot release or nightly -- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc. +- **the cabin camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc. - **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield ## Other bugs diff --git a/docs/ext/glossary.py b/docs/ext/glossary.py deleted file mode 100644 index 9bbf3c78d7..0000000000 --- a/docs/ext/glossary.py +++ /dev/null @@ -1,216 +0,0 @@ -import posixpath -import re -import tomllib -import xml.etree.ElementTree as ET -from pathlib import Path - -from markdown.extensions import Extension -from markdown.preprocessors import Preprocessor -from markdown.treeprocessors import Treeprocessor - -from zensical.extensions.links import LinksTreeprocessor - -GlossaryTerm = tuple[str, re.Pattern[str], str] - -GLOSSARY_FILE = Path(__file__).with_name("glossary.toml") -GLOSSARY_PAGE = "concepts/glossary.md" -GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}" - -SKIP_TAGS = { - "a", - "code", - "h1", - "h2", - "h3", - "h4", - "h5", - "h6", - "kbd", - "pre", - "script", - "style", -} - -def clean_tooltip(description: str) -> str: - text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description) - text = re.sub(r"`([^`]+)`", r"\1", text) - text = re.sub(r"[*_~]", "", text) - return re.sub(r"\s+", " ", text).strip() - - -def load_glossary() -> tuple[list[GlossaryTerm], str]: - with GLOSSARY_FILE.open("rb") as f: - glossary_data = tomllib.load(f).get("glossary", {}) - - glossary: list[GlossaryTerm] = [] - rendered = [] - for key, value in glossary_data.items(): - label = str(key).strip().replace("_", " ") - description = str(value).strip() - if not description: - continue - - slug = label.replace(" ", "-").replace("_", "-").lower() - glossary.append((slug, re.compile(rf"(?**{label}**: {description}') - - return glossary, "\n".join(rendered) - - -class GlossaryPreprocessor(Preprocessor): - def __init__(self, md, glossary: str): - super().__init__(md) - self.glossary = glossary - - def run(self, lines: list[str]) -> list[str]: - markdown = "\n".join(lines) - if GLOSSARY_PLACEHOLDER not in markdown: - return lines - return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines() - - -class GlossaryTreeprocessor(Treeprocessor): - def __init__(self, md, glossary: list[GlossaryTerm]): - super().__init__(md) - self.glossary = glossary - self.seen: set[str] = set() - - 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, LinksTreeprocessor): - raise TypeError("Links processor not registered") - if processor.path == GLOSSARY_PAGE: - return - - self.seen.clear() - glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#" - self._walk(root, glossary_href) - - def _walk(self, element: ET.Element, glossary_href: str) -> None: - if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None: - return - - self._replace(element, glossary_href) - - idx = 0 - while idx < len(element): - child = element[idx] - self._walk(child, glossary_href) - idx = self._replace(element, glossary_href, idx) + 1 - - def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int: - child = None if index is None else parent[index] - text = parent.text if child is None else child.tail - pieces = self._pieces(text or "", glossary_href) - if not pieces: - return -1 if index is None else index - - if child is None: - parent.text = pieces[0] if isinstance(pieces[0], str) else "" - # Insert replacements for parent.text before the first existing child. - insert_at = -1 - else: - assert index is not None - child.tail = pieces[0] if isinstance(pieces[0], str) else "" - insert_at = index - - start = 1 if isinstance(pieces[0], str) else 0 - previous = child - - for piece in pieces[start:]: - if isinstance(piece, str): - previous.tail = (previous.tail or "") + piece - continue - - insert_at += 1 - parent.insert(insert_at, piece) - previous = piece - - return insert_at - - def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]: - if not text.strip(): - return [] - - pieces: list[str | ET.Element] = [] - cursor = 0 - - while True: - best = None - for slug, pattern, tooltip in self.glossary: - if slug in self.seen: - continue - - found = pattern.search(text, cursor) - if found is None: - continue - - candidate = (slug, tooltip, found.start(), found.end()) - if best is None: - best = candidate - continue - - _, _, best_start, best_end = best - _, _, current_start, current_end = candidate - if current_start < best_start: - best = candidate - continue - - if current_start == best_start and current_end - current_start > best_end - best_start: - best = candidate - - if best is None: - break - - slug, tooltip, start, end = best - if start > cursor: - pieces.append(text[cursor:start]) - - link = ET.Element( - "a", - { - "class": "glossary-term", - "data-glossary-term": "", - "href": f"{glossary_href}{slug}", - }, - ) - ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end] - ET.SubElement( - link, - "span", - { - "class": "glossary-term__tooltip", - "data-search-exclude": "", - }, - ).text = tooltip - pieces.append(link) - self.seen.add(slug) - cursor = end - - if not pieces: - return [] - if cursor < len(text): - pieces.append(text[cursor:]) - return pieces - - -class GlossaryExtension(Extension): - def extendMarkdown(self, md) -> None: - md.registerExtension(self) - glossary, rendered = load_glossary() - - md.preprocessors.register( - GlossaryPreprocessor(md, rendered), - "docs-ext-glossary-preprocessor", - 27, - ) - md.treeprocessors.register( - GlossaryTreeprocessor(md, glossary), - "docs-ext-glossary-treeprocessor", - 0, - ) - - -def makeExtension(**kwargs) -> GlossaryExtension: - return GlossaryExtension(**kwargs) diff --git a/docs/ext/glossary.toml b/docs/ext/glossary.toml deleted file mode 100644 index 62408d9ddd..0000000000 --- a/docs/ext/glossary.toml +++ /dev/null @@ -1,8 +0,0 @@ -[glossary] -onroad = "openpilot's system state while ignition is on." -offroad = "openpilot's system state while ignition is off." -route = "A route is a recording of an onroad session." -segment = "Routes are split into one minute chunks called segments." -"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)." -panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)." -"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)." diff --git a/docs/serve.py b/docs/serve.py new file mode 100644 index 0000000000..5cfff33dec --- /dev/null +++ b/docs/serve.py @@ -0,0 +1,555 @@ +import argparse +import functools +import html +import http.server +import json +import posixpath +import re +import shutil +import threading +import time +import urllib.parse +from pathlib import Path + +DOCS_DIR = Path(__file__).resolve().parent +SITE_DIR = DOCS_DIR / "_site" +TEMPLATE_FILE = DOCS_DIR / "template.html" +EXCLUDE_DIRS = {"_site", "__pycache__"} + +REPO_URL = "https://github.com/commaai/openpilot/" + +# (title, target) pairs. target is a page path or an absolute URL. +# A None target marks a section header. +NAV: list[tuple[str, str | None]] = [ + ("What is openpilot?", "index.md"), + ("How-to", None), + ("Turn the speed blue", "how-to/turn-the-speed-blue.md"), + ("Connect to a comma 3X or four", "how-to/connect-to-comma.md"), + ("Add support for a car", "how-to/car-port.md"), + ("Concepts", None), + ("Logs", "concepts/logs.md"), + ("Safety", "concepts/safety.md"), + ("Glossary", "concepts/glossary.md"), + ("Contributing", None), + ("Feedback", "contributing/feedback.md"), + ("Roadmap", "contributing/roadmap.md"), + ("Contributing Guide →", "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"), + ("Links", None), + ("Blog →", "https://blog.comma.ai"), + ("Bounties →", "https://comma.ai/bounties"), + ("GitHub →", "https://github.com/commaai"), + ("Discord →", "https://discord.comma.ai"), + ("X →", "https://x.com/comma_ai"), +] + +GLOSSARY_DESCRIPTIONS = { + "onroad": "openpilot's system state while ignition is on.", + "offroad": "openpilot's system state while ignition is off.", + "route": "A route is a recording of an onroad session.", + "segment": "Routes are split into one minute chunks called segments.", + "comma connect": "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).", + "panda": "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).", + "comma four": "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).", +} +GLOSSARY_PAGE = "concepts/glossary.md" +GLOSSARY_ROUTE = GLOSSARY_PAGE.removesuffix(".md") +GLOSSARY_SKIP = frozenset("a code h1 h2 h3 h4 h5 h6 kbd pre script style".split()) + +_ENTITY = re.compile(r"&(?:#x?[0-9a-fA-F]+|[a-zA-Z]+);") +_LIST = re.compile(r"^(\s*)([*+-]|\d+\.)\s+(.*)$") +_HEADING = re.compile(r"^(#{1,6})\s+(.*)$") +_HR = re.compile(r"^(-{3,}|\*{3,}|_{3,})$") +_ATTR_URL = re.compile(r"""(?P
\b(?:href|src)=(?P["']))(?P.*?)(?P=q)""")
+_VOID = frozenset("br img hr meta link input".split())
+_URL = re.compile(r"https?://[^\s<>\[\]\"']+")
+_ADMONITION = re.compile(r"^\[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]$", re.I)
+
+
+def page_route(path: str) -> str:
+  path = path.removesuffix(".md")
+  return posixpath.dirname(path) or "." if posixpath.basename(path) == "index" else path
+
+
+def page_href(current: str, target: str) -> str:
+  route = posixpath.relpath(page_route(target), page_route(current))
+  return ("." if route == "." else route) + "/"
+
+
+def rewrite_relative_url(value: str, page: str) -> str | None:
+  url = urllib.parse.urlparse(value)
+  if value.startswith(("#", "/")) or url.scheme or url.netloc or not url.path:
+    return None
+  target = posixpath.normpath(posixpath.join(posixpath.dirname(page), url.path))
+  if target == ".." or target.startswith("../"):
+    return None
+  path = page_href(page, target) if target.endswith(".md") else posixpath.relpath(target, page_route(page))
+  return url._replace(path=path).geturl()
+
+
+def rewrite_html_urls(fragment: str, page: str) -> str:
+  def repl(m: re.Match[str]) -> str:
+    r = rewrite_relative_url(m.group("url"), page)
+    return m.group(0) if r is None else f'{m.group("pre")}{r}{m.group("q")}'
+
+  return _ATTR_URL.sub(repl, fragment)
+
+
+def esc(text: str, attr: bool = False) -> str:
+  held: list[str] = []
+
+  def hold(m: re.Match[str]) -> str:
+    held.append(m.group(0))
+    return f"\0{len(held) - 1}\0"
+
+  return re.sub(r"\0(\d+)\0", lambda m: held[int(m.group(1))], html.escape(_ENTITY.sub(hold, text), quote=attr))
+
+
+def clean_tooltip(description: str) -> str:
+  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
+  return re.sub(r"\s+", " ", re.sub(r"[*_~]", "", re.sub(r"`([^`]+)`", r"\1", text))).strip()
+
+
+def glossary_slug(label: str) -> str:
+  return label.replace(" ", "-").replace("_", "-").lower()
+
+
+GLOSSARY_TERMS = [(glossary_slug(l), re.compile(rf"(?**{l}**: {d}' for l, d in GLOSSARY_DESCRIPTIONS.items())
+
+
+def inject_glossary(body: str, page: str) -> str:
+  if page == GLOSSARY_PAGE:
+    return body
+  route = "." if page == "index.md" else page.removesuffix(".md")
+  base, seen, out, skip, depth = f"{posixpath.relpath(GLOSSARY_ROUTE, route)}/#", set(), [], None, 0
+  for part in re.split(r"(<[^>]+>)", body):
+    if not part:
+      continue
+    if part.startswith("<"):
+      out.append(part)
+      if part.startswith("") or tag in _VOID
+      if closing and skip == tag and depth:
+        depth -= 1
+        skip = None if not depth else skip
+      elif not closing and not void:
+        skip, depth = (tag, 1) if skip is None else (skip, depth + (skip == tag))
+      continue
+    if depth:
+      out.append(part)
+      continue
+    cur, text = 0, part
+    while True:
+      best = None
+      for order, (slug, pat, tip) in enumerate(GLOSSARY_TERMS):
+        if slug in seen or (found := pat.search(text, cur)) is None:
+          continue
+        cand = (found.start(), found.start() - found.end(), order, slug, tip, found.end(), found.group(0))
+        if best is None or cand[:3] < best[:3]:
+          best = cand
+      if best is None:
+        out.append(text[cur:])
+        break
+      start, _, _, slug, tip, end, matched = best
+      out.append(text[cur:start])
+      out.append(
+        f''
+        + f'{matched}'
+        + f'{esc(tip)}'
+      )
+      seen.add(slug)
+      cur = end
+  return "".join(out)
+
+
+def slugify(text: str) -> str:
+  text = html.unescape(re.sub(r"<[^>]+>", "", text)).lower()
+  return re.sub(r"[-\s]+", "-", re.sub(r"[^\w\s-]", "", text, flags=re.UNICODE)).strip("-")
+
+
+def _parse_link(text: str, start: int) -> tuple[str, str, int] | None:
+  if start >= len(text) or text[start] != "[":
+    return None
+  depth, i = 0, start
+  while i < len(text):
+    depth += (text[i] == "[") - (text[i] == "]")
+    if text[i] == "]" and depth == 0:
+      label = text[start + 1 : i]
+      if i + 1 >= len(text) or text[i + 1] != "(":
+        return None
+      j, dp = i + 2, 1
+      while j < len(text) and dp:
+        dp += (text[j] == "(") - (text[j] == ")")
+        j += 1
+      return None if dp else (label, text[i + 2 : j - 1], j)
+    i += 1
+  return None
+
+
+def autolink_plain(text: str) -> str:
+  parts: list[str] = []
+  last = 0
+  for m in _URL.finditer(text):
+    start = m.start()
+    if start > 0 and text[start - 1].isalnum():
+      continue
+    parts.append(esc(text[last:start]))
+    url = m.group(0).rstrip(".,;:!?)]")
+    parts.append(f'{esc(url)}')
+    last = start + len(url)
+  parts.append(esc(text[last:]))
+  return "".join(parts)
+
+
+def render_inline(text: str, page: str) -> str:
+  out, i, n = [], 0, len(text)
+  while i < n:
+    if text[i] == "\n" and i >= 2 and text[i - 2 : i] == "  " and out and out[-1].endswith("  "):
+      out[-1] = out[-1][:-2]
+      out.append("
\n")
+      i += 1
+      continue
+    if text[i] == "`" and (end := text.find("`", i + 1)) != -1:
+      out.append(f"{esc(text[i + 1 : end])}")
+      i = end + 1
+      continue
+    if text[i] == "!" and i + 1 < n and text[i + 1] == "[" and (p := _parse_link(text, i + 1)):
+      label, url, end = p
+      src = rewrite_relative_url(url, page) or url
+      out.append(f'{esc(label, True)}')
+      i = end
+      continue
+    if text[i] == "[" and (p := _parse_link(text, i)):
+      label, url, end = p
+      href = rewrite_relative_url(url, page) or url
+      out.append(f'{render_inline(label, page)}')
+      i = end
+      continue
+    if text[i] == "<":
+      if text.startswith("", i + 4)
+        end = n if end < 0 else end + 3
+        out.append(rewrite_html_urls(text[i:end], page))
+        i = end
+        continue
+      if m := re.match(r"<[^>]+>", text[i:]):
+        out.append(rewrite_html_urls(m.group(0), page))
+        i += len(m.group(0))
+        continue
+    if (text.startswith("**", i) or text.startswith("__", i)) and (end := text.find(text[i : i + 2], i + 2)) != -1:
+      out.append(f"{render_inline(text[i + 2 : end], page)}")
+      i = end + 2
+      continue
+    if text[i] in "*_" and i + 1 < n and text[i + 1] not in " \t\n" and (end := text.find(text[i], i + 1)) > i + 1:
+      out.append(f"{render_inline(text[i + 1 : end], page)}")
+      i = end + 1
+      continue
+    j = i + 1
+    while j < n and text[j] not in "`[ list[str]:
+  return [c.strip() for c in line.strip().removeprefix("|").removesuffix("|").split("|")]
+
+
+def _is_sep(line: str) -> bool:
+  return "|" in line and all(re.fullmatch(r":?-{3,}:?", c.strip()) for c in _trow(line))
+
+
+def _align(sep: str) -> str:
+  s = sep.strip()
+  if s.startswith(":") and s.endswith(":"):
+    return ' style="text-align: center;"'
+  if s.endswith(":"):
+    return ' style="text-align: right;"'
+  if s.startswith(":"):
+    return ' style="text-align: left;"'
+  return ""
+
+
+def _list_info(line: str) -> tuple[int, str, str] | None:
+  m = _LIST.match(line)
+  return None if not m else (len(m.group(1)) // 4, "ol" if m.group(2)[-1] == "." else "ul", m.group(3))
+
+
+def _render_blocks(text: str, page: str) -> str:
+  lines, out, i, n = text.splitlines(), [], 0, 0
+  n = len(lines)
+  while i < n:
+    line, s = lines[i], lines[i].strip()
+    if not s:
+      i += 1
+      continue
+
+    if s.startswith("```"):
+      lang, body = s[3:].strip(), []
+      i += 1
+      while i < n and not lines[i].strip().startswith("```"):
+        body.append(lines[i])
+        i += 1
+      if i < n:
+        i += 1
+      code = html.escape("\n".join(body) + ("\n" if body else ""))
+      cls = f' class="language-{html.escape(lang)}"' if lang else ""
+      out.append(f"
{code}
")
+      continue
+
+    if m := _HEADING.match(s):
+      content, level = m.group(2).rstrip("#").strip(), len(m.group(1))
+      sid = slugify(content)
+      out.append(f'{render_inline(content, page)}#')
+      i += 1
+      continue
+
+    if _HR.fullmatch(s):
+      out.append("
")
+      i += 1
+      continue
+
+    if "|" in line and i + 1 < n and _is_sep(lines[i + 1]):
+      headers, aligns = _trow(line), [_align(c) for c in _trow(lines[i + 1])]
+      i += 2
+      rows = []
+      while i < n and "|" in lines[i] and lines[i].strip():
+        rows.append(_trow(lines[i]))
+        i += 1
+      parts = (
+        ["", "", ""]
+        + [f"{render_inline(h, page)}" for j, h in enumerate(headers)]
+        + ["", "", ""]
+      )
+      for row in rows:
+        parts.append("")
+        for j in range(len(headers)):
+          parts.append(f"{render_inline(row[j] if j < len(row) else '', page)}")
+        parts.append("")
+      out.append("\n".join(parts + ["", "
"]))
+      continue
+
+    if _list_info(line):
+      items: list[tuple[int, str, list[str]]] = []
+      while i < n:
+        if not lines[i].strip():
+          if i + 1 < n and _list_info(lines[i + 1]):
+            i += 1
+            continue
+          break
+        info = _list_info(lines[i])
+        if not info:
+          break
+        level, kind, body = info
+        chunk = [body]
+        i += 1
+        while i < n and lines[i].strip() and _list_info(lines[i]) is None:
+          t = lines[i].strip()
+          if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+            break
+          chunk.append(lines[i])
+          i += 1
+        items.append((level, kind, chunk))
+
+      def render_list(items: list[tuple[int, str, list[str]]], start: int, min_level: int) -> tuple[str, int]:
+        if start >= len(items) or items[start][0] < min_level:
+          return "", start
+        kind, chunks, idx = items[start][1], [f"<{items[start][1]}>"], start
+        while idx < len(items) and items[idx][0] >= min_level:
+          level, ikind, body_lines = items[idx]
+          if level > min_level:
+            nested, idx = render_list(items, idx, level)
+            chunks[-1] = (chunks[-1][:-5] + nested + "") if chunks[-1].endswith("") else chunks[-1] + nested
+            continue
+          if ikind != kind:
+            chunks += [f"", f"<{ikind}>"]
+            kind = ikind
+          idx += 1
+          body = render_inline("\n".join(body_lines), page)
+          nested = ""
+          if idx < len(items) and items[idx][0] > min_level:
+            nested, idx = render_list(items, idx, min_level + 1)
+          chunks.append(f"
  • {body}{nested}\n
    • " if nested else f"
  • {body}
    • ")
+        chunks.append(f"")
+        return "\n".join(chunks), idx
+
+      out.append(render_list(items, 0, items[0][0])[0])
+      continue
+
+    if s.startswith(">"):
+      q = []
+      while i < n and lines[i].strip().startswith(">"):
+        q.append(re.sub(r"^>\s?", "", lines[i].strip()))
+        i += 1
+      m = _ADMONITION.match(q[0].strip()) if q else None
+      if m:
+        kind = m.group(1).lower()
+        title = m.group(1).capitalize()
+        body = _render_blocks("\n".join(q[1:]), page)
+        out.append(f'
    \n
    {title}
    \n{body}\n
    ')
+      else:
+        out.append(f"
    \n
    {render_inline(chr(10).join(q), page)}
    \n
    ")
+      continue
+
+    if s.startswith("
 
 # Supported Cars
 
 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.
 
-# {{all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) | list | length}} Supported Cars
-
-|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
-|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
-{% for car_docs in all_car_docs | selectattr('support_type', 'eq', SupportType.UPSTREAM) %}
-|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
-
-{% endfor %}
+# $supported_count Supported Cars
 
+$table_header
+$table_separator
+$table_rows
 ### Footnotes
-{% for footnote in footnotes %}
-{{loop.index}}{{footnote | replace('
    ', '')}} 
    
-{% endfor %}
-
+$footnotes
 ## 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/).
 
@@ -71,4 +56,3 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
-
diff --git a/openpilot/selfdrive/car/car_specific.py b/openpilot/selfdrive/car/car_events.py
similarity index 99%
rename from openpilot/selfdrive/car/car_specific.py
rename to openpilot/selfdrive/car/car_events.py
index a7fdbd0b44..21478e4d55 100644
--- a/openpilot/selfdrive/car/car_specific.py
+++ b/openpilot/selfdrive/car/car_events.py
@@ -13,7 +13,7 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-class CarSpecificEvents:
+class CarEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
 
@@ -136,6 +136,8 @@ class CarSpecificEvents:
       events.add(EventName.parkBrake)
     if CS.accFaulted:
       events.add(EventName.accFaulted)
+    if CS.carNotReady:
+      events.add(EventName.carNotReady)
     if CS.steeringPressed:
       events.add(EventName.steerOverride)
     if CS.steeringDisengage and not CS_prev.steeringDisengage:
diff --git a/openpilot/selfdrive/car/card.py b/openpilot/selfdrive/car/card.py
index d9b7b4bb5a..e253788e5e 100755
--- a/openpilot/selfdrive/car/card.py
+++ b/openpilot/selfdrive/car/card.py
@@ -72,7 +72,7 @@ class Car:
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'radarTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -250,10 +250,10 @@ class Car:
     self.pm.send('carState', cs_send)
 
     if RD is not None:
-      tracks_msg = messaging.new_message('liveTracks')
+      tracks_msg = messaging.new_message('radarTracks')
       tracks_msg.valid = not any(RD.errors.to_dict().values())
-      tracks_msg.liveTracks = RD
-      self.pm.send('liveTracks', tracks_msg)
+      tracks_msg.radarTracks = RD
+      self.pm.send('radarTracks', tracks_msg)
 
     # carParamsSP - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:
diff --git a/openpilot/selfdrive/car/docs.py b/openpilot/selfdrive/car/docs.py
index ea7a70688e..8d135d82ea 100755
--- a/openpilot/selfdrive/car/docs.py
+++ b/openpilot/selfdrive/car/docs.py
@@ -1,13 +1,68 @@
 #!/usr/bin/env python3
 import argparse
 import os
+from string import Template
 
 from openpilot.common.basedir import BASEDIR
-from opendbc.car.docs import get_all_car_docs, generate_cars_md
+from opendbc.car.docs import get_all_car_docs, get_all_footnotes
+from opendbc.car.docs_definitions import Column, SupportType
 
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "openpilot/selfdrive", "car", "CARS_template.md")
 
+FOOTNOTE_TAG = '[{}](#footnotes)'
+STAR_ICON = '[![star](assets/icon-star-{}.svg)](##)'
+VIDEO_ICON = ''
+# Force hardware column wider by using a blank image with max width.
+HARDWARE_COL_NAME = 'Hardware Needed'
+WIDE_HARDWARE_COL_NAME = f'{HARDWARE_COL_NAME}
     '
+
+
+def _build_cars_table(upstream_cars) -> tuple[str, str, str]:
+  columns = list(Column)
+  header_cells = [
+    WIDE_HARDWARE_COL_NAME if col.value == HARDWARE_COL_NAME else col.value
+    for col in columns
+  ]
+  table_header = "|" + "|".join(header_cells) + "|"
+
+  # First three columns left-aligned (---), remaining centered (:---:)
+  sep_parts = ["---"] * min(3, len(columns)) + [":---:"] * max(0, len(columns) - 3)
+  table_separator = "|" + "|".join(sep_parts) + "|"
+
+  rows = []
+  for car_docs in upstream_cars:
+    cells = [car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in columns]
+    rows.append("|" + "|".join(cells) + "|")
+  table_rows = "\n".join(rows) + ("\n" if rows else "")
+
+  return table_header, table_separator, table_rows
+
+
+def generate_cars_md(all_car_docs, template_fn: str, **kwargs) -> str:
+  del kwargs  # kept for call-site compatibility
+
+  upstream_cars = [c for c in all_car_docs if c.support_type == SupportType.UPSTREAM]
+  table_header, table_separator, table_rows = _build_cars_table(upstream_cars)
+
+  footnotes = [fn.value.text.replace('
    ', '') for fn in get_all_footnotes()]
+  footnotes_md = "\n".join(
+    f"{i}{text} 
    "
+    for i, text in enumerate(footnotes, start=1)
+  ) + ("\n" if footnotes else "")
+
+  with open(template_fn) as f:
+    template = Template(f.read())
+
+  return template.substitute(
+    supported_count=len(upstream_cars),
+    table_header=table_header,
+    table_separator=table_separator,
+    table_rows=table_rows,
+    footnotes=footnotes_md,
+  )
+
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
diff --git a/openpilot/selfdrive/car/tests/big_cars_test.sh b/openpilot/selfdrive/car/tests/big_cars_test.sh
deleted file mode 100755
index 456fc698c5..0000000000
--- a/openpilot/selfdrive/car/tests/big_cars_test.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-SCRIPT_DIR=$(dirname "$0")
-BASEDIR=$(realpath "$SCRIPT_DIR/../../../../")
-cd $BASEDIR
-
-export MAX_EXAMPLES=300
-export INTERNAL_SEG_CNT=300
-export INTERNAL_SEG_LIST=openpilot/selfdrive/car/tests/test_models_segs.txt
-
-cd openpilot/selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/openpilot/selfdrive/car/tests/test_car_interfaces.py b/openpilot/selfdrive/car/tests/test_car_interfaces.py
index 3c4587cbc6..bf3e8d8ff6 100644
--- a/openpilot/selfdrive/car/tests/test_car_interfaces.py
+++ b/openpilot/selfdrive/car/tests/test_car_interfaces.py
@@ -1,13 +1,16 @@
 import os
-import hypothesis.strategies as st
-from hypothesis import Phase, given, settings
+
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
+from openpilot.common.fuzzy import capnp_random_dict, fuzzy_test
 
 from openpilot.cereal import custom
 from opendbc.car.structs import car
 from opendbc.car import DT_CTRL
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.fingerprints import FW_VERSIONS
+from opendbc.car.fw_versions import FW_QUERY_CONFIGS
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
@@ -15,28 +18,41 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
+ALL_ECUS = tuple(sorted({ecu for ecus in FW_VERSIONS.values() for ecu in ecus} |
+                        {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}))
+ALL_REQUESTS = tuple(sorted({tuple(request.request) for config in FW_QUERY_CONFIGS.values() for request in config.requests}))
+DLC_TO_LEN = (0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64)
 
 
-class TestCarInterfaces:
-  # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
-  #  many generated examples to overrun when max_examples > ~20, don't use it
-  @parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK])
-  @settings(max_examples=MAX_EXAMPLES, deadline=None,
-            phases=(Phase.reuse, Phase.generate, Phase.shrink))
-  @given(data=st.data())
-  def test_car_interfaces(self, car_name, data):
-    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+class TestCarInterfaces(OpenpilotTestCase):
+  @parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK], ids=lambda car_name: car_name)
+  @fuzzy_test(max_examples=60)
+  def test_car_interfaces(self, car_name, fuzzy):
+    fingerprint = dict(fuzzy.list(lambda: (fuzzy.integer(0, 0x800), fuzzy.choice(DLC_TO_LEN))))
+    fingerprints = dict.fromkeys(range(7), fingerprint)
+
+    def generate_car_fw():
+      ecu, address, sub_address = fuzzy.choice(ALL_ECUS)
+      return CarParams.CarFw(ecu=ecu, address=address, subAddress=sub_address or 0, request=fuzzy.choice(ALL_REQUESTS))
+
+    CarInterface = interfaces[car_name]
+    car_fw = fuzzy.list(generate_car_fw)
+    alpha_long = fuzzy.boolean()
+    car_params = CarInterface.get_params(car_name, fingerprints, car_fw,
+                                         alpha_long=alpha_long, is_release=False, docs=False)
+    car_params_sp = CarInterface.get_params_sp(car_params, car_name, fingerprints, car_fw,
+                                               alpha_long=alpha_long, is_release_sp=False, docs=False)
+    car_interface = CarInterface(car_params, car_params_sp)
     car_params = car_interface.CP.as_reader()
     car_params_sp = car_interface.CP_SP
     sunnypilot_interfaces.setup_interfaces(car_interface)
 
-    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
-    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
+    cc_msg = capnp_random_dict(fuzzy, car.CarControl.schema, real_floats=True)
+    cc_sp_msg = capnp_random_dict(fuzzy, custom.CarControlSP.schema, real_floats=True)
     # Run car interface
     now_nanos = 0
     CC = car.CarControl.new_message(**cc_msg)
@@ -59,8 +75,6 @@ class TestCarInterfaces:
       now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test controller initialization
-    # TODO: wait until card refactor is merged to run controller a few times,
-    #  hypothesis also slows down significantly with just one more message draw
     LongControl(car_params, car_params_sp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
       LatControlAngle(car_params, car_params_sp, car_interface, DT_CTRL)
diff --git a/openpilot/selfdrive/car/tests/test_cruise_speed.py b/openpilot/selfdrive/car/tests/test_cruise_speed.py
index c0b6ac979f..60af346838 100644
--- a/openpilot/selfdrive/car/tests/test_cruise_speed.py
+++ b/openpilot/selfdrive/car/tests/test_cruise_speed.py
@@ -1,7 +1,7 @@
-import pytest
 import itertools
 import numpy as np
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized_class
 from openpilot.cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
@@ -36,18 +36,18 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
                       [True, False], # e2e
                       log.LongitudinalPersonality.schema.enumerants, # personality
                       [5,35])) # speed
-class TestCruiseSpeed:
+class TestCruiseSpeed(OpenpilotTestCase):
   def test_cruise_speed(self):
     print(f'Testing {self.speed} m/s')
     cruise_speed = float(self.speed)
 
     simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
-    assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
+    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
 # TODO: test pcmCruise and pcmCruiseSpeed
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
-class TestVCruiseHelper:
+class TestVCruiseHelper(OpenpilotTestCase):
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
     self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
diff --git a/openpilot/selfdrive/car/tests/test_docs.py b/openpilot/selfdrive/car/tests/test_docs.py
index 8ccbfb5a79..99438b4720 100644
--- a/openpilot/selfdrive/car/tests/test_docs.py
+++ b/openpilot/selfdrive/car/tests/test_docs.py
@@ -1,8 +1,9 @@
-from opendbc.car.docs import generate_cars_md, get_all_car_docs
-from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE, generate_cars_md
+from opendbc.car.docs import get_all_car_docs
 
 
-class TestCarDocs:
+class TestCarDocs(OpenpilotTestCase):
   @classmethod
   def setup_class(cls):
     cls.all_cars = get_all_car_docs()
diff --git a/openpilot/selfdrive/car/tests/test_models.py b/openpilot/selfdrive/car/tests/test_models.py
deleted file mode 100644
index 3dc7dd8a7b..0000000000
--- a/openpilot/selfdrive/car/tests/test_models.py
+++ /dev/null
@@ -1,502 +0,0 @@
-import time
-import copy
-import os
-import pytest
-import random
-import unittest
-from collections import defaultdict, Counter
-import hypothesis.strategies as st
-from hypothesis import Phase, given, settings
-from openpilot.common.parameterized import parameterized_class
-from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
-from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
-from opendbc.car.structs import car
-from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from opendbc.car.values import Platform, PLATFORMS
-from opendbc.safety.tests.libsafety import libsafety_py
-from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.pandad import can_capnp_to_list
-from openpilot.selfdrive.test.helpers import read_segment_list
-from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
-from openpilot.tools.lib.file_sources import Source
-from openpilot.tools.lib.route import SegmentName
-
-from openpilot.sunnypilot.tools.lib.sunnypilot_car_segments import sunnypilot_car_segments_source
-
-SafetyModel = car.CarParams.SafetyModel
-SteerControlType = structs.CarParams.SteerControlType
-
-# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h).
-ANGLE_DEG_TO_CAN = {
-  "tesla": -10,
-  "toyota": 17.452007,
-  "nissan": 100,
-  "psa": 10,
-}
-
-NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
-JOB_ID = int(os.environ.get("JOB_ID", "0"))
-INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
-INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
-CI = os.environ.get("CI", None) is not None
-
-
-def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
-  # build list of test cases
-  test_cases = []
-  if not len(INTERNAL_SEG_LIST):
-    routes_by_car = defaultdict(set)
-    for r in routes:
-      routes_by_car[str(r.car_model)].add(r)
-
-    for i, c in enumerate(sorted(PLATFORMS)):
-      if i % NUM_JOBS == JOB_ID:
-        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
-
-  else:
-    segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST))
-    segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list))
-    for platform, segment in segment_list:
-      platform = MIGRATION.get(platform, platform)
-      segment_name = SegmentName(segment)
-      test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
-                                                segment=segment_name.segment_num)))
-  return test_cases
-
-
-@pytest.mark.slow
-@pytest.mark.shared_download_cache
-class TestCarModelBase(unittest.TestCase):
-  platform: Platform | None = None
-  test_route: CarTestRoute | None = None
-
-  can_msgs: list[tuple[int, list[CanData]]]
-  fingerprint: dict[int, dict[int, int]]
-  elm_frame: int | None
-  car_safety_mode_frame: int | None
-
-  @classmethod
-  def get_testing_data_from_logreader(cls, lr):
-    car_fw = []
-    can_msgs = []
-    cls.elm_frame = None
-    cls.car_safety_mode_frame = None
-    cls.fingerprint = gen_empty_fingerprint()
-    alpha_long = False
-    for msg in lr:
-      if msg.which() == "can":
-        can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
-        can_msgs.append((can[0], [CanData(*can) for can in can[1]]))
-        if len(can_msgs) <= FRAME_FINGERPRINT:
-          for m in msg.can:
-            if m.src < 64:
-              cls.fingerprint[m.src][m.address] = len(m.dat)
-
-      elif msg.which() == "carParams":
-        car_fw = msg.carParams.carFw
-        if msg.carParams.openpilotLongitudinalControl:
-          alpha_long = True
-        if cls.platform is None:
-          live_fingerprint = msg.carParams.carFingerprint
-          cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
-
-      # Log which can frame the panda safety mode left ELM327, for CAN validity checks
-      elif msg.which() == 'pandaStates':
-        for ps in msg.pandaStates:
-          if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327:
-            cls.elm_frame = len(can_msgs)
-          if cls.car_safety_mode_frame is None and ps.safetyModel not in \
-            (SafetyModel.elm327, SafetyModel.noOutput):
-            cls.car_safety_mode_frame = len(can_msgs)
-
-      elif msg.which() == 'pandaStateDEPRECATED':
-        if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327:
-          cls.elm_frame = len(can_msgs)
-        if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \
-          (SafetyModel.elm327, SafetyModel.noOutput):
-          cls.car_safety_mode_frame = len(can_msgs)
-
-    assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, alpha_long
-
-  @classmethod
-  def get_testing_data(cls):
-    test_segs = (2, 1, 0)
-    if cls.test_route.segment is not None:
-      test_segs = (cls.test_route.segment,)
-
-    for seg in test_segs:
-      segment_range = f"{cls.test_route.route}/{seg}"
-
-      try:
-        sources: list[Source] = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source, sunnypilot_car_segments_source]
-        lr = LogReader(segment_range, sources=sources, sort_by_time=True)
-        return cls.get_testing_data_from_logreader(lr)
-      except (LogsUnavailable, AssertionError):
-        pass
-
-    raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
-
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
-      raise unittest.SkipTest
-
-    if cls.test_route is None:
-      if cls.platform in non_tested_cars:
-        print(f"Skipping tests for {cls.platform}: missing route")
-        raise unittest.SkipTest
-      raise Exception(f"missing test route for {cls.platform}")
-
-    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
-
-    # if relay is expected to be open in the route
-    cls.openpilot_enabled = cls.car_safety_mode_frame is not None
-
-    cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
-    assert cls.CP
-    assert cls.CP_SP
-    assert cls.CP.carFingerprint == cls.platform
-
-    os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
-
-  @classmethod
-  def tearDownClass(cls):
-    del cls.can_msgs
-
-  def setUp(self):
-    self.CI = self.CarInterface(self.CP.copy(), copy.deepcopy(self.CP_SP))
-    assert self.CI
-
-    # TODO: check safetyModel is in release panda build
-    self.safety = libsafety_py.libsafety
-
-    safety_param_sp = self.CP_SP.safetyParam
-    self.safety.set_current_safety_param_sp(safety_param_sp)
-
-    cfg = self.CP.safetyConfigs[-1]
-    set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
-    self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}")
-    self.safety.init_tests()
-
-  def test_car_params(self):
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check carParams for dashcamOnly")
-
-    # make sure car params are within a valid range
-    self.assertGreater(self.CP.mass, 1)
-
-    if self.CP.steerControlType not in (SteerControlType.angle, SteerControlType.curvature):
-      tuning = self.CP.lateralTuning.which()
-      if tuning == 'pid':
-        self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
-      elif tuning == 'torque':
-        self.assertTrue(self.CP.lateralTuning.torque.latAccelFactor > 0)
-      else:
-        raise Exception("unknown tuning")
-
-  def test_car_interface(self):
-    # TODO: also check for checksum violations from can parser
-    can_invalid_cnt = 0
-    CC = structs.CarControl().as_reader()
-    CC_SP = structs.CarControlSP()
-
-    for i, msg in enumerate(self.can_msgs):
-      CS, _ = self.CI.update(msg)
-      self.CI.apply(CC, CC_SP, msg[0])
-
-      # wait max of 2s for low frequency msgs to be seen
-      if i > 250:
-        can_invalid_cnt += not CS.canValid
-
-    self.assertEqual(can_invalid_cnt, 0)
-
-  def test_radar_interface(self):
-    RI = self.CarInterface.RadarInterface(self.CP, self.CP_SP)
-    assert RI
-
-    # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting,
-    # start parsing CAN messages after we've left ELM mode and can expect CAN traffic
-    error_cnt = 0
-    for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
-      rr: structs.RadarData | None = RI.update(msg)
-      if rr is not None and i > 50:
-        error_cnt += rr.errors.canError
-    self.assertEqual(error_cnt, 0)
-
-  def test_panda_safety_rx_checks(self):
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    start_ts = self.can_msgs[0][0]
-
-    failed_addrs = Counter()
-    for can in self.can_msgs:
-      # update panda timer
-      t = (can[0] - start_ts) / 1e3
-      self.safety.set_timer(int(t))
-
-      # run all msgs through the safety RX hook
-      for msg in can[1]:
-        if msg.src >= 64:
-          continue
-
-        to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        if self.safety.safety_rx_hook(to_send) != 1:
-          failed_addrs[hex(msg.address)] += 1
-
-      # ensure all msgs defined in the addr checks are valid
-      self.safety.safety_tick_current_safety_config()
-      if t > 1e6:
-        self.assertTrue(self.safety.safety_config_valid())
-
-      # Don't check relay malfunction on disabled routes (relay closed),
-      # or before fingerprinting is done (elm327 and noOutput)
-      if self.car_safety_mode_frame is not None and t / 1e4 > self.car_safety_mode_frame:
-        self.assertFalse(self.safety.get_relay_malfunction())
-      else:
-        self.safety.set_relay_malfunction(False)
-
-    self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
-
-    # ensure RX checks go invalid after small time with no traffic
-    self.safety.set_timer(int(t + (2*1e6)))
-    self.safety.safety_tick_current_safety_config()
-    self.assertFalse(self.safety.safety_config_valid())
-
-  def test_panda_safety_tx_cases(self, data=None):
-    """Asserts we can tx common messages"""
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    if self.CP.notCar:
-      self.skipTest("Skipping test for notCar")
-
-    def test_car_controller(car_control, car_control_sp):
-      now_nanos = 0
-      msgs_sent = 0
-      CI = self.CarInterface(self.CP, self.CP_SP)
-      for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
-        CI.update([])
-        _, sendcan = CI.apply(car_control, car_control_sp, now_nanos)
-
-        now_nanos += DT_CTRL * 1e9
-        msgs_sent += len(sendcan)
-        for addr, dat, bus in sendcan:
-          to_send = libsafety_py.make_CANPacket(addr, bus % 4, dat)
-          self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
-
-      # Make sure we attempted to send messages
-      self.assertGreater(msgs_sent, 50)
-
-    # Make sure we can send all messages while inactive
-    CC = structs.CarControl()
-    CC_SP = structs.CarControlSP()
-    test_car_controller(CC.as_reader(), CC_SP)
-
-    # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
-    self.safety.set_cruise_engaged_prev(True)
-    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(cancel=True))
-    test_car_controller(CC.as_reader(), CC_SP)
-
-    # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
-    self.safety.set_controls_allowed(True)
-    CC = structs.CarControl(cruiseControl=structs.CarControl.CruiseControl(resume=True))
-    test_car_controller(CC.as_reader(), CC_SP)
-
-  # Skip stdout/stderr capture with pytest, causes elevated memory usage
-  @pytest.mark.nocapture
-  @settings(max_examples=MAX_EXAMPLES, deadline=None,
-            phases=(Phase.reuse, Phase.generate, Phase.shrink))
-  @given(data=st.data())
-  def test_panda_safety_carstate_fuzzy(self, data):
-    """
-      For each example, pick a random CAN message on the bus and fuzz its data,
-      checking for panda state mismatches.
-    """
-
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()]
-    address, bus, size = data.draw(st.sampled_from(valid_addrs))
-
-    msg_strategy = st.binary(min_size=size, max_size=size)
-    msgs = data.draw(st.lists(msg_strategy, min_size=20))
-
-    vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
-
-    for n, dat in enumerate(msgs):
-      # due to panda updating state selectively, only edges are expected to match
-      # TODO: warm up CarState with real CAN messages to check edge of both sources
-      #  (eg. toyota's gasPressed is the inverse of a signal being set)
-      prev_panda_gas = self.safety.get_gas_pressed_prev()
-      prev_panda_brake = self.safety.get_brake_pressed_prev()
-      prev_panda_regen_braking = self.safety.get_regen_braking_prev()
-      prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
-      prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
-      prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
-      prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
-      prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev()
-      prev_panda_acc_main_on = self.safety.get_acc_main_on()
-
-      to_send = libsafety_py.make_CANPacket(address, bus, dat)
-      self.safety.safety_rx_hook(to_send)
-
-      can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS, _ = self.CI.update(can)
-      if n < 5:  # CANParser warmup time
-        continue
-
-      if self.safety.get_gas_pressed_prev() != prev_panda_gas:
-        self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
-
-      if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
-
-      if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
-        self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
-
-      if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
-        self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
-
-      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving and not self.CP.notCar:
-        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
-
-      # check vehicle speed if angle control car or available
-      if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0:
-        vehicle_speed_seen = True
-
-      if vehicle_speed_seen and (self.safety.get_vehicle_speed_min() != prev_panda_vehicle_speed_min or
-                                 self.safety.get_vehicle_speed_max() != prev_panda_vehicle_speed_max):
-        v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor
-        self.assertFalse(v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
-                         v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
-
-      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
-        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
-          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())
-
-      if self.CP.brand == "honda":
-        if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
-          self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())
-
-  def test_panda_safety_carstate(self):
-    """
-      Assert that panda safety matches openpilot's carState
-    """
-    if self.CP.dashcamOnly:
-      self.skipTest("no need to check panda safety for dashcamOnly")
-
-    # warm up pass, as initial states may be different
-    for can in self.can_msgs[:300]:
-      self.CI.update(can)
-      for msg in filter(lambda m: m.src < 64, can[1]):
-        to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        self.safety.safety_rx_hook(to_send)
-
-    controls_allowed_prev = False
-    CS_prev = car.CarState.new_message()
-    checks = defaultdict(int)
-    vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
-    for idx, can in enumerate(self.can_msgs):
-      CS, _ = self.CI.update(can)
-      CS = CS.as_reader()
-      for msg in filter(lambda m: m.src < 64, can[1]):
-        to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        ret = self.safety.safety_rx_hook(to_send)
-        self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}")
-
-      # Skip first frame so CS_prev is properly initialized
-      if idx == 0:
-        CS_prev = CS
-        # Button may be left pressed in warm up period
-        if not self.CP.pcmCruise:
-          self.safety.set_controls_allowed(0)
-        continue
-
-      # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
-
-      checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      checks['standstill'] += (CS.standstill == self.safety.get_vehicle_moving()) and not self.CP.notCar
-
-      # check vehicle speed if angle control car or available
-      if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0:
-        vehicle_speed_seen = True
-
-      if vehicle_speed_seen:
-        v_ego_raw = CS.vEgoRaw / self.CP.wheelSpeedFactor
-        checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
-                              v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
-
-      # check steering angle for angle control cars (panda stores angle_meas in CAN units)
-      # ford and VW MEB excluded since they track curvature, not steering angle
-      # TODO: add curvature check, standardize CAN units to rm brand specific ANGLE_DEG_TO_CAN
-      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand not in ("ford", "volkswagen"):
-        angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
-        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
-                                       angle_can < (self.safety.get_angle_meas_min() - 1))
-
-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.deprecated.brake > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
-      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
-
-      if self.CP.pcmCruise:
-        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
-        # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
-        # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
-          # only the rising edges are expected to match
-          if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
-            checks['controlsAllowed'] += not self.safety.get_controls_allowed()
-        else:
-          checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
-
-        # TODO: fix notCar mismatch
-        if not self.CP.notCar:
-          checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
-      else:
-        # Check for user button enable on rising edge of controls allowed
-        button_enable = CS.buttonEnable and (not CS.brakePressed or CS.standstill)
-        mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev)
-        checks['controlsAllowed'] += mismatch
-        controls_allowed_prev = self.safety.get_controls_allowed()
-        if button_enable and not mismatch:
-          self.safety.set_controls_allowed(False)
-
-      if self.CP.brand == "honda":
-        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
-
-      CS_prev = CS
-
-    failed_checks = {k: v for k, v in checks.items() if v > 0}
-    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
-
-
-@parameterized_class(('platform', 'test_route'), get_test_cases())
-@pytest.mark.xdist_group_class_property('test_route')
-class TestCarModel(TestCarModelBase):
-  pass
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/openpilot/selfdrive/car/tests/test_models_segs.txt b/openpilot/selfdrive/car/tests/test_models_segs.txt
deleted file mode 100644
index c983fb08e7..0000000000
--- a/openpilot/selfdrive/car/tests/test_models_segs.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0810a361ec5b5f5f9a2ee73b89ffb2df62ef40e8feff7e97ecb62f80fa53f6f5
-size 124950
diff --git a/openpilot/selfdrive/controls/controlsd.py b/openpilot/selfdrive/controls/controlsd.py
index d9c0b445d8..f3c8782cb0 100755
--- a/openpilot/selfdrive/controls/controlsd.py
+++ b/openpilot/selfdrive/controls/controlsd.py
@@ -43,9 +43,9 @@ class Controls(ControlsExt):
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
-    self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
+    self.sm = messaging.SubMaster(['lateralDelay', 'vehicleParameters', 'lateralTorqueParameters', 'modelV2', 'selfdriveState',
+                                   'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + self.sm_services_ext,
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
@@ -72,17 +72,17 @@ class Controls(ControlsExt):
 
   def update(self):
     self.sm.update(15)
-    if self.sm.updated["liveCalibration"]:
-      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
-    if self.sm.updated["livePose"]:
-      device_pose = Pose.from_live_pose(self.sm['livePose'])
-      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+    if self.sm.updated["extrinsicsCalibration"]:
+      self.pose_calibrator.feed_extrinsics_calibration(self.sm['extrinsicsCalibration'])
+    if self.sm.updated["deviceMotion"]:
+      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
 
   def state_control(self):
     CS = self.sm['carState']
 
     # Update VehicleModel
-    lp = self.sm['liveParameters']
+    lp = self.sm['vehicleParameters']
     x = max(lp.stiffnessFactor, 0.1)
     sr = max(lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
@@ -92,9 +92,9 @@ class Controls(ControlsExt):
 
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
-      torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
+      torque_params = self.sm['lateralTorqueParameters']
+      if self.sm.all_checks(['lateralTorqueParameters']) and torque_params.useParams:
+        self.LaC.update_torque_parameters(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
         self.LaC.extension.update_limits()
@@ -144,7 +144,7 @@ class Controls(ControlsExt):
     else:
       new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
-    lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = self.sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
     actuators.curvature = self.desired_curvature
     steer, lateral_output, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
diff --git a/openpilot/selfdrive/controls/lib/drive_helpers.py b/openpilot/selfdrive/controls/lib/drive_helpers.py
index 497f8d1bdf..35ca45e56e 100644
--- a/openpilot/selfdrive/controls/lib/drive_helpers.py
+++ b/openpilot/selfdrive/controls/lib/drive_helpers.py
@@ -7,7 +7,6 @@ CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
-MAX_VEL_ERR = 5.0  # m/s
 MIN_STABLE_DELAY = 0.3
 
 # EU guidelines
@@ -16,7 +15,7 @@ MAX_LATERAL_ACCEL_NO_ROLL = 3.0  # m/s^2
 
 
 def should_stop(v_ego: float, a_target: float) -> bool:
-  return bool(v_ego < 0.25 and a_target < 0.1)
+  return bool(v_ego < 0.3 and a_target < 0.1)
 
 def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
@@ -53,10 +52,8 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL):
       v_target = np.interp(action_t, t_idxs, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
   else:
-    v_now = 0.0
-    v_target = 0.0
     a_target = 0.0
-  return a_target, should_stop(v_now, a_target)
+  return a_target
 
 def curv_from_psis(psi_target, psi_rate, vego, action_t):
   vego = np.clip(vego, MIN_SPEED, np.inf)
diff --git a/openpilot/selfdrive/controls/lib/latcontrol_torque.py b/openpilot/selfdrive/controls/lib/latcontrol_torque.py
index 952234de99..6a9eebe867 100644
--- a/openpilot/selfdrive/controls/lib/latcontrol_torque.py
+++ b/openpilot/selfdrive/controls/lib/latcontrol_torque.py
@@ -50,7 +50,7 @@ class LatControlTorque(LatControl):
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
-  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+  def update_torque_parameters(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
diff --git a/openpilot/selfdrive/controls/lib/ldw.py b/openpilot/selfdrive/controls/lib/ldw.py
index 6db59791cc..6164111190 100644
--- a/openpilot/selfdrive/controls/lib/ldw.py
+++ b/openpilot/selfdrive/controls/lib/ldw.py
@@ -1,5 +1,5 @@
 from openpilot.cereal import log
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_MDL
 from openpilot.common.constants import CV
 
 
@@ -17,7 +17,7 @@ class LaneDepartureWarning:
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = frame
 
-    recent_blinker = (frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
+    recent_blinker = (frame - self.last_blinker_frame) * DT_MDL < 5.0  # 5s blinker cooldown
     ldw_allowed = CS.vEgo > LDW_MIN_SPEED and not recent_blinker and not CC.latActive
 
     desire_prediction = modelV2.meta.desirePrediction
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index de1ba0c278..0a0722fbc6 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -23,7 +23,7 @@ EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
 
 LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
-MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
+MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1)
 
 X_DIM = 3
 U_DIM = 1
@@ -55,8 +55,6 @@ FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
-CRUISE_MIN_ACCEL = -1.2
-CRUISE_MAX_ACCEL = 1.6
 MIN_X_LEAD_FACTOR = 0.5
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
@@ -104,7 +102,7 @@ def gen_long_model():
   a_ego_dot = SX.sym('a_ego_dot')
   model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot)
 
-  # live parameters
+  # runtime parameters
   a_min = SX.sym('a_min')
   a_max = SX.sym('a_max')
   x_obstacle = SX.sym('x_obstacle')
@@ -309,9 +307,8 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
-    v_ego = self.x0[1]
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)
     lead_xv_1 = self.process_lead(radarstate.leadTwo)
@@ -322,15 +319,7 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
-    # when the leads are no factor.
-    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
-    # TODO does this make sense when max_a is negative?
-    v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
-    v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
-    cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
-
-    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
+    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle])
     self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
 
     self.yref[:,:] = 0.0
diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index 7e3446a768..12b4f9da61 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan, should_stop
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -19,6 +19,8 @@ from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import Lon
 
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+J_CRUISE_VALS = [1.6, 1.2, 0.8, 0.6]
+A_CRUISE_MIN = -1.2
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5
@@ -33,18 +35,25 @@ def get_max_accel(v_ego):
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
 
-def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
-  """
-  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
-  this should avoid accelerating when losing the target in turns
-  """
-  # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
-  # The lookup table for turns should also be updated if we do this
-  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
-  a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
-  a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
+def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle):
+  max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
 
-  return [a_target[0], min(a_target[1], a_x_allowed)]
+  if not e2e:
+    a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+    a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
+    a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
+    max_accel = min(max_accel, a_x_allowed)
+    if not allow_throttle:
+      clipped_accel_coast = max(accel_coast, ACCEL_MIN)
+      coast_limit = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [max_accel, clipped_accel_coast])
+      max_accel = min(max_accel, coast_limit)
+
+  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
+  if not e2e:
+    j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+    target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
+
+  return target_accel
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
@@ -58,7 +67,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
+    self.a_cruise = 0.0
     self.output_a_target = 0.0
     self.output_should_stop = False
 
@@ -77,49 +86,39 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
-    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
+    if sm['controlsState'].forceDecel:
+      v_cruise = 0.0
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
-    force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
     reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
     # PCM cruise speed may be updated a few cycles later, check if initialized
+    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
     reset_state = reset_state or not v_cruise_initialized
 
+    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
+    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
+
+    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['vehicleParameters'].angleOffsetDeg
+
+    if reset_state:
+      self.v_desired_filter.x = v_ego
+      self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
+
+    # Prevent divergence, smooth in current v_ego
+    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
+
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
-    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
-    accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
-
-    if reset_state:
-      self.v_desired_filter.x = v_ego
-      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])
-
-    # Prevent divergence, smooth in current v_ego
-    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
-    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
-    # Don't clip at low speeds since throttle_prob doesn't account for creep
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
-
-    if not self.allow_throttle:
-      clipped_accel_coast = max(accel_coast, accel_clip[0])
-      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
-      accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
-
     # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
     v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
 
-    if force_slow_decel:
-      v_cruise = 0.0
-
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
+    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -130,14 +129,13 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     if self.fcw:
       cloudlog.info("FCW triggered")
 
-    # Interpolate 0.05 seconds and save as starting point for next iteration
+    # Save starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
-    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
-                                                                        action_t=action_t)
+    output_a_target_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
+                                              action_t=action_t)
+    output_should_stop_mpc = should_stop(v_ego, output_a_target_mpc)
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
@@ -150,10 +148,22 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       output_a_target = output_a_target_mpc
       self.output_should_stop = output_should_stop_mpc
 
-    for idx in range(2):
-      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
-    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
-    self.prev_accel_clip = accel_clip
+    self.a_cruise = get_cruise_accel(sm['selfdriveState'].experimentalMode, v_cruise, v_ego,
+                                     self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
+                                     accel_coast, self.allow_throttle)
+    cruise_should_stop = should_stop(v_ego, self.a_cruise)
+
+    candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
+                  (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
+    if sm['selfdriveState'].experimentalMode:
+      candidates.append((output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e))
+
+    output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
+    self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
+    self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)
+
+    self.a_desired = float(self.output_a_target)
+    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0
 
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py
index 0af341b121..e7f36d3240 100755
--- a/openpilot/selfdrive/controls/plannerd.py
+++ b/openpilot/selfdrive/controls/plannerd.py
@@ -28,7 +28,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'vehicleParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
                            poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py
index 5db5865e75..56a193f833 100755
--- a/openpilot/selfdrive/controls/radard.py
+++ b/openpilot/selfdrive/controls/radard.py
@@ -197,7 +197,6 @@ class RadarD:
     self.CP_SP = CP_SP
 
     self.current_time = 0.0
-
     self.tracks: dict[int, Track] = {}
     self.kalman_params = KalmanParams(DT_MDL)
     self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]
@@ -213,7 +212,6 @@ class RadarD:
 
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
-    self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo
@@ -287,7 +285,7 @@ def main() -> None:
   cloudlog.info("radard got CarParamsSP")
 
   # *** setup messaging
-  sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
+  sm = messaging.SubMaster(['modelV2', 'carState', 'radarTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
   RD = RadarD(CP, CP_SP, CP.radarDelay)
@@ -295,7 +293,7 @@ def main() -> None:
   while 1:
     sm.update()
 
-    RD.update(sm, sm['liveTracks'])
+    RD.update(sm, sm['radarTracks'])
     RD.publish(pm)
 
 
diff --git a/openpilot/selfdrive/controls/tests/test_following_distance.py b/openpilot/selfdrive/controls/tests/test_following_distance.py
index fcabce0387..1914769282 100644
--- a/openpilot/selfdrive/controls/tests/test_following_distance.py
+++ b/openpilot/selfdrive/controls/tests/test_following_distance.py
@@ -1,5 +1,5 @@
-import pytest
 import itertools
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized_class
 
 from openpilot.cereal import log
@@ -36,11 +36,12 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
                       [0,10,35])) # speed
-class TestFollowingDistance:
+class TestFollowingDistance(OpenpilotTestCase):
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
     abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
-    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + abs_err_margin)
+    self.assertAlmostEqual(simulation_steady_state, correct_steady_state,
+                           delta=err_ratio * correct_steady_state + abs_err_margin)
diff --git a/openpilot/selfdrive/controls/tests/test_latcontrol.py b/openpilot/selfdrive/controls/tests/test_latcontrol.py
index 52e6912d6d..0dc26887e3 100644
--- a/openpilot/selfdrive/controls/tests/test_latcontrol.py
+++ b/openpilot/selfdrive/controls/tests/test_latcontrol.py
@@ -1,3 +1,4 @@
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import log
@@ -14,11 +15,11 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 
-class TestLatControl:
+class TestLatControl(OpenpilotTestCase):
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
                          (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
@@ -37,10 +38,10 @@ class TestLatControl:
     CS.vEgo = 30
     CS.steeringPressed = False
 
-    params = log.LiveParametersData.new_message()
+    params = log.VehicleParameters.new_message()
 
-    lp = generate_livePose()
-    pose = Pose.from_live_pose(lp.livePose)
+    lp = generate_deviceMotion()
+    pose = Pose.from_device_motion(lp.deviceMotion)
 
     # Saturate for curvature limited and controller limited
     for _ in range(1000):
diff --git a/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
index dc634f20fd..cc6b9aef16 100644
--- a/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
+++ b/openpilot/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -1,3 +1,4 @@
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import log
@@ -10,7 +11,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque,
 
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
 def get_controller(car_name):
@@ -24,7 +25,7 @@ def get_controller(car_name):
   controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
   return controller, VM
 
-class TestLatControlTorqueBuffer:
+class TestLatControlTorqueBuffer(OpenpilotTestCase):
 
   @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
   def test_request_buffer_consistency(self, car_name):
@@ -34,10 +35,10 @@ class TestLatControlTorqueBuffer:
     CS = car.CarState.new_message()
     CS.vEgo = 30
     CS.steeringPressed = False
-    params = log.LiveParametersData.new_message()
+    params = log.VehicleParameters.new_message()
 
-    lp = generate_livePose()
-    pose = Pose.from_live_pose(lp.livePose)
+    lp = generate_deviceMotion()
+    pose = Pose.from_device_motion(lp.deviceMotion)
 
     for _ in range(buffer_steps):
       controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
diff --git a/openpilot/selfdrive/controls/tests/test_leads.py b/openpilot/selfdrive/controls/tests/test_leads.py
index 1956bb34ec..45257c545b 100644
--- a/openpilot/selfdrive/controls/tests/test_leads.py
+++ b/openpilot/selfdrive/controls/tests/test_leads.py
@@ -1,10 +1,11 @@
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name
 
 
-class TestLeads:
+class TestLeads(OpenpilotTestCase):
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error
     # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check
@@ -25,7 +26,7 @@ class TestLeads:
 
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
     out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
-    states = [m for m in out if m.which() == "liveTracks"]
+    states = [m for m in out if m.which() == "radarTracks"]
     failures = [not state.valid for state in states]
 
     assert len(states) == 0 or all(failures)
diff --git a/openpilot/selfdrive/controls/tests/test_longcontrol.py b/openpilot/selfdrive/controls/tests/test_longcontrol.py
index b2906b4574..9469545204 100644
--- a/openpilot/selfdrive/controls/tests/test_longcontrol.py
+++ b/openpilot/selfdrive/controls/tests/test_longcontrol.py
@@ -1,8 +1,9 @@
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
-class TestLongControlStateTransition:
+class TestLongControlStateTransition(OpenpilotTestCase):
 
   def test_stay_stopped(self):
     CP_SP = custom.CarParamsSP.new_message()
@@ -25,19 +26,19 @@ class TestLongControlStateTransition:
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
-def test_engage():
-  CP_SP = custom.CarParamsSP.new_message()
-  active = True
-  current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+  def test_engage(self):
+    CP_SP = custom.CarParamsSP.new_message()
+    active = True
+    current_state = LongCtrlState.off
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
-  assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP_SP, active, current_state,
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP_SP, active, current_state,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
-  assert next_state == LongCtrlState.pid
+    assert next_state == LongCtrlState.pid
diff --git a/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
index 7599eb1e7b..011713dfb3 100644
--- a/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/openpilot/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -1,4 +1,5 @@
 import numpy as np
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
@@ -40,7 +41,7 @@ def simulate_straight_road_msgs(est):
   carControl = messaging.new_message('carControl').carControl
   carOutput = messaging.new_message('carOutput').carOutput
   carState = messaging.new_message('carState').carState
-  livePose = messaging.new_message('livePose').livePose
+  deviceMotion = messaging.new_message('deviceMotion').deviceMotion
   carControl.latActive = True
   carState.vEgo = V_EGO
   carState.steeringPressed = False
@@ -49,24 +50,24 @@ def simulate_straight_road_msgs(est):
   lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
   for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
     carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
-    livePose.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
-    livePose.inputsOK, livePose.sensorsOK, livePose.posenetOK = True, True, True
-    livePose.timestamp = int(t * 1e9)
-    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
+    deviceMotion.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
+    deviceMotion.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
+    deviceMotion.inputsOK, deviceMotion.sensorsOK, deviceMotion.posenetOK = True, True, True
+    deviceMotion.timestamp = int(t * 1e9)
+    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('deviceMotion', deviceMotion)):
       est.handle_log(t, which, msg)
 
-class TestTorquedLatAccelOffset:
+class TestTorquedLatAccelOffset(OpenpilotTestCase):
   def test_estimated_offset(self):
     steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
     est = get_warmed_up_estimator(steer_torques, lat_accels)
     msg = est.get_msg()
     # TODO add lataccelfactor and friction check when we have more accurate estimates
-    assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+    assert abs(msg.lateralTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
 
   def test_straight_road_roll_bias(self):
     steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
     est = get_warmed_up_estimator(steer_torques, lat_accels)
     simulate_straight_road_msgs(est)
     msg = est.get_msg()
-    assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
+    assert (msg.lateralTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.lateralTorqueParameters.latAccelOffsetRaw)
diff --git a/openpilot/selfdrive/locationd/calibrationd.py b/openpilot/selfdrive/locationd/calibrationd.py
index b9616bf632..ec9a225634 100755
--- a/openpilot/selfdrive/locationd/calibrationd.py
+++ b/openpilot/selfdrive/locationd/calibrationd.py
@@ -74,15 +74,15 @@ class Calibrator:
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
     height = HEIGHT_INIT
     valid_blocks = 0
-    self.cal_status = log.LiveCalibrationData.Status.uncalibrated
+    self.cal_status = log.ExtrinsicsCalibration.Status.uncalibrated
 
     if param_put and calibration_params:
       try:
         with log.Event.from_bytes(calibration_params) as msg:
-          rpy_init = np.array(msg.liveCalibration.rpyCalib)
-          valid_blocks = msg.liveCalibration.validBlocks
-          wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
-          height = np.array(msg.liveCalibration.height)
+          rpy_init = np.array(msg.extrinsicsCalibration.rpyCalib)
+          valid_blocks = msg.extrinsicsCalibration.validBlocks
+          wide_from_device_euler = np.array(msg.extrinsicsCalibration.wideFromDeviceEuler)
+          height = np.array(msg.extrinsicsCalibration.height)
       except Exception:
         cloudlog.exception("Error reading cached CalibrationParams")
 
@@ -149,22 +149,22 @@ class Calibrator:
       self.calib_spread = np.zeros(3)
 
     if self.valid_blocks < INPUTS_NEEDED:
-      if self.cal_status == log.LiveCalibrationData.Status.recalibrating:
-        self.cal_status = log.LiveCalibrationData.Status.recalibrating
+      if self.cal_status == log.ExtrinsicsCalibration.Status.recalibrating:
+        self.cal_status = log.ExtrinsicsCalibration.Status.recalibrating
       else:
-        self.cal_status = log.LiveCalibrationData.Status.uncalibrated
+        self.cal_status = log.ExtrinsicsCalibration.Status.uncalibrated
     elif is_calibration_valid(self.rpy):
-      self.cal_status = log.LiveCalibrationData.Status.calibrated
+      self.cal_status = log.ExtrinsicsCalibration.Status.calibrated
     else:
-      self.cal_status = log.LiveCalibrationData.Status.invalid
+      self.cal_status = log.ExtrinsicsCalibration.Status.invalid
 
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
     # TODO: add height spread check with smooth transition too
     spread_too_high = self.calib_spread[1] > MAX_ALLOWED_PITCH_SPREAD or self.calib_spread[2] > MAX_ALLOWED_YAW_SPREAD
-    if spread_too_high and self.cal_status == log.LiveCalibrationData.Status.calibrated:
+    if spread_too_high and self.cal_status == log.ExtrinsicsCalibration.Status.calibrated:
       self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
-      self.cal_status = log.LiveCalibrationData.Status.recalibrating
+      self.cal_status = log.ExtrinsicsCalibration.Status.recalibrating
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
@@ -234,35 +234,35 @@ class Calibrator:
   def get_msg(self, valid: bool) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
 
-    msg = messaging.new_message('liveCalibration')
+    msg = messaging.new_message('extrinsicsCalibration')
     msg.valid = valid
 
-    liveCalibration = msg.liveCalibration
-    liveCalibration.validBlocks = self.valid_blocks
-    liveCalibration.calStatus = self.cal_status
-    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    liveCalibration.rpyCalib = smooth_rpy.tolist()
-    liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
-    liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
-    liveCalibration.height = self.height.tolist()
+    extrinsicsCalibration = msg.extrinsicsCalibration
+    extrinsicsCalibration.validBlocks = self.valid_blocks
+    extrinsicsCalibration.calStatus = self.cal_status
+    extrinsicsCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
+    extrinsicsCalibration.rpyCalib = smooth_rpy.tolist()
+    extrinsicsCalibration.rpyCalibSpread = self.calib_spread.tolist()
+    extrinsicsCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
+    extrinsicsCalibration.height = self.height.tolist()
 
     if self.not_car:
-      liveCalibration.validBlocks = INPUTS_NEEDED
-      liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
-      liveCalibration.calPerc = 100.
-      liveCalibration.rpyCalib = [0, 0, 0]
-      liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+      extrinsicsCalibration.validBlocks = INPUTS_NEEDED
+      extrinsicsCalibration.calStatus = log.ExtrinsicsCalibration.Status.calibrated
+      extrinsicsCalibration.calPerc = 100.
+      extrinsicsCalibration.rpyCalib = [0, 0, 0]
+      extrinsicsCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
     return msg
 
   def send_data(self, pm: messaging.PubMaster, valid: bool) -> None:
-    pm.send('liveCalibration', self.get_msg(valid))
+    pm.send('extrinsicsCalibration', self.get_msg(valid))
 
 
 def main() -> NoReturn:
   config_realtime_process([0, 1, 2, 3], 5)
 
-  pm = messaging.PubMaster(['liveCalibration'])
+  pm = messaging.PubMaster(['extrinsicsCalibration'])
   sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry')
 
   params_reader = Params()
diff --git a/openpilot/selfdrive/locationd/helpers.py b/openpilot/selfdrive/locationd/helpers.py
index 5e3fa16027..48e1ee25c2 100644
--- a/openpilot/selfdrive/locationd/helpers.py
+++ b/openpilot/selfdrive/locationd/helpers.py
@@ -9,29 +9,29 @@ from openpilot.common.transformations.orientation import rot_from_euler, euler_f
 
 @cache
 def fft_next_good_size(n: int) -> int:
-    """
-    smallest composite of 2, 3, 5, 7, 11 that is >= n
-    inspired by pocketfft
-    """
-    if n <= 6:
-      return n
-    best, f2 = 2 * n, 1
-    while f2 < best:
-        f23 = f2
-        while f23 < best:
-            f235 = f23
-            while f235 < best:
-                f2357 = f235
-                while f2357 < best:
-                    f235711 = f2357
-                    while f235711 < best:
-                        best = f235711 if f235711 >= n else best
-                        f235711 *= 11
-                    f2357 *= 7
-                f235 *= 5
-            f23 *= 3
-        f2 *= 2
-    return best
+  """
+  smallest composite of 2, 3, 5, 7, 11 that is >= n
+  inspired by pocketfft
+  """
+  if n <= 6:
+    return n
+  best, f2 = 2 * n, 1
+  while f2 < best:
+    f23 = f2
+    while f23 < best:
+      f235 = f23
+      while f235 < best:
+        f2357 = f235
+        while f2357 < best:
+          f235711 = f2357
+          while f235711 < best:
+            best = f235711 if f235711 >= n else best
+            f235711 *= 11
+          f2357 *= 7
+        f235 *= 5
+      f23 *= 3
+    f2 *= 2
+  return best
 
 
 def parabolic_peak_interp(R, max_index):
@@ -130,7 +130,7 @@ class Measurement:
     self.xyz_std: np.ndarray = xyz_std
 
   @classmethod
-  def from_measurement_xyz(cls, measurement: log.LivePose.XYZMeasurement) -> 'Measurement':
+  def from_measurement_xyz(cls, measurement: log.DeviceMotion.XYZMeasurement) -> 'Measurement':
     return cls(
       xyz=np.array([measurement.x, measurement.y, measurement.z]),
       xyz_std=np.array([measurement.xStd, measurement.yStd, measurement.zStd])
@@ -145,12 +145,12 @@ class Pose:
     self.angular_velocity = angular_velocity
 
   @classmethod
-  def from_live_pose(cls, live_pose: log.LivePose) -> 'Pose':
+  def from_device_motion(cls, device_motion: log.DeviceMotion) -> 'Pose':
     return Pose(
-      orientation=Measurement.from_measurement_xyz(live_pose.orientationNED),
-      velocity=Measurement.from_measurement_xyz(live_pose.velocityDevice),
-      acceleration=Measurement.from_measurement_xyz(live_pose.accelerationDevice),
-      angular_velocity=Measurement.from_measurement_xyz(live_pose.angularVelocityDevice)
+      orientation=Measurement.from_measurement_xyz(device_motion.orientationNED),
+      velocity=Measurement.from_measurement_xyz(device_motion.velocityDevice),
+      acceleration=Measurement.from_measurement_xyz(device_motion.accelerationDevice),
+      angular_velocity=Measurement.from_measurement_xyz(device_motion.angularVelocityDevice)
     )
 
 
@@ -178,8 +178,8 @@ class PoseCalibrator:
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 
-  def feed_live_calib(self, live_calib: log.LiveCalibrationData):
-    calib_rpy = np.array(live_calib.rpyCalib)
+  def feed_extrinsics_calibration(self, extrinsics_calibration: log.ExtrinsicsCalibration):
+    calib_rpy = np.array(extrinsics_calibration.rpyCalib)
     device_from_calib = rot_from_euler(calib_rpy)
     self.calib_from_device = device_from_calib.T
-    self.calib_valid = live_calib.calStatus == log.LiveCalibrationData.Status.calibrated
+    self.calib_valid = extrinsics_calibration.calStatus == log.ExtrinsicsCalibration.Status.calibrated
diff --git a/openpilot/selfdrive/locationd/lagd.py b/openpilot/selfdrive/locationd/lagd.py
index da2c53fd11..c80a18db16 100755
--- a/openpilot/selfdrive/locationd/lagd.py
+++ b/openpilot/selfdrive/locationd/lagd.py
@@ -172,7 +172,7 @@ class BlockAverage:
 
 
 class LateralLagEstimator:
-  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+  inputs = {"carControl", "carState", "controlsState", "extrinsicsCalibration", "deviceMotion"}
 
   def __init__(self, CP: car.CarParams, dt: float,
                block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
@@ -220,39 +220,39 @@ class LateralLagEstimator:
     self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
-    msg = messaging.new_message('liveDelay')
+    msg = messaging.new_message('lateralDelay')
 
     msg.valid = valid
 
-    liveDelay = msg.liveDelay
+    lateralDelay = msg.lateralDelay
 
     valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
     if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
       if valid_std > MAX_LAG_STD:
-        liveDelay.status = log.LiveDelayData.Status.invalid
+        lateralDelay.status = log.LateralDelay.Status.invalid
       else:
-        liveDelay.status = log.LiveDelayData.Status.estimated
+        lateralDelay.status = log.LateralDelay.Status.estimated
     else:
-      liveDelay.status = log.LiveDelayData.Status.unestimated
+      lateralDelay.status = log.LateralDelay.Status.unestimated
 
-    if liveDelay.status == log.LiveDelayData.Status.estimated:
-      liveDelay.lateralDelay = min(MAX_LAG, max(MIN_LAG, valid_mean_lag))
+    if lateralDelay.status == log.LateralDelay.Status.estimated:
+      lateralDelay.lateralDelay = min(MAX_LAG, max(MIN_LAG, valid_mean_lag))
     else:
-      liveDelay.lateralDelay = self.initial_lag
+      lateralDelay.lateralDelay = self.initial_lag
 
     if not np.isnan(current_mean_lag) and not np.isnan(current_std):
-      liveDelay.lateralDelayEstimate = current_mean_lag
-      liveDelay.lateralDelayEstimateStd = current_std
+      lateralDelay.lateralDelayEstimate = current_mean_lag
+      lateralDelay.lateralDelayEstimateStd = current_std
     else:
-      liveDelay.lateralDelayEstimate = self.initial_lag
-      liveDelay.lateralDelayEstimateStd = 0.0
+      lateralDelay.lateralDelayEstimate = self.initial_lag
+      lateralDelay.lateralDelayEstimateStd = 0.0
 
-    liveDelay.validBlocks = self.block_avg.valid_blocks
-    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+    lateralDelay.validBlocks = self.block_avg.valid_blocks
+    lateralDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
                             (self.min_valid_block_count * self.block_size), 100)
     if debug:
-      liveDelay.points = self.block_avg.values.flatten().tolist()
-    liveDelay.version = VERSION
+      lateralDelay.points = self.block_avg.values.flatten().tolist()
+    lateralDelay.version = VERSION
 
     return msg
 
@@ -265,11 +265,11 @@ class LateralLagEstimator:
     elif which == "controlsState":
       self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
       self.desired_curvature = msg.desiredCurvature
-    elif which == "liveCalibration":
-      self.calibrator.feed_live_calib(msg)
-    elif which == "livePose":
-      device_pose = Pose.from_live_pose(msg)
-      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+    elif which == "extrinsicsCalibration":
+      self.calibrator.feed_extrinsics_calibration(msg)
+    elif which == "deviceMotion":
+      device_motion = Pose.from_device_motion(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_motion)
       self.yaw_rate = calibrated_pose.angular_velocity.yaw
       self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
       self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
@@ -369,13 +369,13 @@ def retrieve_initial_lag(params: Params, CP: car.CarParams):
   if last_lag_data is not None:
     try:
       with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
-        ld = last_lag_msg.liveDelay
+        ld = last_lag_msg.lateralDelay
         if last_CP.carFingerprint != CP.carFingerprint:
           raise Exception("Car model mismatch")
 
         lag, valid_blocks, status, version = ld.lateralDelayEstimate, ld.validBlocks, ld.status, ld.version
         assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
-        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
+        assert status != log.LateralDelay.Status.invalid, "Lag estimate is invalid"
         assert version == VERSION, f"Lag estimate is from a different version (got {version}, expected {VERSION})"
         return lag, valid_blocks
     except Exception as e:
@@ -390,13 +390,13 @@ def main():
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
 
-  pm = messaging.PubMaster(['liveDelay'])
-  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+  pm = messaging.PubMaster(['lateralDelay'])
+  sm = messaging.SubMaster(['deviceMotion', 'extrinsicsCalibration', 'carState', 'controlsState', 'carControl'], poll='deviceMotion')
 
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['deviceMotion'].frequency)
   if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
@@ -412,12 +412,12 @@ def main():
           lag_learner.handle_log(t, which, sm[which])
       lag_learner.update_points()
 
-    # 4Hz driven by livePose
+    # 4Hz driven by deviceMotion
     if sm.frame % 5 == 0:
       lag_learner.update_estimate()
       lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
       lag_msg_dat = lag_msg.to_bytes()
-      pm.send('liveDelay', lag_msg_dat)
+      pm.send('lateralDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put("LiveDelay", lag_msg_dat)
diff --git a/openpilot/selfdrive/locationd/locationd.py b/openpilot/selfdrive/locationd/locationd.py
index eb3c42fce2..9fbec991d5 100755
--- a/openpilot/selfdrive/locationd/locationd.py
+++ b/openpilot/selfdrive/locationd/locationd.py
@@ -148,7 +148,7 @@ class LocationEstimator:
     elif which == "carState":
       self.car_speed = abs(msg.vEgo)
 
-    elif which == "liveCalibration":
+    elif which == "extrinsicsCalibration":
       # Note that we use this message during calibration
       if len(msg.rpyCalib) > 0:
         calib = np.array(msg.rpyCalib)
@@ -217,19 +217,19 @@ class LocationEstimator:
     angular_velocity_device, angular_velocity_device_std = state[States.ANGULAR_VELOCITY], std[States.ANGULAR_VELOCITY]
     acceleration_device, acceleration_device_std = state[States.ACCELERATION], std[States.ACCELERATION]
 
-    msg = messaging.new_message("livePose")
+    msg = messaging.new_message("deviceMotion")
     msg.valid = filter_valid
 
-    livePose = msg.livePose
-    init_xyz_measurement(livePose.orientationNED, orientation_ned, orientation_ned_std, filter_valid)
-    init_xyz_measurement(livePose.velocityDevice, velocity_device, velocity_device_std, filter_valid)
-    init_xyz_measurement(livePose.angularVelocityDevice, angular_velocity_device, angular_velocity_device_std, filter_valid)
-    init_xyz_measurement(livePose.accelerationDevice, acceleration_device, acceleration_device_std, filter_valid)
+    deviceMotion = msg.deviceMotion
+    init_xyz_measurement(deviceMotion.orientationNED, orientation_ned, orientation_ned_std, filter_valid)
+    init_xyz_measurement(deviceMotion.velocityDevice, velocity_device, velocity_device_std, filter_valid)
+    init_xyz_measurement(deviceMotion.angularVelocityDevice, angular_velocity_device, angular_velocity_device_std, filter_valid)
+    init_xyz_measurement(deviceMotion.accelerationDevice, acceleration_device, acceleration_device_std, filter_valid)
     if self.debug:
-      livePose.debugFilterState.value = state.tolist()
-      livePose.debugFilterState.std = std.tolist()
-      livePose.debugFilterState.valid = filter_valid
-      livePose.debugFilterState.observations = [
+      deviceMotion.debugFilterState.value = state.tolist()
+      deviceMotion.debugFilterState.std = std.tolist()
+      deviceMotion.debugFilterState.valid = filter_valid
+      deviceMotion.debugFilterState.observations = [
         {'kind': k, 'value': self.observations[k].tolist(), 'error': self.observation_errors[k].tolist()}
         for k in self.observations.keys()
       ]
@@ -238,10 +238,10 @@ class LocationEstimator:
     new_mean = np.mean(self.posenet_stds[POSENET_STD_HIST_HALF:])
     std_spike = (new_mean / old_mean) > 4.0 and new_mean > 7.0
 
-    livePose.inputsOK = inputs_valid
-    livePose.posenetOK = not std_spike or self.car_speed <= 5.0
-    livePose.sensorsOK = sensors_valid
-    livePose.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
+    deviceMotion.inputsOK = inputs_valid
+    deviceMotion.posenetOK = not std_spike or self.car_speed <= 5.0
+    deviceMotion.sensorsOK = sensors_valid
+    deviceMotion.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)
 
     return msg
 
@@ -267,8 +267,8 @@ def main():
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   SIMULATION = bool(int(os.getenv("SIMULATION", "0")))
 
-  pm = messaging.PubMaster(['livePose'])
-  sm = messaging.SubMaster(['carState', 'liveCalibration', 'cameraOdometry'], poll='cameraOdometry')
+  pm = messaging.PubMaster(['deviceMotion'])
+  sm = messaging.SubMaster(['carState', 'extrinsicsCalibration', 'cameraOdometry'], poll='cameraOdometry')
   # separate sensor sockets for efficiency
   sensor_sockets = [messaging.sub_sock(which, timeout=20) for which in ['accelerometer', 'gyroscope']]
   sensor_alive, sensor_valid, sensor_recv_time = defaultdict(bool), defaultdict(bool), defaultdict(float)
@@ -288,7 +288,7 @@ def main():
   initial_pose_data = params.get("LocationFilterInitialState")
   if initial_pose_data is not None:
     with log.Event.from_bytes(initial_pose_data) as lp_msg:
-      filter_state = lp_msg.livePose.debugFilterState
+      filter_state = lp_msg.deviceMotion.debugFilterState
       x_initial = np.array(filter_state.value, dtype=np.float64) if len(filter_state.value) != 0 else PoseKalman.initial_x
       P_initial = np.diag(np.array(filter_state.std, dtype=np.float64)) if len(filter_state.std) != 0 else PoseKalman.initial_P
       estimator.reset(None, x_initial, P_initial)
@@ -333,7 +333,7 @@ def main():
       sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)
 
       msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
-      pm.send("livePose", msg)
+      pm.send("deviceMotion", msg)
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py
index c1088a8180..760176bc5c 100755
--- a/openpilot/selfdrive/locationd/paramsd.py
+++ b/openpilot/selfdrive/locationd/paramsd.py
@@ -65,10 +65,10 @@ class VehicleParamsLearner:
     self.avg_angle_offset = self.angle_offset
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
-    if which == 'livePose':
+    if which == 'deviceMotion':
       t = msg.timestamp * 1e-9
-      device_pose = Pose.from_live_pose(msg)
-      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      device_motion = Pose.from_device_motion(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_motion)
 
       yaw_rate, yaw_rate_std = calibrated_pose.angular_velocity.z, calibrated_pose.angular_velocity.z_std
       yaw_rate_valid = msg.angularVelocityDevice.valid
@@ -79,7 +79,7 @@ class VehicleParamsLearner:
         yaw_rate, yaw_rate_std = 0.0, np.radians(10.0)
       self.observed_yaw_rate = yaw_rate
 
-      localizer_roll, localizer_roll_std = device_pose.orientation.x, device_pose.orientation.x_std
+      localizer_roll, localizer_roll_std = device_motion.orientation.x, device_motion.orientation.x_std
       localizer_roll_std = np.radians(1) if np.isnan(localizer_roll_std) else localizer_roll_std
       roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
       if roll_valid:
@@ -113,15 +113,15 @@ class VehicleParamsLearner:
         self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]]))
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
-    elif which == 'liveCalibration':
-      self.calibrator.feed_live_calib(msg)
+    elif which == 'extrinsicsCalibration':
+      self.calibrator.feed_extrinsics_calibration(msg)
 
     elif which == 'carState':
       steering_angle = msg.steeringAngleDeg
 
       in_linear_region = abs(steering_angle) < 45
       self.observed_speed = msg.vEgo
-      self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region
+      self.active = self.observed_speed > MIN_ACTIVE_SPEED and in_linear_region and msg.gearShifter != car.CarState.GearShifter.reverse
 
       if self.active:
         self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[np.radians(steering_angle)]]))
@@ -136,7 +136,7 @@ class VehicleParamsLearner:
     x = self.kf.x
     P = np.sqrt(self.kf.P.diagonal())
     if not np.all(np.isfinite(x)):
-      cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
+      cloudlog.error("NaN in vehicleParameters estimate. Resetting to default values")
       self.reset(self.kf.t)
       x = self.kf.x
 
@@ -156,38 +156,38 @@ class VehicleParamsLearner:
     self.total_offset_valid = check_valid_with_hysteresis(self.total_offset_valid, self.angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
     self.roll_valid = check_valid_with_hysteresis(self.roll_valid, self.roll, ROLL_MAX, ROLL_LOWERED_MAX)
 
-    msg = messaging.new_message('liveParameters')
+    msg = messaging.new_message('vehicleParameters')
 
     msg.valid = valid
 
-    liveParameters = msg.liveParameters
-    liveParameters.posenetValid = True
-    liveParameters.sensorValid = sensors_valid
-    liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
-    liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
-    liveParameters.roll = float(self.roll)
-    liveParameters.angleOffsetAverageDeg = float(self.avg_angle_offset)
-    liveParameters.angleOffsetDeg = float(self.angle_offset)
-    liveParameters.steerRatioValid = self.min_sr <= liveParameters.steerRatio <= self.max_sr
-    liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
-    liveParameters.angleOffsetAverageValid = bool(self.avg_offset_valid)
-    liveParameters.angleOffsetValid = bool(self.total_offset_valid)
-    liveParameters.valid = all((
-      liveParameters.angleOffsetAverageValid,
-      liveParameters.angleOffsetValid ,
+    vehicleParameters = msg.vehicleParameters
+    vehicleParameters.posenetValid = True
+    vehicleParameters.sensorValid = sensors_valid
+    vehicleParameters.steerRatio = float(x[States.STEER_RATIO].item())
+    vehicleParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
+    vehicleParameters.roll = float(self.roll)
+    vehicleParameters.angleOffsetAverageDeg = float(self.avg_angle_offset)
+    vehicleParameters.angleOffsetDeg = float(self.angle_offset)
+    vehicleParameters.steerRatioValid = self.min_sr <= vehicleParameters.steerRatio <= self.max_sr
+    vehicleParameters.stiffnessFactorValid = 0.2 <= vehicleParameters.stiffnessFactor <= 5.0
+    vehicleParameters.angleOffsetAverageValid = bool(self.avg_offset_valid)
+    vehicleParameters.angleOffsetValid = bool(self.total_offset_valid)
+    vehicleParameters.valid = all((
+      vehicleParameters.angleOffsetAverageValid,
+      vehicleParameters.angleOffsetValid ,
       self.roll_valid,
       roll_std < ROLL_STD_MAX,
-      liveParameters.stiffnessFactorValid,
-      liveParameters.steerRatioValid,
+      vehicleParameters.stiffnessFactorValid,
+      vehicleParameters.steerRatioValid,
     ))
-    liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
-    liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
-    liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
-    liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
+    vehicleParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
+    vehicleParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
+    vehicleParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
+    vehicleParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
     if debug:
-      liveParameters.debugFilterState = log.LiveParametersData.FilterState.new_message()
-      liveParameters.debugFilterState.value = x.tolist()
-      liveParameters.debugFilterState.std = P.tolist()
+      vehicleParameters.debugFilterState = log.VehicleParameters.FilterState.new_message()
+      vehicleParameters.debugFilterState.value = x.tolist()
+      vehicleParameters.debugFilterState.std = P.tolist()
 
     return msg
 
@@ -210,7 +210,7 @@ def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: b
   if last_parameters_data is not None and last_carparams_data is not None:
     try:
       with log.Event.from_bytes(last_parameters_data) as last_lp_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
-        lp = last_lp_msg.liveParameters
+        lp = last_lp_msg.vehicleParameters
         # Check if car model matches
         if last_CP.carFingerprint != CP.carFingerprint:
           raise Exception("Car model mismatch")
@@ -248,8 +248,8 @@ def main():
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
-  pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
+  pm = messaging.PubMaster(['vehicleParameters'])
+  sm = messaging.SubMaster(['deviceMotion', 'extrinsicsCalibration', 'carState'], poll='deviceMotion')
 
   params = Params()
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
@@ -265,14 +265,14 @@ def main():
           t = sm.logMonoTime[which] * 1e-9
           learner.handle_log(t, which, sm[which])
 
-    if sm.updated['livePose']:
+    if sm.updated['deviceMotion']:
       msg = learner.get_msg(sm.all_checks(), debug=DEBUG)
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
         params.put("LiveParametersV2", msg_dat)
 
-      pm.send('liveParameters', msg_dat)
+      pm.send('vehicleParameters', msg_dat)
 
 
 if __name__ == "__main__":
diff --git a/openpilot/selfdrive/locationd/test/test_calibrationd.py b/openpilot/selfdrive/locationd/test/test_calibrationd.py
index f862b369fe..7afd43b35b 100644
--- a/openpilot/selfdrive/locationd/test/test_calibrationd.py
+++ b/openpilot/selfdrive/locationd/test/test_calibrationd.py
@@ -2,6 +2,7 @@ import random
 
 import numpy as np
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from openpilot.common.params import Params
@@ -29,19 +30,19 @@ def process_messages(c, cam_odo_calib, cycles,
                         [0.0, 0.0, HEIGHT_INIT.item()],
                         [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std])
 
-class TestCalibrationd:
+class TestCalibrationd(OpenpilotTestCase):
 
   def test_read_saved_params(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
-    msg.liveCalibration.height = [random.random() for _ in range(1)]
+    msg = messaging.new_message('extrinsicsCalibration')
+    msg.extrinsicsCalibration.validBlocks = random.randint(1, 10)
+    msg.extrinsicsCalibration.rpyCalib = [random.random() for _ in range(3)]
+    msg.extrinsicsCalibration.height = [random.random() for _ in range(1)]
     Params().put("CalibrationParams", msg.to_bytes(), block=True)
     c = Calibrator(param_put=True)
 
-    np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
-    np.testing.assert_allclose(msg.liveCalibration.height, c.height)
-    assert msg.liveCalibration.validBlocks == c.valid_blocks
+    np.testing.assert_allclose(msg.extrinsicsCalibration.rpyCalib, c.rpy)
+    np.testing.assert_allclose(msg.extrinsicsCalibration.height, c.height)
+    assert msg.extrinsicsCalibration.validBlocks == c.valid_blocks
 
 
   def test_calibration_basics(self):
@@ -91,7 +92,7 @@ class TestCalibrationd:
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3)
     process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10)
     assert c.valid_blocks == INPUTS_NEEDED + 1
-    assert c.cal_status == log.LiveCalibrationData.Status.calibrated
+    assert c.cal_status == log.ExtrinsicsCalibration.Status.calibrated
 
     c = Calibrator(param_put=False)
     process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED)
@@ -99,7 +100,7 @@ class TestCalibrationd:
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
     process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10)
     assert c.valid_blocks == 1
-    assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
+    assert c.cal_status == log.ExtrinsicsCalibration.Status.recalibrating
     np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2)
 
     c = Calibrator(param_put=False)
@@ -108,5 +109,5 @@ class TestCalibrationd:
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
     process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10)
     assert c.valid_blocks == 1
-    assert c.cal_status == log.LiveCalibrationData.Status.recalibrating
+    assert c.cal_status == log.ExtrinsicsCalibration.Status.recalibrating
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2)
diff --git a/openpilot/selfdrive/locationd/test/test_lagd.py b/openpilot/selfdrive/locationd/test/test_lagd.py
index efaba6ead9..0acc3e646f 100644
--- a/openpilot/selfdrive/locationd/test/test_lagd.py
+++ b/openpilot/selfdrive/locationd/test/test_lagd.py
@@ -1,8 +1,10 @@
 import random
 import numpy as np
 import time
-import pytest
+import unittest
+from functools import cache
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
@@ -18,6 +20,12 @@ DT = 0.05
 LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES = int(round(MIN_LAG / DT)), int(round(MAX_LAG / DT))
 
 
+@cache
+def get_test_car_params():
+  lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+  return next(m for m in lr if m.which() == "carParams").carParams
+
+
 def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_threshold=0.0):
   for i in range(n_frames):
     t = i * estimator.dt
@@ -35,9 +43,9 @@ def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_thres
       (t, "carControl", car.CarControl(latActive=not rejected)),
       (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
       (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
-      (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True),
+      (t, "deviceMotion", log.DeviceMotion(angularVelocityDevice=log.DeviceMotion.XYZMeasurement(z=actual_yr, valid=True),
                                    posenetOK=True, inputsOK=True)),
-      (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
+      (t, "extrinsicsCalibration", log.ExtrinsicsCalibration(rpyCalib=[0, 0, 0], calStatus=log.ExtrinsicsCalibration.Status.calibrated)),
     ]
     for t, w, m in msgs:
       estimator.handle_log(t, w, m)
@@ -45,17 +53,16 @@ def process_messages(estimator, lag_frames, n_frames, vego=25.0, rejection_thres
     estimator.update_estimate()
 
 
-class TestLagd:
+class TestLagd(OpenpilotTestCase):
   def test_read_saved_params(self):
     params = Params()
 
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
+    CP = get_test_car_params()
 
-    msg = messaging.new_message('liveDelay')
-    msg.liveDelay.lateralDelayEstimate = random.random()
-    msg.liveDelay.validBlocks = random.randint(1, 10)
-    msg.liveDelay.version = VERSION
+    msg = messaging.new_message('lateralDelay')
+    msg.lateralDelay.lateralDelayEstimate = random.random()
+    msg.lateralDelay.validBlocks = random.randint(1, 10)
+    msg.lateralDelay.version = VERSION
     params.put("LiveDelay", msg.to_bytes(), block=True)
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
@@ -63,19 +70,18 @@ class TestLagd:
     assert saved_lag_params is not None
 
     lag, valid_blocks = saved_lag_params
-    assert lag == msg.liveDelay.lateralDelayEstimate
-    assert valid_blocks == msg.liveDelay.validBlocks
+    assert lag == msg.lateralDelay.lateralDelayEstimate
+    assert valid_blocks == msg.lateralDelay.validBlocks
 
   def test_read_invalid_saved_params(self, subtests):
     params = Params()
 
-    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
-    CP = next(m for m in lr if m.which() == "carParams").carParams
+    CP = get_test_car_params()
 
     for msg_dict in [{'version': 0}, {'status': 'invalid'}, {'validBlocks': 100}]:
-      with subtests.test(msg=f"liveDelay={msg_dict}"):
-        msg = messaging.new_message('liveDelay')
-        msg.liveDelay = msg_dict
+      with subtests.test(msg=f"lateralDelay={msg_dict}"):
+        msg = messaging.new_message('lateralDelay')
+        msg.lateralDelay = msg_dict
         params.put("LiveDelay", msg.to_bytes(), block=True)
         params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
         assert retrieve_initial_lag(params, CP) is None
@@ -108,11 +114,11 @@ class TestLagd:
     mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
     msg = estimator.get_msg(True)
-    assert msg.liveDelay.status == 'unestimated'
-    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
-    assert msg.liveDelay.validBlocks == 0
-    assert msg.liveDelay.calPerc == 0
+    assert msg.lateralDelay.status == 'unestimated'
+    assert np.allclose(msg.lateralDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.lateralDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.lateralDelay.validBlocks == 0
+    assert msg.lateralDelay.calPerc == 0
 
   def test_estimator_basics(self, subtests):
     for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
@@ -121,23 +127,23 @@ class TestLagd:
         estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
         process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
         msg = estimator.get_msg(True)
-        assert msg.liveDelay.status == 'estimated'
-        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
-        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
-        assert msg.liveDelay.calPerc == 100
+        assert msg.lateralDelay.status == 'estimated'
+        assert np.allclose(msg.lateralDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.lateralDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.lateralDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+        assert msg.lateralDelay.validBlocks == BLOCK_NUM_NEEDED
+        assert msg.lateralDelay.calPerc == 100
 
   def test_estimator_masking(self):
     mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
     process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
-    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
-    assert msg.liveDelay.calPerc == 100
+    assert np.allclose(msg.lateralDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.lateralDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+    assert msg.lateralDelay.calPerc == 100
 
-  @pytest.mark.skipif(PC, reason="only on device")
+  @unittest.skipIf(PC, "only on device")
   def test_estimator_performance(self):
     mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
diff --git a/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
index 04d2d6b55b..01fc3f1177 100644
--- a/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/openpilot/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -1,7 +1,11 @@
+import fcntl
 import numpy as np
+import os
+import tempfile
 from collections import defaultdict
 from enum import Enum
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -41,7 +45,7 @@ def get_select_fields_data(logs):
     for key in keys:
       val = getattr(val, key) if isinstance(key, str) else val[key]
     return val
-  lp = [x.livePose for x in logs if x.which() == 'livePose']
+  lp = [x.deviceMotion for x in logs if x.which() == 'deviceMotion']
   data = defaultdict(list)
   for msg in lp:
     for key, fields in SELECT_COMPARE_FIELDS.items():
@@ -96,7 +100,7 @@ def run_scenarios(scenario, logs):
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
 
 
-class TestLocationdScenarios:
+class TestLocationdScenarios(OpenpilotTestCase):
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:
     - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK)
@@ -105,7 +109,20 @@ class TestLocationdScenarios:
 
   @classmethod
   def setup_class(cls):
-    cls.logs = migrate_all(LogReader(TEST_ROUTE))
+    # xdist can initialize this class in several workers at once. URLFile's
+    # cache writes are atomic, but cache misses are not locked, so every worker
+    # otherwise downloads the same route concurrently.
+    lock_path = os.path.join(tempfile.gettempdir(), "openpilot-locationd-scenarios.lock")
+    ready_path = f"{lock_path}.ready"
+    logs = None
+    with open(lock_path, "w") as lock:
+      fcntl.flock(lock, fcntl.LOCK_EX)
+      if not os.path.exists(ready_path):
+        logs = list(LogReader(TEST_ROUTE))
+        open(ready_path, "w").close()
+    if logs is None:
+      logs = list(LogReader(TEST_ROUTE))
+    cls.logs = migrate_all(logs)
 
   def test_base(self):
     """
diff --git a/openpilot/selfdrive/locationd/test/test_paramsd.py b/openpilot/selfdrive/locationd/test/test_paramsd.py
index 74135cb875..515c7a814a 100644
--- a/openpilot/selfdrive/locationd/test/test_paramsd.py
+++ b/openpilot/selfdrive/locationd/test/test_paramsd.py
@@ -1,6 +1,7 @@
 import random
 import numpy as np
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging
 from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman
@@ -10,29 +11,29 @@ from openpilot.common.params import Params
 from openpilot.tools.lib.logreader import LogReader
 
 
-def get_random_live_parameters(CP):
-  msg = messaging.new_message("liveParameters")
-  msg.liveParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio
-  msg.liveParameters.stiffnessFactor = random.random()
-  msg.liveParameters.angleOffsetAverageDeg = random.random()
-  msg.liveParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])]
+def get_random_vehicle_parameters(CP):
+  msg = messaging.new_message("vehicleParameters")
+  msg.vehicleParameters.steerRatio = (random.random() + 0.5) * CP.steerRatio
+  msg.vehicleParameters.stiffnessFactor = random.random()
+  msg.vehicleParameters.angleOffsetAverageDeg = random.random()
+  msg.vehicleParameters.debugFilterState.std = [random.random() for _ in range(CarKalman.P_initial.shape[0])]
   return msg
 
 
-class TestParamsd:
+class TestParamsd(OpenpilotTestCase):
   def test_read_saved_params(self):
     params = Params()
 
     lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
-    msg = get_random_live_parameters(CP)
+    msg = get_random_vehicle_parameters(CP)
     params.put("LiveParametersV2", msg.to_bytes(), block=True)
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
 
     sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
-    np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
-    np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
-    np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    np.testing.assert_allclose(sr, msg.vehicleParameters.steerRatio)
+    np.testing.assert_allclose(sf, msg.vehicleParameters.stiffnessFactor)
+    np.testing.assert_allclose(offset, msg.vehicleParameters.angleOffsetAverageDeg)
     np.testing.assert_equal(p_init.shape, CarKalman.P_initial.shape)
-    np.testing.assert_allclose(np.diagonal(p_init), msg.liveParameters.debugFilterState.std)
+    np.testing.assert_allclose(np.diagonal(p_init), msg.vehicleParameters.debugFilterState.std)
diff --git a/openpilot/selfdrive/locationd/test/test_torqued.py b/openpilot/selfdrive/locationd/test/test_torqued.py
index 4d337178a0..3c5cb29bfc 100644
--- a/openpilot/selfdrive/locationd/test/test_torqued.py
+++ b/openpilot/selfdrive/locationd/test/test_torqued.py
@@ -1,12 +1,13 @@
 from opendbc.car.structs import car
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator
 
 
-class TestTorqued:
+class TestTorqued(OpenpilotTestCase):
   def test_cal_percent(self):
     est = TorqueEstimator(car.CarParams())
     msg = est.get_msg()
-    assert msg.liveTorqueParameters.calPerc == 0
+    assert msg.lateralTorqueParameters.calPerc == 0
 
     for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
                                     est.filtered_points.buckets_min_points.values(), strict=True):
@@ -15,7 +16,7 @@ class TestTorqued:
 
     # enough bucket points, but not enough total points
     msg = est.get_msg()
-    assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+    assert msg.lateralTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
 
     # add enough points to bucket with most capacity
     key = list(est.filtered_points.buckets)[0]
@@ -23,4 +24,4 @@ class TestTorqued:
       est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
 
     msg = est.get_msg()
-    assert msg.liveTorqueParameters.calPerc == 100
+    assert msg.lateralTorqueParameters.calPerc == 100
diff --git a/openpilot/selfdrive/locationd/torqued.py b/openpilot/selfdrive/locationd/torqued.py
index 1d4aa8bc35..1b5653510c 100755
--- a/openpilot/selfdrive/locationd/torqued.py
+++ b/openpilot/selfdrive/locationd/torqued.py
@@ -110,11 +110,11 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
     if params_cache is not None and torque_cache is not None:
       try:
         with log.Event.from_bytes(torque_cache) as log_evt:
-          cache_ltp = log_evt.liveTorqueParameters
+          cache_ltp = log_evt.lateralTorqueParameters
         with car.CarParams.from_bytes(params_cache) as msg:
           cache_CP = msg
         if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
-          if cache_ltp.liveValid:
+          if cache_ltp.valid:
             initial_params = {
               'latAccelFactor': cache_ltp.latAccelFactorFiltered,
               'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
@@ -162,7 +162,7 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
       _, spread = np.matmul(points[:, [0, 2]], slope2rot(slope)).T
       friction_coeff = np.std(spread) * FRICTION_FACTOR
     except np.linalg.LinAlgError as e:
-      cloudlog.exception(f"Error computing live torque params: {e}")
+      cloudlog.exception(f"Error computing lateral torque parameters: {e}")
       slope = offset = friction_coeff = np.nan
     return slope, offset, friction_coeff
 
@@ -184,21 +184,21 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
       # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
-    elif which == "liveCalibration":
-      self.calibrator.feed_live_calib(msg)
-    elif which == "liveDelay":
+    elif which == "extrinsicsCalibration":
+      self.calibrator.feed_extrinsics_calibration(msg)
+    elif which == "lateralDelay":
       self.lag = get_lat_delay(self.params, msg.lateralDelay)
     # calculate lateral accel from past steering torque
-    elif which == "livePose":
+    elif which == "deviceMotion":
       is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
       if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
         t = msg.timestamp * 1e-9
-        device_pose = Pose.from_live_pose(msg)
-        calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+        device_motion = Pose.from_device_motion(msg)
+        calibrated_pose = self.calibrator.build_calibrated_pose(device_motion)
         angular_velocity_calibrated = calibrated_pose.angular_velocity
 
         yaw_rate = angular_velocity_calibrated.yaw
-        roll = device_pose.orientation.roll
+        roll = device_motion.orientation.roll
         # check lat active up to now (without lag compensation)
         lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
                                self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
@@ -215,40 +215,40 @@ class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
             self.all_torque_points.append([steer, lateral_acc])
 
   def get_msg(self, valid=True, with_points=False):
-    msg = messaging.new_message('liveTorqueParameters')
+    msg = messaging.new_message('lateralTorqueParameters')
     msg.valid = valid
-    liveTorqueParameters = msg.liveTorqueParameters
-    liveTorqueParameters.version = VERSION
-    liveTorqueParameters.useParams = self.use_params
+    lateralTorqueParameters = msg.lateralTorqueParameters
+    lateralTorqueParameters.version = VERSION
+    lateralTorqueParameters.useParams = self.use_params
 
     # Calculate raw estimates when possible, only update filters when enough points are gathered
     if self.filtered_points.is_calculable():
       latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params()
-      liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
-      liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
-      liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
+      lateralTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
+      lateralTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
+      lateralTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
 
       if self.filtered_points.is_valid():
         if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
-          cloudlog.exception("Live torque parameters are invalid.")
-          liveTorqueParameters.liveValid = False
+          cloudlog.exception("Lateral torque parameters are invalid.")
+          lateralTorqueParameters.valid = False
           self.reset()
         else:
-          liveTorqueParameters.liveValid = True
+          lateralTorqueParameters.valid = True
           latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor)
           frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction)
           self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff})
 
     if with_points:
-      liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist()
+      lateralTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist()
 
-    liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x)
-    liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
-    liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
-    liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
-    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
-    liveTorqueParameters.decay = self.decay
-    liveTorqueParameters.maxResets = self.resets
+    lateralTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x)
+    lateralTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
+    lateralTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
+    lateralTorqueParameters.totalBucketPoints = len(self.filtered_points)
+    lateralTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
+    lateralTorqueParameters.decay = self.decay
+    lateralTorqueParameters.maxResets = self.resets
     return msg
 
 
@@ -257,8 +257,8 @@ def main(demo=False):
 
   DEBUG = bool(int(os.getenv("DEBUG", "0")))
 
-  pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
+  pm = messaging.PubMaster(['lateralTorqueParameters'])
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'extrinsicsCalibration', 'deviceMotion', 'lateralDelay'], poll='deviceMotion')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
@@ -273,9 +273,9 @@ def main(demo=False):
 
     TorqueEstimatorExt.update_use_params(estimator)
 
-    # 4Hz driven by livePose
+    # 4Hz driven by deviceMotion
     if sm.frame % 5 == 0:
-      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=DEBUG))
+      pm.send('lateralTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=DEBUG))
 
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
diff --git a/openpilot/selfdrive/modeld/SConscript b/openpilot/selfdrive/modeld/SConscript
index 5f6281556f..30b008078e 100644
--- a/openpilot/selfdrive/modeld/SConscript
+++ b/openpilot/selfdrive/modeld/SConscript
@@ -1,7 +1,7 @@
 import glob
 import json
 import os
-import sys, subprocess
+import time
 from SCons.Script import Action, Value
 from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
@@ -26,18 +26,7 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
   return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-# get fastest TG config
-# probe in subprocess so usbgpu locks gets released on process exit
-def probe_devices():
-  return set(subprocess.run(
-    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
-    capture_output=True, text=True, check=True).stdout.strip().splitlines())
-
-available = probe_devices()
-if 'CUDA' in available:
-  tg_backend = 'CUDA'
-  tg_flags = f'DEV={tg_backend}'
-elif 'QCOM' in available:
+if arch == 'comma_arm64':
   tg_backend = 'QCOM'
   tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
 else:
@@ -54,9 +43,9 @@ tg_devices = { # which device to put jit inputs to at runtime
   },
 }
 
-USBGPU = usbgpu_present() # or release # TODO always build big model on release
+USBGPU = usbgpu_present()
 if USBGPU:
-  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
+  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2'
   # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
   usbgpu_lock = File("models/.usb_gpu.lock").abspath
 
@@ -97,12 +86,26 @@ for usbgpu in [False, True] if USBGPU else [False]:
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
   chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
+  def do_compile(target, source, env, command=cmd, pkl=target_pkl_path, chunks=chunk_targets):
+    from openpilot.system.hardware.chestnut.flash import link_up
+    # chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
+    for _ in range(10):
+      if link_up():
+        break
+      time.sleep(1)
+    else:
+      print("Chestnut not ready, skipping big model build")
+      return
+    if ret := env.Execute(command):
+      return ret
+    chunk_file(pkl, chunks)
   def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
     chunk_file(pkl, chunks)
+  actions = Action(do_compile, "  [USBGPU] $TARGET") if usbgpu else [cmd, Action(do_chunk, "  [CHUNK] $TARGET")]
   node = lenv.Command(
     chunk_targets,
     tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
-    [cmd, Action(do_chunk, "  [CHUNK] $TARGET")],
+    actions,
   )
   if usbgpu:
     lenv.SideEffect(usbgpu_lock, node)
diff --git a/openpilot/selfdrive/modeld/compile_modeld.py b/openpilot/selfdrive/modeld/compile_modeld.py
index ebc3f21a13..2d27a41496 100755
--- a/openpilot/selfdrive/modeld/compile_modeld.py
+++ b/openpilot/selfdrive/modeld/compile_modeld.py
@@ -3,7 +3,6 @@ import argparse
 import atexit
 import math
 import os
-import pickle
 import tempfile
 import time
 import shutil
@@ -13,7 +12,6 @@ from collections import namedtuple
 import numpy as np
 
 from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
-from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 
 def _patch_tinygrad_fetch_fw():
   import hashlib
@@ -31,22 +29,6 @@ def _patch_tinygrad_fetch_fw():
   helpers.fetch_fw = fetch_fw
 _patch_tinygrad_fetch_fw()
 
-def _patch_tinygrad_buffer_reduce():
-  from tinygrad.device import Buffer
-  def __reduce_ex__(self, protocol):
-    buf = None
-    if self._base is not None:
-      return self.__class__, (self.device, self.size, self.dtype, None, None, None, 0, self.base, self.offset, self.is_allocated())
-    if self.device == "NPY":
-      return self.__class__, (self.device, self.size, self.dtype, self._buf, self.options, None, self.uop_refcount)
-    if self.is_allocated():
-      buf = bytearray(self.nbytes)
-      self.copyout(memoryview(buf))
-      if protocol >= 5:
-        buf = pickle.PickleBuffer(buf)
-    return self.__class__, (self.device, self.size, self.dtype, None, self.options, buf, self.uop_refcount)
-  Buffer.__reduce_ex__ = __reduce_ex__
-_patch_tinygrad_buffer_reduce()
 
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import Context
@@ -312,9 +294,6 @@ if __name__ == "__main__":
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  if 'USB+AMD' in os.environ.get('DEV', ''):
-    wait_usbgpu_link()
-
   model_path = read_file_chunked_to_disk(args.onnx)
   model_w, model_h = args.model_size
 
diff --git a/openpilot/selfdrive/modeld/dmonitoringmodeld.py b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
index 554407a223..67161c35bd 100755
--- a/openpilot/selfdrive/modeld/dmonitoringmodeld.py
+++ b/openpilot/selfdrive/modeld/dmonitoringmodeld.py
@@ -8,7 +8,8 @@ import numpy as np
 
 from openpilot.cereal import messaging
 from openpilot.cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
@@ -109,8 +110,8 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
   config_realtime_process(7, 5)
 
-  cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+  cloudlog.warning("connecting to cabin stream")
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_CABIN, True)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
@@ -119,7 +120,7 @@ def main():
   model = ModelState(vipc_client.width, vipc_client.height)
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
 
-  sm = SubMaster(["liveCalibration"])
+  sm = SubMaster(["extrinsicsCalibration"])
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(model.numpy_inputs['calib'].size, dtype=np.float32)
@@ -135,8 +136,8 @@ def main():
       model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
 
     sm.update(0)
-    if sm.updated["liveCalibration"]:
-      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
+    if sm.updated["extrinsicsCalibration"]:
+      calib[:] = np.array(sm["extrinsicsCalibration"].rpyCalib)
 
     t1 = time.perf_counter()
     model_output, gpu_execution_time = model.run(buf, calib, model_transform)
diff --git a/openpilot/selfdrive/modeld/fill_model_msg.py b/openpilot/selfdrive/modeld/fill_model_msg.py
index c4c973bb78..4d0069c878 100644
--- a/openpilot/selfdrive/modeld/fill_model_msg.py
+++ b/openpilot/selfdrive/modeld/fill_model_msg.py
@@ -175,8 +175,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
     modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
 
 def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
+                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, extrinsics_calibration_seen: bool) -> None:
+  msg.valid = extrinsics_calibration_seen & (vipc_dropped_frames < 1)
   cameraOdometry = msg.cameraOdometry
 
   cameraOdometry.frameId = vipc_frame_id
diff --git a/openpilot/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
index 608bc6aa64..37ab0b26d7 100644
--- a/openpilot/selfdrive/modeld/helpers.py
+++ b/openpilot/selfdrive/modeld/helpers.py
@@ -6,10 +6,11 @@ import struct
 import tempfile
 from pathlib import Path
 
+from openpilot.common.file_chunker import get_manifest_path
+from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_USB_IDS, USB_DEVICES_PATH
+
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
-USBGPU_VID = 0xADD1
-USBGPU_PID = 0x0001
 
 
 def get_tg_input_devices(process_name: str, usbgpu: bool):
@@ -38,22 +39,22 @@ def dump_oob(obj, f):
 def load_oob(f):
   opcodes = f.read(struct.unpack(' bool:
-  for d in Path("/sys/bus/usb/devices").glob("*"):
+  for d in USB_DEVICES_PATH.glob("*"):
     try:
-      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
-          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+      usb_id = (int((d / "idVendor").read_text(), 16), int((d / "idProduct").read_text(), 16))
+      product = (d / "product").read_text().strip()
+      if usb_id in CHESTNUT_USB_IDS and product == f"custom {CHESTNUT_FW_VERSION}-CLEAN":
         return True
     except Exception:
       pass
   return False
+
+def usbgpu_compiled() -> bool:
+  return Path(get_manifest_path(modeld_pkl_path(usbgpu=True))).is_file()
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 5dc8712112..790ae7b167 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -1,14 +1,20 @@
 #!/usr/bin/env python3
+from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
 from tinygrad.tensor import Tensor
+from tinygrad.device import Device
+import struct
+import threading
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.services import SERVICE_LIST
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
@@ -18,14 +24,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import open_file_chunked, get_manifest_path
+from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices, load_oob
-from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
+from openpilot.selfdrive.modeld.helpers import usbgpu_present, usbgpu_compiled, modeld_pkl_path, get_tg_input_devices, load_oob
 
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -37,16 +42,17 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
+BIG_MODEL_TIMEOUT = 60
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
   if 'action' not in model_output:
     plan = model_output['plan'][0]
-    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
-                                                     plan[:,Plan.ACCELERATION][:,0],
-                                                     ModelConstants.T_IDXS,
-                                                     action_t=long_action_t)
+    desired_accel = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                        plan[:,Plan.ACCELERATION][:,0],
+                                        ModelConstants.T_IDXS,
+                                        action_t=long_action_t)
     desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
                                                 plan[:,Plan.ORIENTATION_RATE][:,2],
                                                 ModelConstants.T_IDXS,
@@ -55,7 +61,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
   else:
     desired_accel = model_output['action'][0,1]
     desired_curvature = model_output['action'][0,0] / (max(1.0, v_ego))**2
-    should_stop = (v_ego < 0.3 and desired_accel < 0.1)
+  stop = should_stop(v_ego, desired_accel)
   desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
   if v_ego > MIN_LAT_CONTROL_SPEED:
     desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
@@ -64,7 +70,62 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
 
   return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
                                 desiredAcceleration=float(desired_accel),
-                                shouldStop=bool(should_stop))
+                                shouldStop=bool(stop))
+
+
+class ChestnutState:
+  # only modeld can access chestnut
+  def __init__(self, pm: PubMaster, big: bool):
+    self.pm = pm
+    self.big = big
+    self.valid = True
+    self.sends = 0
+    self.metrics = {}
+
+  @cached_property
+  def power_limit(self) -> int:
+    smu = Device["AMD"].iface.dev_impl.smu
+    return smu._send_msg(smu.smu_mod.PPSMC_MSG_GetPptLimit, 0, read_back_arg=True, timeout=100)
+
+  def send(self) -> None:
+    msg = messaging.new_message('chestnutState')
+    state = msg.chestnutState
+    self.sends += 1
+    if self.big and "AMD" in Device._opened_devices and self.sends % 100 == 1:
+      try:
+        smu = Device["AMD"].iface.dev_impl.smu
+        smu._send_msg(smu.smu_mod.PPSMC_MSG_TransferTableSmu2Dram, smu.smu_mod.TABLE_SMU_METRICS, timeout=100)
+        metrics = smu.read_table(smu.smu_mod.SmuMetricsExternal_t, smu.smu_mod.TABLE_SMU_METRICS).SmuMetrics
+        self.metrics = {'tempC': metrics.AvgTemperature[smu.smu_mod.TEMP_HOTSPOT],
+                        'memoryTempC': metrics.AvgTemperature[smu.smu_mod.TEMP_MEM],
+                        'powerDrawW': metrics.AverageSocketPower,
+                        'powerLimitW': self.power_limit,
+                        'gpuUsagePercent': metrics.AverageGfxActivity,
+                        'gpuClockMhz': metrics.AverageGfxclkFrequencyPostDs,
+                        'fanSpeedRpm': metrics.AvgFanRpm}
+        self.valid = True
+      except Exception:
+        if self.valid:
+          cloudlog.exception("chestnut state read failed")
+        self.valid = False
+        self.metrics.clear()
+    if self.big:
+      for k, v in self.metrics.items():
+        setattr(state, k, v)
+
+    asm_valid = False
+    if "AMD" in Device._opened_devices:
+      try:
+        # ASM runs on USB-C power, these still read without a gpu
+        asm = Device["AMD"].iface.pci_dev.usb
+        state.pcieLtssm = asm.read(0xB450, 1)[0]
+        state.supplyVoltage, state.supplyCurrent = struct.unpack(' None:
+    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self.vision_input_names}
+    eye = np.eye(3, dtype=np.float32)
+    dims = {'desire_pulse': ModelConstants.DESIRE_LEN, 'traffic_convention': 2, 'action_t': 2}
+    self.run(dummy_frames, dict.fromkeys(self.vision_input_names, eye), {k: np.zeros(v, dtype=np.float32) for k, v in dims.items()})
+    self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.prev_desire[:] = 0
+    self.full_frames.clear()
+    self._blob_cache.clear()
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  _present = usbgpu_present()
-  _compiled = os.path.isfile(get_manifest_path(modeld_pkl_path(usbgpu=True)))
-  USBGPU = _present and _compiled
+  USBGPU = usbgpu_present() and usbgpu_compiled()
+  if USBGPU:
+    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
   params = Params()
-  params.put_bool("UsbGpuPresent", _present)
-  params.put_bool("UsbGpuCompiled", _compiled)
+  params.put_bool("UsbGpuLoading", USBGPU)
+  params.remove("UsbGpuActive")
 
   config_realtime_process(7, 54)
 
@@ -156,12 +231,12 @@ def main(demo=False):
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
     if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_NARROW_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_NARROW_ROAD not in available_streams
       break
     time.sleep(.1)
 
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_NARROW_ROAD
   vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
   vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
   cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
@@ -175,19 +250,40 @@ def main(demo=False):
   if use_extra_client:
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
-  if USBGPU:
-    wait_usbgpu_link()
   st = time.monotonic()
   cloudlog.warning("loading model")
-  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
+  model = None
+  if USBGPU:
+    big_model = None
+    def load_big():
+      nonlocal big_model
+      try:
+        m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
+        m.warmup()
+        big_model = m
+      except Exception:
+        cloudlog.exception("big model load failed")
+    loader = threading.Thread(target=load_big, daemon=True)
+    loader.start()
+    loader.join(BIG_MODEL_TIMEOUT)
+    model = big_model
+    params.put_bool("UsbGpuActive", model is not None)
+
+  small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or USBGPU else None
+  if model is None:
+    model = small_model
+  params.put_bool("UsbGpuLoading", False)
+  assert model is not None
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
+  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
+  pm = PubMaster(pub_socks)
+  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
   params = Params()
+  chestnut_state = ChestnutState(pm, model.usbgpu) if USBGPU else None
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
@@ -197,7 +293,7 @@ def main(demo=False):
 
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
+  extrinsics_calibration_seen = False
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
@@ -252,18 +348,19 @@ def main(demo=False):
     sm.update(0)
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
+    frame_id = sm["narrowRoadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
-    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+    model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
+    lat_delay = sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
+      main_intrinsics = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
+      model_transform_main = get_warp_matrix(device_from_calib_euler, main_intrinsics, False).astype(np.float32)
       has_wide_camera = use_extra_client or main_wide_camera
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if has_wide_camera else dc.fcam.intrinsics, True).astype(np.float32)
-      live_calib_seen = True
+      extra_intrinsics = dc.wide_road.intrinsics if has_wide_camera else dc.narrow_road.intrinsics
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, extra_intrinsics, True).astype(np.float32)
+      extrinsics_calibration_seen = True
 
     traffic_convention = np.zeros(2)
     traffic_convention[int(is_rhd)] = 1
@@ -295,7 +392,20 @@ def main(demo=False):
     }
 
     mt1 = time.perf_counter()
-    model_output = model.run(bufs, transforms, inputs)
+    try:
+      model_output = model.run(bufs, transforms, inputs)
+    except Exception:
+      if not params.get_bool("UsbGpuActive"):
+        raise
+      # fallback to small model
+      cloudlog.exception("big model failed, fall back to small")
+      params.put_bool("UsbGpuActive", False)
+      assert small_model is not None
+      model = small_model
+      if chestnut_state is not None:
+        chestnut_state.big = False
+      run_count = 0
+      model_output = None
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
@@ -303,32 +413,37 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, extrinsics_calibration_seen)
+      modelv2_send.modelV2.big = model.usbgpu
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
       r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
       lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
+      left_edge, right_edge = RELC.update_and_fill(modelv2_send.modelV2, mdv2sp_send.modelDataV2SP, v_ego)
       mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
 
       fill_driving_model_data(drivingdata_send, modelv2_send)
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, extrinsics_calibration_seen)
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
       pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
+    if chestnut_state is not None and run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
+      chestnut_state.send()
+
 
 if __name__ == "__main__":
   try:
diff --git a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
index 4a04bd7833..a74573ca29 100644
--- a/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+++ b/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
-size 1757355221
+oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
+size 1753235978
diff --git a/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
index bd3f2c85a6..1e592e2192 100644
--- a/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e7b31dfbc0a5234f1baf196513b77fc6af12204b8a8ffe8ee0417e48352f316
-size 7494962
+oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2
+size 7497335
diff --git a/openpilot/selfdrive/modeld/usbgpu_link.py b/openpilot/selfdrive/modeld/usbgpu_link.py
deleted file mode 100644
index ef12cba939..0000000000
--- a/openpilot/selfdrive/modeld/usbgpu_link.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import time
-from pathlib import Path
-
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware.usb import CHESTNUT_VENDOR_ID, CHESTNUT_PRODUCT_ID, usb_devices, controller, read_int
-
-STABLE_SECONDS = 2.0
-STABLE_THRESHOLD = 5.0  # link errors per second
-
-
-def _chestnut_portli() -> Path | None:
-  for device in usb_devices():
-    if read_int(device / "idVendor", 16) == CHESTNUT_VENDOR_ID and \
-       read_int(device / "idProduct", 16) == CHESTNUT_PRODUCT_ID:
-      ctrl = controller(device)
-      if ctrl is not None and (ctrl / "portli").exists():
-        return ctrl / "portli"
-  return None
-
-
-def wait_usbgpu_link(timeout: float = 30.0) -> None:
-  portli = _chestnut_portli()
-  if portli is None:
-    return
-
-  t0 = time.monotonic()
-  while time.monotonic() - t0 < timeout:
-    start = read_int(portli, 0)
-    time.sleep(STABLE_SECONDS)
-    rate = (read_int(portli, 0) - start) / STABLE_SECONDS
-    if rate <= STABLE_THRESHOLD:
-      return
-    cloudlog.warning(f"usbgpu link not stable: {rate:.0f} errors/s")
-  cloudlog.error("usbgpu link never stabilized")
diff --git a/openpilot/selfdrive/monitoring/dmonitoringd.py b/openpilot/selfdrive/monitoring/dmonitoringd.py
index 085a13fcb1..caff23baa0 100755
--- a/openpilot/selfdrive/monitoring/dmonitoringd.py
+++ b/openpilot/selfdrive/monitoring/dmonitoringd.py
@@ -10,7 +10,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+  sm = messaging.SubMaster(['driverStateV2', 'extrinsicsCalibration', 'carState', 'selfdriveState', 'modelV2',
                             'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
diff --git a/openpilot/selfdrive/monitoring/policy.py b/openpilot/selfdrive/monitoring/policy.py
index 1489e9c798..bd698214ac 100644
--- a/openpilot/selfdrive/monitoring/policy.py
+++ b/openpilot/selfdrive/monitoring/policy.py
@@ -107,17 +107,17 @@ class DriverBlink:
     self.right = 0.
 
 # model output refers to center of undistorted+leveled image
-ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].dcam
-dcam_undistorted_FL = 598.0
-dcam_undistorted_W, dcam_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
+ref_undistorted_cam = DEVICE_CAMERAS[("tici", "ar0231")].cabin
+cabin_undistorted_FL = 598.0
+cabin_undistorted_W, cabin_undistorted_H = (ref_undistorted_cam.width, ref_undistorted_cam.height)
 
 def face_orientation_from_model(orient_model, pos_model, rpy_calib):
   pitch_model = orient_model[0]
   yaw_model = orient_model[1]
 
-  face_pixel_position = ((pos_model[0]+0.5)*dcam_undistorted_W, (pos_model[1]+0.5)*dcam_undistorted_H)
-  yaw_focal_angle = atan2(face_pixel_position[0] - dcam_undistorted_W//2, dcam_undistorted_FL)
-  pitch_focal_angle = atan2(face_pixel_position[1] - dcam_undistorted_H//2, dcam_undistorted_FL)
+  face_pixel_position = ((pos_model[0]+0.5)*cabin_undistorted_W, (pos_model[1]+0.5)*cabin_undistorted_H)
+  yaw_focal_angle = atan2(face_pixel_position[0] - cabin_undistorted_W//2, cabin_undistorted_FL)
+  pitch_focal_angle = atan2(face_pixel_position[1] - cabin_undistorted_H//2, cabin_undistorted_FL)
 
   pitch = pitch_model + pitch_focal_angle
   yaw = -yaw_model + yaw_focal_angle
@@ -441,7 +441,7 @@ class DriverMonitoring:
       driver_engaged = sm['carState'].steeringPressed or (sm['selfdriveState'].enabled and sm['carState'].gasPressed)
       brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
       steering_angle_deg = sm['carState'].steeringAngleDeg
-      rpyCalib = sm['liveCalibration'].rpyCalib
+      rpyCalib = sm['extrinsicsCalibration'].rpyCalib
 
     self._set_pose_strictness(
       brake_disengage_prob=brake_disengage_prob,
diff --git a/openpilot/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py
index accf496b47..d9889860f5 100644
--- a/openpilot/selfdrive/monitoring/test_monitoring.py
+++ b/openpilot/selfdrive/monitoring/test_monitoring.py
@@ -1,5 +1,6 @@
-import pytest
+from openpilot.common.parameterized import parameterized
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.common.realtime import DT_DMON
@@ -49,7 +50,7 @@ always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON)
 always_true = [True] * int(TEST_TIMESPAN / DT_DMON)
 always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 
-class TestMonitoring:
+class TestMonitoring(OpenpilotTestCase):
   def _run_seq(self, msgs, interaction, engaged, lowspeed):
     DM = DriverMonitoring()
     alert_lvls = []
@@ -242,36 +243,38 @@ def _build_sm(selfdrive_enabled, lat_active, steering_pressed, gas_pressed):
   cc.latActive = lat_active
   mv2 = log.ModelDataV2.new_message()
   mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
-  lc = log.LiveCalibrationData.new_message()
+  lc = log.ExtrinsicsCalibration.new_message()
   lc.rpyCalib = [0.0, 0.0, 0.0]
   return {
     'carState': cs, 'selfdriveState': ss, 'carControl': cc,
-    'modelV2': mv2, 'liveCalibration': lc, 'driverStateV2': make_msg(False),
+    'modelV2': mv2, 'extrinsicsCalibration': lc, 'driverStateV2': make_msg(False),
   }
 
 
-@pytest.mark.parametrize("selfdrive_enabled, lat_active, steering, gas, expected_op_engaged, expected_driver_engaged", [
-  (False, False, False, False, False, False),  # disabled
-  (True,  False, False, False, True,  False),  # OP enabled
-  (False, True,  False, False, True,  False),  # MADS lat-only
-  (True,  True,  False, False, True,  False),  # both active
-  (False, True,  False, True,  True,  False),  # MADS lat-only + gas
-  (True,  True,  False, True,  True,  True),   # full op + gas: override
-  (False, True,  True,  False, True,  True),   # MADS lat-only + wheel touch: override
-])
-def test_run_step_engagement(selfdrive_enabled, lat_active, steering, gas,
-                             expected_op_engaged, expected_driver_engaged):
-  sm = _build_sm(selfdrive_enabled, lat_active, steering, gas)
-  dm = DriverMonitoring()
-  captured = {}
-  orig = dm._update_events
+class TestRunStepEngagement(OpenpilotTestCase):
+  @parameterized.expand([
+    (False, False, False, False, False, False),  # disabled
+    (True,  False, False, False, True,  False),  # OP enabled
+    (False, True,  False, False, True,  False),  # MADS lat-only
+    (True,  True,  False, False, True,  False),  # both active
+    (False, True,  False, True,  True,  False),  # MADS lat-only + gas
+    (True,  True,  False, True,  True,  True),   # full op + gas: override
+    (False, True,  True,  False, True,  True),   # MADS lat-only + wheel touch: override
+  ], names=["selfdrive_enabled", "lat_active", "steering", "gas",
+            "expected_op_engaged", "expected_driver_engaged"])
+  def test_run_step_engagement(self, selfdrive_enabled, lat_active, steering, gas,
+                               expected_op_engaged, expected_driver_engaged):
+    sm = _build_sm(selfdrive_enabled, lat_active, steering, gas)
+    dm = DriverMonitoring()
+    captured = {}
+    orig = dm._update_events
 
-  def spy(driver_engaged, op_engaged, lowspeed, wrong_gear):
-    captured['driver_engaged'] = driver_engaged
-    captured['op_engaged'] = op_engaged
-    return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
+    def spy(driver_engaged, op_engaged, lowspeed, wrong_gear):
+      captured['driver_engaged'] = driver_engaged
+      captured['op_engaged'] = op_engaged
+      return orig(driver_engaged, op_engaged, lowspeed, wrong_gear)
 
-  object.__setattr__(dm, '_update_events', spy)
-  dm.run_step(sm, demo=False)
-  assert captured['op_engaged'] == expected_op_engaged
-  assert captured['driver_engaged'] == expected_driver_engaged
+    object.__setattr__(dm, '_update_events', spy)
+    dm.run_step(sm, demo=False)
+    assert captured['op_engaged'] == expected_op_engaged
+    assert captured['driver_engaged'] == expected_driver_engaged
diff --git a/openpilot/selfdrive/pandad/pandad.cc b/openpilot/selfdrive/pandad/pandad.cc
index 250ad5a481..ac87804bc8 100644
--- a/openpilot/selfdrive/pandad/pandad.cc
+++ b/openpilot/selfdrive/pandad/pandad.cc
@@ -143,8 +143,8 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
   ps.setSoundOutputLevel(health.sound_output_level_pkt);
-  ps.setControlsAllowedLateral(health.controls_allowed_lateral_pkt);
-  ps.setControlsAllowedLongitudinal(health.controls_allowed_longitudinal_pkt);
+  ps.setControlsAllowedLateral(health.controls_allowed_sp_pkt & 1);
+  ps.setControlsAllowedLongitudinal((health.controls_allowed_sp_pkt >> 1) & 1);
 }
 
 void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
@@ -292,9 +292,9 @@ void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool engaged
 
 void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control, bool is_onroad) {
   static Params params;
-  static SubMaster sm({"deviceState", "driverCameraState"});
+  static SubMaster sm({"deviceState", "cabinCameraState"});
 
-  static uint64_t last_driver_camera_t = 0;
+  static uint64_t last_cabin_camera_t = 0;
   static uint16_t prev_fan_speed = 999;
   static int ir_pwr = 0;
   static int prev_ir_pwr = 999;
@@ -318,20 +318,20 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control,
       }
     }
 
-    if (sm.updated("driverCameraState")) {
-      auto event = sm["driverCameraState"];
-      int cur_integ_lines = event.getDriverCameraState().getIntegLines();
+    if (sm.updated("cabinCameraState")) {
+      auto event = sm["cabinCameraState"];
+      int cur_integ_lines = event.getCabinCameraState().getIntegLines();
 
       // reset the filter when camerad restarts
-      if (event.getDriverCameraState().getFrameId() < prev_frame_id) {
+      if (event.getCabinCameraState().getFrameId() < prev_frame_id) {
         integ_lines_filter.reset(0);
         integ_lines_filter_driver_view.reset(0);
         driver_view = params.getBool("IsDriverViewEnabled");
       }
-      prev_frame_id = event.getDriverCameraState().getFrameId();
+      prev_frame_id = event.getCabinCameraState().getFrameId();
 
       cur_integ_lines = (driver_view ? integ_lines_filter_driver_view : integ_lines_filter).update(cur_integ_lines);
-      last_driver_camera_t = event.getLogMonoTime();
+      last_cabin_camera_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {
         ir_pwr = 0;
@@ -343,7 +343,7 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control,
     }
 
     // Disable IR on input timeout
-    if (nanos_since_boot() - last_driver_camera_t > 1e9) {
+    if (nanos_since_boot() - last_cabin_camera_t > 1e9) {
       ir_pwr = 0;
     }
 
diff --git a/openpilot/selfdrive/pandad/spi.cc b/openpilot/selfdrive/pandad/spi.cc
index f54c26e506..369032a533 100644
--- a/openpilot/selfdrive/pandad/spi.cc
+++ b/openpilot/selfdrive/pandad/spi.cc
@@ -29,6 +29,12 @@ enum SpiError {
 
 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
+// TODO: fix SPI turnaround synchronization at the protocol level.
+static uint64_t spi_last_bus_activity_ns = 0;  // protected by hw_lock
+
+static void wait_for_spi_turnaround(uint64_t start_ns) {
+  while ((nanos_since_boot() - start_ns) < 400000) {}
+}
 
 class LockEx {
 public:
@@ -319,6 +325,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   assert(tx_len < SPI_BUF_SIZE);
   assert(max_rx_len < SPI_BUF_SIZE);
 
+  wait_for_spi_turnaround(spi_last_bus_activity_ns);
+
   xfer_count++;
   header = {
     .sync = SPI_SYNC,
@@ -347,6 +355,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   if (ret < 0) {
     goto fail;
   }
+  wait_for_spi_turnaround(nanos_since_boot());
 
   // Send data
   if (tx_data != NULL) {
@@ -389,6 +398,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     memcpy(rx_data, rx_buf + 3, rx_data_len);
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   return rx_data_len;
 
 fail:
@@ -403,6 +413,7 @@ fail:
     }
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   if (ret >= 0) ret = -1;
   return ret;
 }
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad.py b/openpilot/selfdrive/pandad/tests/test_pandad.py
old mode 100644
new mode 100755
index 0f8fd9fc1a..891508f2d7
--- a/openpilot/selfdrive/pandad/tests/test_pandad.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad.py
@@ -1,20 +1,30 @@
-import os
-import pytest
-import time
+#!/usr/bin/env python3
 
+import os
+import time
+import unittest
+
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.hardware import HARDWARE
-from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 
 
-@pytest.mark.tici
-class TestPandad:
+class TestPandad(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
+
+  def setUp(self):
+    super().setUp()
+    managed_processes['pandad'].stop()
+    if not Panda.list():
+      self._run_test()
+
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -79,3 +89,7 @@ class TestPandad:
     assert not PandaDFU.list()
 
     self._run_test()
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc b/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
index 83339a4c1c..50bbc51f49 100644
--- a/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_canprotocol.cc
@@ -1,11 +1,7 @@
-#define CATCH_CONFIG_MAIN
-#define CATCH_CONFIG_ENABLE_BENCHMARKING
-
 #include 
 
-#include "catch2/catch.hpp"
+#include "common/tests/native_test.h"
 #include "openpilot/cereal/messaging/messaging.h"
-#include "common/util.h"
 #include "selfdrive/pandad/panda.h"
 
 struct PandaTest : public Panda {
@@ -26,12 +22,9 @@ PandaTest::PandaTest(int can_list_size_, cereal::PandaState::PandaType hw_type_)
   int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8);
   // prepare test data
   for (int i = 0; i < data_limit; ++i) {
-    std::random_device rd;
-    std::independent_bits_engine rbe(rd());
-
     int data_len = dlc_to_len[i];
     std::string bytes(data_len, '\0');
-    std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
+    for (int j = 0; j < data_len; ++j) bytes[j] = static_cast((i * 31 + j) & 0xff);
     test_data[data_len] = bytes;
   }
 
@@ -39,16 +32,15 @@ PandaTest::PandaTest(int can_list_size_, cereal::PandaState::PandaType hw_type_)
   auto can_list = msg.initEvent().initSendcan(can_list_size);
   for (uint8_t i = 0; i < can_list_size; ++i) {
     auto can = can_list[i];
-    uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
+    uint32_t id = i % data_limit;
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(util::random_int(0, 2));
+    can.setSrc(i % 3);
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }
 
   can_data_list = can_list.asReader();
-  INFO("test " << can_list_size << " packets, total size " << total_pakets_size);
 }
 
 void PandaTest::test_can_send() {
@@ -56,30 +48,29 @@ void PandaTest::test_can_send() {
   this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
     unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]);
   });
-  REQUIRE(unpacked_data.size() == total_pakets_size);
+  CHECK(unpacked_data.size() == total_pakets_size);
 
   int cnt = 0;
-  INFO("test can message integrity");
   for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) {
     can_header header;
     memcpy(&header, &unpacked_data[pos], sizeof(can_header));
     const uint8_t data_len = dlc_to_len[header.data_len_code];
     pckt_len = sizeof(can_header) + data_len;
 
-    REQUIRE(header.addr == cnt);
-    REQUIRE(test_data.find(data_len) != test_data.end());
+    CHECK(header.addr == cnt);
+    CHECK(test_data.find(data_len) != test_data.end());
     const std::string &dat = test_data[data_len];
-    REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
+    CHECK(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
     ++cnt;
   }
-  REQUIRE(cnt == can_list_size);
+  CHECK(cnt == can_list_size);
 }
 
 void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
   std::vector frames;
   this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) {
     if (rx_chunk_size == 0) {
-      REQUIRE(this->unpack_can_buffer(data, size, frames));
+      CHECK(this->unpack_can_buffer(data, size, frames));
     } else {
       this->receive_buffer_size = 0;
       uint32_t pos = 0;
@@ -90,46 +81,35 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
         this->receive_buffer_size += chunk_size;
         pos += chunk_size;
 
-        REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
+        CHECK(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
       }
     }
   });
 
-  REQUIRE(frames.size() == can_list_size);
+  CHECK(frames.size() == can_list_size);
   for (int i = 0; i < frames.size(); ++i) {
-    REQUIRE(frames[i].address == i);
-    REQUIRE(test_data.find(frames[i].dat.size()) != test_data.end());
+    CHECK(frames[i].address == i);
+    CHECK(test_data.find(frames[i].dat.size()) != test_data.end());
     const std::string &dat = test_data[frames[i].dat.size()];
-    REQUIRE(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0);
+    CHECK(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0);
   }
 }
 
-TEST_CASE("send/recv CAN 2.0 packets") {
-  auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(can_list_size, cereal::PandaState::PandaType::DOS);
+void test_can_protocol() {
+  for (auto hw_type : {cereal::PandaState::PandaType::DOS, cereal::PandaState::PandaType::RED_PANDA}) {
+    for (int can_list_size : {1, 3, 5, 10, 30, 60, 100, 200}) {
+      PandaTest send_test(can_list_size, hw_type);
+      send_test.test_can_send();
 
-  SECTION("can_send") {
-    test.test_can_send();
-  }
-  SECTION("can_receive") {
-    test.test_can_recv();
-  }
-  SECTION("chunked_can_receive") {
-    test.test_can_recv(0x40);
+      PandaTest receive_test(can_list_size, hw_type);
+      receive_test.test_can_recv();
+
+      PandaTest chunked_receive_test(can_list_size, hw_type);
+      chunked_receive_test.test_can_recv(0x40);
+    }
   }
 }
 
-TEST_CASE("send/recv CAN FD packets") {
-  auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(can_list_size, cereal::PandaState::PandaType::RED_PANDA);
-
-  SECTION("can_send") {
-    test.test_can_send();
-  }
-  SECTION("can_receive") {
-    test.test_can_recv();
-  }
-  SECTION("chunked_can_receive") {
-    test.test_can_recv(0x40);
-  }
+int main() {
+  return run_native_test(test_can_protocol);
 }
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py b/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
old mode 100644
new mode 100755
index 0d0aa80046..ad35018f5f
--- a/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -1,11 +1,14 @@
+#!/usr/bin/env python3
+
 import os
 import copy
 import random
 import time
-import pytest
+import unittest
 from collections import defaultdict
 from pprint import pprint
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
@@ -69,8 +72,8 @@ def send_random_can_messages(sendcan, count):
   return sent_msgs
 
 
-@pytest.mark.tici
-class TestBoarddLoopback:
+class TestBoarddLoopback(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     os.environ['STARTED'] = '1'
@@ -114,3 +117,7 @@ class TestBoarddLoopback:
       pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
       for bus in sent_loopback.keys():
         assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
old mode 100644
new mode 100755
index 2bc302b47c..ba2e31ce82
--- a/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/openpilot/selfdrive/pandad/tests/test_pandad_spi.py
@@ -1,9 +1,12 @@
+#!/usr/bin/env python3
+
 import os
 import time
+import unittest
 import numpy as np
-import pytest
 import random
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.timeout import Timeout
@@ -12,8 +15,8 @@ from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad,
 
 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 
-@pytest.mark.tici
-class TestBoarddSpi:
+class TestBoarddSpi(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     os.environ['STARTED'] = '1'
@@ -105,3 +108,7 @@ class TestBoarddSpi:
     with subtests.test(msg="CAN traffic"):
       print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
       assert total_recv_count > 20
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/selfdrive/selfdrived/events.py b/openpilot/selfdrive/selfdrived/events.py
index d7eaaf70c4..139f416e72 100755
--- a/openpilot/selfdrive/selfdrived/events.py
+++ b/openpilot/selfdrive/selfdrived/events.py
@@ -9,8 +9,6 @@ from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
 from openpilot.common.hardware import HARDWARE
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
@@ -89,9 +87,9 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
+  first_word = 'Recalibrating' if sm['extrinsicsCalibration'].calStatus == log.ExtrinsicsCalibration.Status.recalibrating else 'Calibrating'
   return Alert(
-    f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
+    f"{first_word}: {sm['extrinsicsCalibration'].calPerc:.0f}%",
     f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
@@ -104,14 +102,6 @@ def too_distracted_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NoEntryAlert("Pay Attention to Engage", priority=Priority.HIGH)
 
 
-def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
-  return NormalPermanentAlert(
-    "Recording Audio Feedback",
-    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
-    priority=Priority.LOW)
-
-
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -139,13 +129,13 @@ def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste
 
 
 def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+  all_cams = ('narrowRoadCameraState', 'cabinCameraState', 'wideRoadCameraState')
   bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
   return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
 
 
 def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  rpy = sm['liveCalibration'].rpyCalib
+  rpy = sm['extrinsicsCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
   pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
   angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
@@ -153,16 +143,16 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
 
 
 def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  if not sm['liveParameters'].angleOffsetValid:
-    angle_offset_deg = sm['liveParameters'].angleOffsetDeg
+  if not sm['vehicleParameters'].angleOffsetValid:
+    angle_offset_deg = sm['vehicleParameters'].angleOffsetDeg
     title = "Steering misalignment detected"
     text = f"Angle offset too high (Offset: {angle_offset_deg:.1f}°)"
-  elif not sm['liveParameters'].steerRatioValid:
-    steer_ratio = sm['liveParameters'].steerRatio
+  elif not sm['vehicleParameters'].steerRatioValid:
+    steer_ratio = sm['vehicleParameters'].steerRatio
     title = "Steer ratio mismatch"
     text = f"Steering rack geometry may be off (Ratio: {steer_ratio:.1f})"
-  elif not sm['liveParameters'].stiffnessFactorValid:
-    stiffness_factor = sm['liveParameters'].stiffnessFactor
+  elif not sm['vehicleParameters'].stiffnessFactorValid:
+    stiffness_factor = sm['vehicleParameters'].stiffnessFactor
     title = "Abnormal tire stiffness"
     text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})"
   else:
@@ -181,11 +171,6 @@ def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaste
   return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
 
 
-def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  x = max(sm['deviceState'].cpuUsagePercent, default=0.)
-  return NormalPermanentAlert("High CPU Usage", f"{x}% used")
-
-
 def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
@@ -227,6 +212,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
+  EventName.noGps: {},
   EventName.stockFcw: {},
   EventName.actuatorsApiUnavailable: {},
 
@@ -243,6 +229,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                        "Ensure road ahead is clear"),
   },
 
+  EventName.bigModelLoading: {
+    ET.NO_ENTRY: NoEntryAlert("Big Model Loading"),
+  },
+
+  EventName.bigModelFailed: {
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
+  },
+
   EventName.lateralManeuver: {
     ET.WARNING: longitudinal_maneuver_alert,
     ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
@@ -456,7 +450,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   # Thrown when the fan is driven at >50% but is not rotating
   EventName.fanMalfunction: {
-    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"),
+    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact comma.ai/support"),
   },
 
   # Camera is not outputting frames
@@ -580,6 +574,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
   },
 
+  EventName.carNotReady: {
+    ET.NO_ENTRY: NoEntryAlert("Car Not Ready"),
+  },
+
   EventName.wrongCruiseMode: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),
@@ -607,16 +605,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
       "Sensor Data Invalid",
-      "Possible Hardware Issue",
+      "Contact comma.ai/support",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
     ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
   },
 
-  EventName.noGps: {
-  },
-
   EventName.tooDistracted: {
     ET.NO_ENTRY: too_distracted_alert,
   },
@@ -675,11 +670,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"),
   },
 
-  EventName.lowBattery: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Battery"),
-    ET.NO_ENTRY: NoEntryAlert("Low Battery"),
-  },
-
   # Different openpilot services communicate between each other at a certain
   # interval. If communication does not follow the regular schedule this alert
   # is thrown. This can mean a service crashed, did not broadcast a message for
@@ -733,13 +723,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: posenet_invalid_alert,
   },
 
-  # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
-  # alert the driver the device might have fallen from the windshield.
-  EventName.deviceFalling: {
-    ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"),
-    ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
-  },
-
   EventName.lowMemory: {
     ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
     ET.PERMANENT: low_memory_alert,
@@ -762,14 +745,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
   },
 
-  # Sometimes the USB stack on the device can get into a bad state
-  # causing the connection to the panda to be lost
-  EventName.usbError: {
-    ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"),
-    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
-  },
-
   # This alert can be thrown for the following reasons:
   # - No CAN data received at all
   # - CAN data is received, but some message are not received at the right frequency
@@ -822,7 +797,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # and this alert is thrown.
   EventName.relayMalfunction: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"),
-    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"),
+    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Contact comma.ai/support"),
     ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
   },
 
@@ -857,10 +832,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
-
-  EventName.audioFeedback: {
-    ET.PERMANENT: audio_feedback_alert,
-  },
 }
 
 
diff --git a/openpilot/selfdrive/selfdrived/helpers.py b/openpilot/selfdrive/selfdrived/helpers.py
index 3b3c44ecaf..e7dca0f9d5 100644
--- a/openpilot/selfdrive/selfdrived/helpers.py
+++ b/openpilot/selfdrive/selfdrived/helpers.py
@@ -31,7 +31,7 @@ class ExcessiveActuationCheck:
 
     # lateral
     yaw_rate = calibrated_pose.angular_velocity.yaw
-    roll = sm['liveParameters'].roll
+    roll = sm['vehicleParameters'].roll
     roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
 
     # Prevent false positives after overriding
@@ -41,9 +41,9 @@ class ExcessiveActuationCheck:
       if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
         excessive_lat_actuation = True
 
-    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
-    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
-    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
+    # deviceMotion acceleration can be noisy due to bad mounting or aliased deviceMotion measurements
+    device_motion_valid = abs(CS.aEgo - accel_calibrated) < 2
+    self._excessive_counter = self._excessive_counter + 1 if device_motion_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
 
     excessive_type = None
     if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
diff --git a/openpilot/selfdrive/selfdrived/selfdrived.py b/openpilot/selfdrive/selfdrived/selfdrived.py
index 8035b2934e..672fee9b48 100755
--- a/openpilot/selfdrive/selfdrived/selfdrived.py
+++ b/openpilot/selfdrive/selfdrived/selfdrived.py
@@ -7,7 +7,8 @@ import openpilot.cereal.messaging as messaging
 
 from openpilot.cereal import log, custom
 from opendbc.car.structs import car
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient
 
 
 from openpilot.common.params import Params
@@ -15,7 +16,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gps import get_gps_location_service
 
-from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+from openpilot.selfdrive.car.car_events import CarEvents
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
@@ -75,12 +76,16 @@ class SelfdriveD(CruiseHelper):
     else:
       self.CP_SP = CP_SP
 
-    self.car_events = CarSpecificEvents(self.CP)
+    self.car_events = CarEvents(self.CP)
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
     self.excessive_actuation_check = ExcessiveActuationCheck()
     self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
+    self.big_model_loading = False
+    self.big_model_active = False
+    self.big_model_failed = False
+    self.big_model_ready_t = 0.
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -88,21 +93,21 @@ class SelfdriveD(CruiseHelper):
     self.gps_location_service = get_gps_location_service(self.params)
     self.gps_packets = [self.gps_location_service]
     self.sensor_packets = ["accelerometer", "gyroscope"]
-    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+    self.camera_packets = ["narrowRoadCameraState", "cabinCameraState", "wideRoadCameraState"]
 
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
     ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan'] + ['modelDataV2SP', 'longitudinalPlanSP']
     if SIMULATION:
-      ignore += ['driverCameraState', 'managerState']
+      ignore += ['cabinCameraState', 'managerState']
     if REPLAY:
       # no vipc in replay will make them ignored anyways
-      ignore += ['roadCameraState', 'wideRoadCameraState']
-    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
-                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+      ignore += ['narrowRoadCameraState', 'wideRoadCameraState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'extrinsicsCalibration',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'deviceMotion', 'lateralDelay',
+                                   'managerState', 'vehicleParameters', 'radarState', 'lateralTorqueParameters',
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark',
                                    'lateralManeuverPlan', 'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
@@ -190,6 +195,27 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.joystickDebug)
       self.startup_event = None
 
+    loading = self.params.get_bool("UsbGpuLoading")
+    if self.big_model_loading and not loading:
+      self.big_model_ready_t = time.monotonic()
+    self.big_model_loading = loading
+    if self.big_model_loading:
+      self.events.add(EventName.bigModelLoading)
+
+    big_active = self.params.get("UsbGpuActive")
+    usbgpu_present = self.sm['deviceState'].chestnutPresent
+    model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
+    big_failed = big_active is False or model_unavailable or (self.big_model_active and not usbgpu_present)
+    if big_failed and not self.big_model_failed:
+      self.events.add(EventName.bigModelFailed)
+    self.big_model_failed = big_failed
+
+    # soft disable if the big model fails
+    if big_active:
+      self.big_model_active = True
+    if not self.enabled and not model_unavailable:
+      self.big_model_active = False
+
     if self.sm.recv_frame['lateralManeuverPlan'] > 0:
       self.events.add(EventName.lateralManeuver)
       self.startup_event = None
@@ -207,13 +233,10 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    # Check for user bookmark press
     if self.sm.updated['userBookmark']:
       self.events.add(EventName.userBookmark)
 
-    if self.sm.updated['audioFeedback']:
-      self.events.add(EventName.audioFeedback)
-
     # Don't add any more events while in dashcam mode
     if self.CP.passive:
       return
@@ -287,11 +310,11 @@ class SelfdriveD(CruiseHelper):
         self.last_functional_fan_frame = self.sm.frame
 
     # Handle calibration status
-    cal_status = self.sm['liveCalibration'].calStatus
-    if cal_status != log.LiveCalibrationData.Status.calibrated:
-      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
+    cal_status = self.sm['extrinsicsCalibration'].calStatus
+    if cal_status != log.ExtrinsicsCalibration.Status.calibrated:
+      if cal_status == log.ExtrinsicsCalibration.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
-      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+      elif cal_status == log.ExtrinsicsCalibration.Status.recalibrating:
         if not self.recalibrating_seen:
           set_offroad_alert("Offroad_Recalibration", True)
         self.recalibrating_seen = True
@@ -308,11 +331,11 @@ class SelfdriveD(CruiseHelper):
     #  NOTE: To fork maintainers.
     #  Disabling or nerfing safety features will get you and your users banned from our servers.
     #  We recommend that you do not change these numbers from the defaults.
-    if self.sm.updated['liveCalibration']:
-      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
-    if self.sm.updated['livePose']:
-      device_pose = Pose.from_live_pose(self.sm['livePose'])
-      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+    if self.sm.updated['extrinsicsCalibration']:
+      self.pose_calibrator.feed_extrinsics_calibration(self.sm['extrinsicsCalibration'])
+    if self.sm.updated['deviceMotion']:
+      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
 
     if self.calibrated_pose is not None:
       excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
@@ -396,8 +419,6 @@ class SelfdriveD(CruiseHelper):
         self.events.add(EventName.radarTempUnavailable)
       elif any(self.sm['radarState'].radarErrors.to_dict().values()):
         self.events.add(EventName.radarFault)
-    if not self.sm.valid['pandaStates']:
-      self.events.add(EventName.usbError)
     if CS.canTimeout:
       self.events.add(EventName.canBusMissing)
     elif not CS.canValid:
@@ -406,7 +427,9 @@ class SelfdriveD(CruiseHelper):
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if not self.sm.all_checks() and no_system_errors:
+    warmup_sec = 5.
+    big_model_settling = self.big_model_loading or time.monotonic() < self.big_model_ready_t + warmup_sec
+    if not self.sm.all_checks() and no_system_errors and not big_model_settling:  # the load holds modelV2 and friends back on purpose
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -425,12 +448,13 @@ class SelfdriveD(CruiseHelper):
     else:
       self.logged_comm_issue = None
 
-    if not self.CP.notCar:
-      if not self.sm['livePose'].posenetOK:
+    if not self.CP.notCar and not big_model_settling:  # localization has nothing to work with during the load
+      if not self.sm['deviceMotion'].posenetOK:
         self.events.add(EventName.posenetInvalid)
-      if not self.sm['livePose'].inputsOK:
+      if not self.sm['deviceMotion'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and cal_status == log.LiveCalibrationData.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if (not self.sm['vehicleParameters'].valid and cal_status == log.ExtrinsicsCalibration.Status.calibrated and
+          not TESTING_CLOSET and (not SIMULATION or REPLAY)):
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
@@ -469,7 +493,7 @@ class SelfdriveD(CruiseHelper):
 
     # GPS checks
     gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
-    if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+    if not gps_ok and self.sm['deviceMotion'].inputsOK and (self.distance_traveled > 1500):
       self.events.add(EventName.noGps)
     if gps_ok:
       self.distance_traveled = 0
@@ -508,9 +532,9 @@ class SelfdriveD(CruiseHelper):
       timed_out = self.sm.frame * DT_CTRL > 6.
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
-        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
-          self.sm.ignore_alive.append('roadCameraState')
-          self.sm.ignore_valid.append('roadCameraState')
+        if VisionStreamType.VISION_STREAM_NARROW_ROAD not in available_streams:
+          self.sm.ignore_alive.append('narrowRoadCameraState')
+          self.sm.ignore_valid.append('narrowRoadCameraState')
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
           self.sm.ignore_valid.append('wideRoadCameraState')
diff --git a/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
index 8f7c79878c..67cd8f087f 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alertmanager.py
@@ -1,12 +1,13 @@
 import random
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EmptyAlert
 
 
-class TestAlertManager:
+class TestAlertManager(OpenpilotTestCase):
 
   def test_duration(self):
     """
diff --git a/openpilot/selfdrive/selfdrived/tests/test_alerts.py b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
index 0210c138da..9737aa9de7 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_alerts.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_alerts.py
@@ -2,8 +2,8 @@ import copy
 import json
 import os
 import random
-from PIL import Image, ImageDraw, ImageFont
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.messaging import SubMaster
@@ -24,7 +24,7 @@ for event_types in EVENTS.values():
     ALERTS.append(alert)
 
 
-class TestAlerts:
+class TestAlerts(OpenpilotTestCase):
 
   @classmethod
   def setup_class(cls):
@@ -46,41 +46,6 @@ class TestAlerts:
         fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 
-  # ensure alert text doesn't exceed allowed width
-  def test_alert_text_length(self):
-    font_path = os.path.join(BASEDIR, "openpilot/selfdrive/assets/fonts")
-    regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
-    bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
-    semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
-
-    max_text_width = 2160 - 300  # full screen width is usable, minus sidebar
-    draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
-
-    fonts = {
-      AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
-      AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
-                      ImageFont.truetype(regular_font_path, 66)],
-    }
-
-    for alert in ALERTS:
-      if not isinstance(alert, Alert):
-        alert = alert(self.CP, self.CS, self.sm, False, 100, log.LongitudinalPersonality.standard)
-
-      # for full size alerts, both text fields wrap the text,
-      # so it's unlikely that they  would go past the max width
-      if alert.alert_size in (AlertSize.none, AlertSize.full):
-        continue
-
-      for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
-        if i >= len(fonts[alert.alert_size]):
-          break
-
-        font = fonts[alert.alert_size][i]
-        left, _, right, _ = draw.textbbox((0, 0), txt, font)
-        width = right - left
-        msg = f"type: {alert.alert_type} msg: {txt}"
-        assert width <= max_text_width, msg
-
   def test_alert_sanity_check(self):
     for event_types in EVENTS.values():
       for event_type, a in event_types.items():
diff --git a/openpilot/selfdrive/selfdrived/tests/test_state_machine.py b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
index ec8f068039..22f664718e 100644
--- a/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
+++ b/openpilot/selfdrive/selfdrived/tests/test_state_machine.py
@@ -1,3 +1,4 @@
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
@@ -21,7 +22,7 @@ def make_event(event_types: list[str | None]):
   return 0
 
 
-class TestStateMachine:
+class TestStateMachine(OpenpilotTestCase):
   def setup_method(self):
     self.events = Events()
     self.state_machine = StateMachine()
diff --git a/openpilot/selfdrive/test/cpp_harness.py b/openpilot/selfdrive/test/cpp_harness.py
deleted file mode 100755
index f9f425102b..0000000000
--- a/openpilot/selfdrive/test/cpp_harness.py
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-import sys
-
-from openpilot.common.prefix import OpenpilotPrefix
-
-with OpenpilotPrefix():
-  ret = subprocess.call(sys.argv[1:])
-
-sys.exit(ret)
diff --git a/openpilot/selfdrive/test/fuzzy_generation.py b/openpilot/selfdrive/test/fuzzy_generation.py
deleted file mode 100644
index c97221ae9e..0000000000
--- a/openpilot/selfdrive/test/fuzzy_generation.py
+++ /dev/null
@@ -1,81 +0,0 @@
-import capnp
-import hypothesis.strategies as st
-from typing import Any
-from collections.abc import Callable
-from functools import cache
-
-from openpilot.cereal import log
-
-DrawType = Callable[[st.SearchStrategy], Any]
-
-
-class FuzzyGenerator:
-  def __init__(self, draw: DrawType, real_floats: bool):
-    self.draw = draw
-    self.native_type_map = FuzzyGenerator._get_native_type_map(real_floats)
-
-  def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]:
-    value_func = self.native_type_map.get(field)
-    if value_func is not None:
-      return value_func
-    else:
-      raise NotImplementedError(f'Invalid type: {field}')
-
-  def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy:
-    def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
-      type_which = field_type.which()
-      if type_which == 'struct':
-        return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
-      elif type_which == 'list':
-        return st.lists(rec(field_type.list.elementType))
-      elif type_which == 'enum':
-        schema = field.schema.elementType if base_type == 'list' else field.schema
-        return st.sampled_from(list(schema.enumerants.keys()))
-      else:
-        return self.generate_native_type(type_which)
-
-    try:
-      if hasattr(field.proto, 'slot'):
-        slot_type =  field.proto.slot.type
-        base_type = slot_type.which()
-        return rec(slot_type)
-      else:
-        return self.generate_struct(field.schema)
-    except capnp.lib.capnp.KjException:
-      return self.generate_struct(field.schema)
-
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
-    single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
-    fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
-    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
-
-  @staticmethod
-  @cache
-  def _get_native_type_map(real_floats: bool) -> dict[str, st.SearchStrategy]:
-    return {
-      'bool': st.booleans(),
-      'int8': st.integers(min_value=-2**7, max_value=2**7-1),
-      'int16': st.integers(min_value=-2**15, max_value=2**15-1),
-      'int32': st.integers(min_value=-2**31, max_value=2**31-1),
-      'int64': st.integers(min_value=-2**63, max_value=2**63-1),
-      'uint8': st.integers(min_value=0, max_value=2**8-1),
-      'uint16': st.integers(min_value=0, max_value=2**16-1),
-      'uint32': st.integers(min_value=0, max_value=2**32-1),
-      'uint64': st.integers(min_value=0, max_value=2**64-1),
-      'float32': st.floats(width=32, allow_nan=not real_floats, allow_infinity=not real_floats),
-      'float64': st.floats(width=64, allow_nan=not real_floats, allow_infinity=not real_floats),
-      'text': st.text(max_size=1000),
-      'data': st.binary(max_size=1000),
-      'anyPointer': st.text(),  # Note: No need to define a separate function for anyPointer
-    }
-
-  @classmethod
-  def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> dict[str, Any]:
-    fg = cls(draw, real_floats=real_floats)
-    data: dict[str, Any] = draw(fg.generate_struct(struct.schema))
-    return data
-
-  @classmethod
-  def get_random_event_msg(cls, draw: DrawType, events: list[str], real_floats: bool = False) -> list[dict[str, Any]]:
-    fg = cls(draw, real_floats=real_floats)
-    return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)]
diff --git a/openpilot/selfdrive/test/helpers.py b/openpilot/selfdrive/test/helpers.py
index 9d954216b8..71cdcee5e7 100644
--- a/openpilot/selfdrive/test/helpers.py
+++ b/openpilot/selfdrive/test/helpers.py
@@ -3,7 +3,6 @@ import http.server
 import os
 import threading
 import time
-import pytest
 
 from functools import wraps
 
@@ -23,16 +22,16 @@ def set_params_enabled():
   params.put_bool("OpenpilotEnabledToggle", True, block=True)
 
   # valid calib
-  msg = messaging.new_message('liveCalibration')
-  msg.liveCalibration.validBlocks = 20
-  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+  msg = messaging.new_message('extrinsicsCalibration')
+  msg.extrinsicsCalibration.validBlocks = 20
+  msg.extrinsicsCalibration.rpyCalib = [0.0, 0.0, 0.0]
   params.put("CalibrationParams", msg.to_bytes(), block=True)
 
 def release_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):
     if "RELEASE" not in os.environ:
-      pytest.skip("This test is only for release branches")
+      self.skipTest("This test is only for release branches")
     f(self, *args, **kwargs)
   return wrap
 
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
index ba0379f2d7..99a7d8d690 100644
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -43,6 +43,7 @@ class Maneuver:
 
     valid = True
     logs = []
+    not_starting_t = 0.0
     while plant.current_time < self.duration:
       speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values)
       prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values)
@@ -68,8 +69,13 @@ class Maneuver:
         valid = False
 
       if self.ensure_start and log['v_rel'] > 0 and log['acceleration'] < 1e-3:
-        print('LongitudinalPlanner not starting!')
-        valid = False
+        if not_starting_t == 0.0:
+          not_starting_t = plant.current_time
+        elif plant.current_time - not_starting_t > 0.5:
+          print('LongitudinalPlanner not starting!')
+          valid = False
+      else:
+        not_starting_t = 0.0
 
     if self.ensure_slowdown and log['speed'] > 5.5:
       print('LongitudinalPlanner not slowing down!')
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
index abbd6be1d6..b4e8d76d6d 100755
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -66,7 +66,7 @@ class Plant:
     control = messaging.new_message('controlsState')
     ss = messaging.new_message('selfdriveState')
     car_state = messaging.new_message('carState')
-    lp = messaging.new_message('liveParameters')
+    lp = messaging.new_message('vehicleParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     car_state_sp = messaging.new_message('carStateSP')
@@ -112,7 +112,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
-    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.5)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed
@@ -137,7 +137,7 @@ class Plant:
           'carControl': car_control.carControl,
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
-          'liveParameters': lp.liveParameters,
+          'vehicleParameters': lp.vehicleParameters,
           'modelV2': model.modelV2,
           'carStateSP': car_state_sp.carStateSP,
           'liveMapDataSP': live_map_data_sp.liveMapDataSP,
diff --git a/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index b8f97c5041..c8694b6ac2 100644
--- a/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/openpilot/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,4 +1,5 @@
 import itertools
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized_class
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
@@ -150,7 +151,9 @@ def create_maneuvers(kwargs):
       enabled=False,
       **kwargs,
     ),
-    Maneuver(
+  ]
+  if not kwargs['e2e']:
+    maneuvers.append(Maneuver(
       "slow to 5m/s with allow_throttle = False and pitch = +0.1",
       duration=30.,
       initial_speed=20.,
@@ -161,7 +164,7 @@ def create_maneuvers(kwargs):
       breakpoints=[0.0, 2., 2.01],
       ensure_slowdown=True,
       **kwargs,
-    )]
+    ))
   if not kwargs['force_decel']:
     # controls relies on planner commanding to move for stock-ACC resume spamming
     maneuvers.append(Maneuver(
@@ -179,7 +182,7 @@ def create_maneuvers(kwargs):
 
 
 @parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2))
-class TestLongitudinalControl:
+class TestLongitudinalControl(OpenpilotTestCase):
   e2e: bool
   force_decel: bool
 
diff --git a/openpilot/selfdrive/test/process_replay/README.md b/openpilot/selfdrive/test/process_replay/README.md
index 28f3b7cd2a..36d669dda6 100644
--- a/openpilot/selfdrive/test/process_replay/README.md
+++ b/openpilot/selfdrive/test/process_replay/README.md
@@ -85,7 +85,7 @@ Supported processes:
 * modeld
 * dmonitoringmodeld
 
-Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary  used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files.
+Certain processes may require an initial state, which is usually supplied within `Params` and persists from segment to segment (for example `CalibrationParams` or the learner cache keys like `LiveParametersV2`). The `custom_params` is a dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files.
 
 ```py
 from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr
@@ -104,9 +104,9 @@ Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require
 from openpilot.tools.lib.framereader import FrameReader
 
 frs = {
-  'roadCameraState': FrameReader(...),
+  'narrowRoadCameraState': FrameReader(...),
   'wideRoadCameraState': FrameReader(...),
-  'driverCameraState': FrameReader(...),
+  'cabinCameraState': FrameReader(...),
 }
 
 output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs)
diff --git a/openpilot/selfdrive/test/process_replay/migration.py b/openpilot/selfdrive/test/process_replay/migration.py
index 9b0fd2b91f..646728e673 100644
--- a/openpilot/selfdrive/test/process_replay/migration.py
+++ b/openpilot/selfdrive/test/process_replay/migration.py
@@ -15,7 +15,7 @@ from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan, should_stop
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -40,7 +40,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_carOutput,
     migrate_controlsState,
     migrate_carState,
-    migrate_livePose,
+    migrate_liveLocationKalman,
+    migrate_deviceMotion,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -129,8 +130,10 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, ModelConstants.T_IDXS[:CONTROL_N])
-    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
+    a_target = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, ModelConstants.T_IDXS[:CONTROL_N])
+    v_now = msg.longitudinalPlan.speeds[0] if len(msg.longitudinalPlan.speeds) == CONTROL_N else 0.0
+    stop = should_stop(v_now, a_target)
+    new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(stop)
     ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
@@ -161,11 +164,11 @@ def migrate_drivingModelData(msgs):
   return [], add_ops, []
 
 
-@migration(inputs=["liveTracksDEPRECATED"], product="liveTracks")
+@migration(inputs=["liveTracksDEPRECATED"], product="radarTracks")
 def migrate_liveTracks(msgs):
   ops = []
   for index, msg in msgs:
-    new_msg = messaging.new_message('liveTracks')
+    new_msg = messaging.new_message('radarTracks')
     new_msg.valid = msg.valid
     new_msg.logMonoTime = msg.logMonoTime
 
@@ -179,42 +182,42 @@ def migrate_liveTracks(msgs):
       pt.vRel = track.vRel
       pts.append(pt)
 
-    new_msg.liveTracks.points = pts
+    new_msg.radarTracks.points = pts
     ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
 
-@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
+@migration(inputs=["liveLocationKalmanDEPRECATED"], product="deviceMotion")
 def migrate_liveLocationKalman(msgs):
   nans = [float('nan')] * 3
   ops = []
   for index, msg in msgs:
-    m = messaging.new_message('livePose')
+    m = messaging.new_message('deviceMotion')
     m.valid = msg.valid
     m.logMonoTime = msg.logMonoTime
-    m.livePose.timestamp = msg.logMonoTime
+    m.deviceMotion.timestamp = msg.logMonoTime
     for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
-      lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
+      lp_field, llk_field = getattr(m.deviceMotion, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
       lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
       lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
       lp_field.valid = llk_field.valid
     for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
-      setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
+      setattr(m.deviceMotion, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))
     ops.append((index, as_reader(m)))
   return ops, [], []
 
 
-@migration(inputs=["livePose"])
-def migrate_livePose(msgs):
+@migration(inputs=["deviceMotion"])
+def migrate_deviceMotion(msgs):
   ops = []
-  needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
+  needs_migration = all(msg.deviceMotion.timestamp == 0 for _, msg in msgs if msg.which() == 'deviceMotion')
   if not needs_migration:
     return [], [], []
 
   for index, msg in msgs:
-    if msg.which() == "livePose":
+    if msg.which() == "deviceMotion":
       new_msg = msg.as_builder()
-      new_msg.livePose.timestamp = msg.logMonoTime
+      new_msg.deviceMotion.timestamp = msg.logMonoTime
       ops.append((index, as_reader(new_msg)))
   return ops, [], []
 
@@ -313,7 +316,7 @@ def migrate_pandaStates(msgs):
     "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
   # TODO: get new Ford route
-  safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)
+  safety_param_migration |= dict.fromkeys({p for p in FORD if not (p.config.flags & FordFlags.CANFD)}, FordSafetyFlags.LONG_CONTROL)
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
@@ -361,7 +364,7 @@ def migrate_peripheralState(msgs):
   return [], add_ops, []
 
 
-@migration(inputs=["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx", "roadCameraState", "wideRoadCameraState", "driverCameraState"])
+@migration(inputs=["narrowRoadEncodeIdx", "wideRoadEncodeIdx", "cabinEncodeIdx", "narrowRoadCameraState", "wideRoadCameraState", "cabinCameraState"])
 def migrate_cameraStates(msgs):
   add_ops, del_ops = [], []
   frame_to_encode_id = defaultdict(dict)
@@ -369,7 +372,7 @@ def migrate_cameraStates(msgs):
   min_frame_id = defaultdict(lambda: float('inf'))
 
   for _, msg in msgs:
-    if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
+    if msg.which() not in ["narrowRoadEncodeIdx", "wideRoadEncodeIdx", "cabinEncodeIdx"]:
       continue
 
     encode_index = getattr(msg, msg.which())
@@ -379,7 +382,7 @@ def migrate_cameraStates(msgs):
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
 
   for index, msg in msgs:
-    if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
+    if msg.which() not in ["narrowRoadCameraState", "wideRoadCameraState", "cabinCameraState"]:
       continue
 
     camera_state = getattr(msg, msg.which())
@@ -392,7 +395,7 @@ def migrate_cameraStates(msgs):
         del_ops.append(index)
         continue
 
-      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled)
+      # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with driver recording disabled)
       # try to fake encode_id by subtracting lowest frameId
       encode_id = camera_state.frameId - min_frame_id[msg.which()]
       print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}")
diff --git a/openpilot/selfdrive/test/process_replay/model_replay.py b/openpilot/selfdrive/test/process_replay/model_replay.py
index 3e5616e702..ba610c6a2b 100755
--- a/openpilot/selfdrive/test/process_replay/model_replay.py
+++ b/openpilot/selfdrive/test/process_replay/model_replay.py
@@ -146,16 +146,17 @@ def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types):
 
 def model_replay(lr, frs):
   # modeld is using frame pairs
-  modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"},
-                                                                         {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
-  dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"})
+  camera_states = {"narrowRoadCameraState", "wideRoadCameraState"}
+  modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, camera_states,
+                          {"narrowRoadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
+  dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"cabinCameraState"}, {"cabinEncodeIdx", "carParams", "can"})
 
   if not SEND_EXTRA_INPUTS:
-    modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
-    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration']
+    modeld_logs = [msg for msg in modeld_logs if msg.which() != 'extrinsicsCalibration']
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'extrinsicsCalibration']
 
   # initial setup
-  for s in ('liveCalibration', 'deviceState'):
+  for s in ('extrinsicsCalibration', 'deviceState'):
     msg = next(msg for msg in lr if msg.which() == s).as_builder()
     msg.logMonoTime = lr[0].logMonoTime
     modeld_logs.insert(1, msg.as_reader())
@@ -209,8 +210,8 @@ def get_frames():
       print(f"Failed to load frames from cache {cache_name}: {e}")
 
   frs = {
-    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
-    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'narrowRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'cabinCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
   }
   for fr in frs.values():
diff --git a/openpilot/selfdrive/test/process_replay/process_replay.py b/openpilot/selfdrive/test/process_replay/process_replay.py
index 4834cc44e6..8e5d224ea8 100755
--- a/openpilot/selfdrive/test/process_replay/process_replay.py
+++ b/openpilot/selfdrive/test/process_replay/process_replay.py
@@ -400,7 +400,7 @@ class ModeldCameraSyncRcvCallback:
 
   def __call__(self, msg, cfg, frame):
     self.is_dual_camera = len(cfg.vision_pubs) == 2
-    if msg.which() == "roadCameraState":
+    if msg.which() == "narrowRoadCameraState":
       self.road_present = True
     elif msg.which() == "wideRoadCameraState":
       self.wide_road_present = True
@@ -436,11 +436,11 @@ CONFIGS = [
   ProcessConfig(
     proc_name="selfdrived",
     pubs=[
-      "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
-      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
+      "carState", "deviceState", "pandaStates", "peripheralState", "extrinsicsCalibration", "driverMonitoringState",
+      "longitudinalPlan", "deviceMotion", "lateralDelay", "vehicleParameters", "radarState", "modelV2",
+      "cabinCameraState", "narrowRoadCameraState", "wideRoadCameraState", "managerState", "lateralTorqueParameters",
       "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
-      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
+      "carControl", "driverAssistance", "alertDebug",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
@@ -452,8 +452,8 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="controlsd",
-    pubs=["liveParameters", "liveTorqueParameters", "modelV2", "selfdriveState",
-          "liveCalibration", "livePose", "longitudinalPlan", "carState", "carOutput",
+    pubs=["vehicleParameters", "lateralTorqueParameters", "modelV2", "selfdriveState",
+          "extrinsicsCalibration", "deviceMotion", "longitudinalPlan", "carState", "carOutput",
           "driverMonitoringState", "onroadEvents", "driverAssistance"],
     subs=["carControl", "controlsState"],
     ignore=["logMonoTime", ],
@@ -464,7 +464,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="card",
     pubs=["pandaStates", "carControl", "onroadEvents", "can"],
-    subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
+    subs=["sendcan", "carState", "carParams", "carOutput", "radarTracks"],
     ignore=["logMonoTime", "carState.cumLagMs"],
     init_callback=card_fingerprint_callback,
     should_recv_callback=card_rcv_callback,
@@ -475,7 +475,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="radard",
-    pubs=["liveTracks", "carState", "modelV2"],
+    pubs=["radarTracks", "carState", "modelV2"],
     subs=["radarState"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -483,7 +483,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "vehicleParameters", "radarState", "selfdriveState"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
@@ -493,14 +493,14 @@ CONFIGS = [
   ProcessConfig(
     proc_name="calibrationd",
     pubs=["carState", "cameraOdometry"],
-    subs=["liveCalibration"],
+    subs=["extrinsicsCalibration"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
-    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
+    pubs=["driverStateV2", "extrinsicsCalibration", "carState", "modelV2", "selfdriveState", "carControl"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
@@ -509,9 +509,9 @@ CONFIGS = [
   ProcessConfig(
     proc_name="locationd",
     pubs=[
-      "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
+      "cameraOdometry", "accelerometer", "gyroscope", "extrinsicsCalibration", "carState"
     ],
-    subs=["livePose"],
+    subs=["deviceMotion"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
@@ -519,21 +519,21 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="paramsd",
-    pubs=["livePose", "liveCalibration", "carState"],
-    subs=["liveParameters"],
+    pubs=["deviceMotion", "extrinsicsCalibration", "carState"],
+    subs=["vehicleParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("deviceMotion"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
   ProcessConfig(
     proc_name="lagd",
-    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
-    subs=["liveDelay"],
+    pubs=["deviceMotion", "extrinsicsCalibration", "carState", "carControl", "controlsState"],
+    subs=["lateralDelay"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("deviceMotion"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -544,37 +544,38 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
-    subs=["liveTorqueParameters"],
+    pubs=["deviceMotion", "extrinsicsCalibration", "lateralDelay", "carState", "carControl", "carOutput"],
+    subs=["lateralTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=MessageBasedRcvCallback("livePose", True),
+    should_recv_callback=MessageBasedRcvCallback("deviceMotion", True),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
+    pubs=["deviceState", "narrowRoadCameraState", "wideRoadCameraState", "extrinsicsCalibration", "lateralDelay",
+          "driverMonitoringState", "carState", "carControl"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
-    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
-    vision_pubs=["roadCameraState", "wideRoadCameraState"],
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("narrowRoadCameraState").stream),
+    vision_pubs=["narrowRoadCameraState", "wideRoadCameraState"],
     ignore_alive_pubs=["wideRoadCameraState"],
     init_callback=get_car_params_callback,
   ),
   ProcessConfig(
     proc_name="dmonitoringmodeld",
-    pubs=["liveCalibration", "driverCameraState"],
+    pubs=["extrinsicsCalibration", "cabinCameraState"],
     subs=["driverStateV2"],
     ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
+    should_recv_callback=MessageBasedRcvCallback("cabinCameraState"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
-    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
-    vision_pubs=["driverCameraState"],
-    ignore_alive_pubs=["driverCameraState"],
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("cabinCameraState").stream),
+    vision_pubs=["cabinCameraState"],
+    ignore_alive_pubs=["cabinCameraState"],
   ),
 ]
 
@@ -590,30 +591,30 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
   """
   Use this to get custom params dict based on provided logs.
   Useful when replaying following processes: calibrationd, paramsd, torqued
-  The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
+  The params may be based on first or last message of given type (carParams, extrinsicsCalibration, vehicleParameters, lateralTorqueParameters) in the logs.
   """
 
   car_params = [m for m in lr if m.which() == "carParams"]
-  live_calibration = [m for m in lr if m.which() == "liveCalibration"]
-  live_parameters = [m for m in lr if m.which() == "liveParameters"]
-  live_torque_parameters = [m for m in lr if m.which() == "liveTorqueParameters"]
+  extrinsics_calibration = [m for m in lr if m.which() == "extrinsicsCalibration"]
+  vehicle_parameters = [m for m in lr if m.which() == "vehicleParameters"]
+  torque_parameters = [m for m in lr if m.which() == "lateralTorqueParameters"]
 
   assert initial_state in ["first", "last"]
   msg_index = 0 if initial_state == "first" else -1
 
-  assert len(car_params) > 0, "carParams required for initial state of liveParameters and CarParamsPrevRoute"
+  assert len(car_params) > 0, "carParams required for initial state of vehicleParameters and CarParamsPrevRoute"
   CP = car_params[msg_index].carParams
 
   custom_params = {
     "CarParamsPrevRoute": CP.as_builder().to_bytes()
   }
 
-  if len(live_calibration) > 0:
-    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
-  if len(live_parameters) > 0:
-    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
-  if len(live_torque_parameters) > 0:
-    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
+  if len(extrinsics_calibration) > 0:
+    custom_params["CalibrationParams"] = extrinsics_calibration[msg_index].as_builder().to_bytes()
+  if len(vehicle_parameters) > 0:
+    custom_params["LiveParametersV2"] = vehicle_parameters[msg_index].as_builder().to_bytes()
+  if len(torque_parameters) > 0:
+    custom_params["LiveTorqueParameters"] = torque_parameters[msg_index].as_builder().to_bytes()
 
   return custom_params
 
diff --git a/openpilot/selfdrive/test/process_replay/regen.py b/openpilot/selfdrive/test/process_replay/regen.py
deleted file mode 100755
index c501a4b250..0000000000
--- a/openpilot/selfdrive/test/process_replay/regen.py
+++ /dev/null
@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-import os
-import argparse
-import time
-import capnp
-
-from typing import Any
-from collections.abc import Iterable
-
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
-                                                                   check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
-from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
-from openpilot.tools.lib.openpilotci import get_url
-
-
-def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] | None = None,
-  processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
-) -> list[capnp._DynamicStructReader]:
-  all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
-  custom_params = get_custom_params_from_lr(all_msgs)
-
-  print("Replayed processes:", [p.proc_name for p in processes])
-  print("\n\n", "*"*30, "\n\n", sep="")
-
-  output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
-
-  return output_logs
-
-
-def setup_data_readers(
-    route: str, sidx: int, needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False
-) -> tuple[LogReader, dict[str, Any]]:
-  lr = LogReader(f"{route}/{sidx}/r")
-  frs = {}
-  if needs_road_cam:
-    frs['roadCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc"))
-    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-      frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
-  if needs_driver_cam:
-    if dummy_driver_cam:
-      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
-    else:
-      device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
-      assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
-      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "dcamera.hevc"))
-
-  return lr, frs
-
-
-def regen_and_save(
-  route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA,
-  upload: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False
-) -> str:
-  if not isinstance(processes, str) and not hasattr(processes, "__iter__"):
-    raise ValueError("whitelist_proc must be a string or iterable")
-
-  if processes != "all":
-    if isinstance(processes, str):
-      raise ValueError(f"Invalid value for processes: {processes}")
-
-    replayed_processes = []
-    for d in processes:
-      cfg = get_process_config(d)
-      replayed_processes.append(cfg)
-  else:
-    replayed_processes = CONFIGS
-
-  all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs}
-  lr, frs = setup_data_readers(route, sidx,
-                               needs_driver_cam="driverCameraState" in all_vision_pubs,
-                               needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs,
-                               dummy_driver_cam=dummy_driver_cam)
-  output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm)
-
-  log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
-  rel_log_dir = os.path.relpath(log_dir)
-  rpath = os.path.join(log_dir, "rlog.zst")
-
-  os.makedirs(log_dir)
-  save_log(rpath, output_logs, compress=True)
-
-  print("\n\n", "*"*30, "\n\n", sep="")
-  print("New route:", rel_log_dir, "\n")
-
-  if not check_openpilot_enabled(output_logs):
-    raise Exception("Route did not engage for long enough")
-  if not check_most_messages_valid(output_logs):
-    raise Exception("Route has too many invalid messages")
-
-  if upload:
-    upload_route(rel_log_dir)
-
-  return rel_log_dir
-
-
-if __name__ == "__main__":
-  def comma_separated_list(string):
-    return string.split(",")
-
-  all_procs = [p.proc_name for p in CONFIGS]
-  parser = argparse.ArgumentParser(description="Generate new segments from old ones")
-  parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
-  parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
-  parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera")
-  parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
-                      help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
-  parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
-                      help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)")
-  parser.add_argument("route", type=str, help="The source route")
-  parser.add_argument("seg", type=int, help="Segment in source route")
-  args = parser.parse_args()
-
-  blacklist_set = set(args.blacklist_procs)
-  processes = [p for p in args.whitelist_procs if p not in blacklist_set]
-  regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera)
diff --git a/openpilot/selfdrive/test/process_replay/regen_all.py b/openpilot/selfdrive/test/process_replay/regen_all.py
deleted file mode 100755
index 78a90b420c..0000000000
--- a/openpilot/selfdrive/test/process_replay/regen_all.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import concurrent.futures
-import os
-import random
-import traceback
-from tqdm import tqdm
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.test.process_replay.regen import regen_and_save
-from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
-from openpilot.tools.lib.route import SegmentName
-
-
-def regen_job(segment, upload, disable_tqdm):
-  with OpenpilotPrefix():
-    sn = SegmentName(segment[1])
-    fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11))
-    try:
-      relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload,
-                            outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True)
-      relr = '|'.join(relr.split('/')[-2:])
-      return f'  ("{segment[0]}", "{relr}"), '
-    except Exception as e:
-      err = f"  {segment} failed: {str(e)}"
-      err += traceback.format_exc()
-      err += "\n\n"
-      return err
-
-
-if __name__ == "__main__":
-  all_cars = {car for car, _ in segments}
-
-  parser = argparse.ArgumentParser(description="Generate new segments from old ones")
-  parser.add_argument("-j", "--jobs", type=int, default=1)
-  parser.add_argument("--no-upload", action="store_true")
-  parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars,
-                      help="Whitelist given cars from the test (e.g. HONDA)")
-  parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[],
-                      help="Blacklist given cars from the test (e.g. HONDA)")
-  args = parser.parse_args()
-
-  tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars)
-  tested_cars = {c.upper() for c in tested_cars}
-  tested_segments = [(car, segment) for car, segment in segments if car in tested_cars]
-
-  with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    p = pool.map(regen_job, tested_segments, [not args.no_upload] * len(tested_segments), [args.jobs > 1] * len(tested_segments))
-    msg = "Copy these new segments into test_processes.py:"
-    for seg in tqdm(p, desc="Generating segments", total=len(tested_segments)):
-      msg += "\n" + str(seg)
-    print()
-    print()
-    print(msg)
diff --git a/openpilot/selfdrive/test/process_replay/test_fuzzy.py b/openpilot/selfdrive/test/process_replay/test_fuzzy.py
index 372b368608..3a87f3a7f8 100644
--- a/openpilot/selfdrive/test/process_replay/test_fuzzy.py
+++ b/openpilot/selfdrive/test/process_replay/test_fuzzy.py
@@ -1,12 +1,10 @@
 import copy
-import os
-from hypothesis import given, HealthCheck, Phase, settings
-import hypothesis.strategies as st
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
+from openpilot.common.fuzzy import capnp_random_dict, fuzzy_test
 
 from openpilot.cereal import log
 from opendbc.car.toyota.values import CAR as TOYOTA
-from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr
 
 # These processes currently fail because of unrealistic data breaking assumptions
@@ -15,17 +13,16 @@ import openpilot.selfdrive.test.process_replay.process_replay as pr
 NOT_TESTED = ['selfdrived', 'controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld']
 
 TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "10"))
 
-class TestFuzzProcesses:
+class TestFuzzProcesses(OpenpilotTestCase):
 
   # TODO: make this faster and increase examples
   @parameterized.expand(TEST_CASES)
-  @given(st.data())
-  @settings(phases=[Phase.generate, Phase.target], max_examples=MAX_EXAMPLES, deadline=1000,
-            suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
-  def test_fuzz_process(self, proc_name, cfg, data):
-    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
+  @fuzzy_test(max_examples=10)
+  def test_fuzz_process(self, proc_name, cfg, fuzzy):
+    msgs = [capnp_random_dict(fuzzy, log.Event.schema, event, real_floats=True) for event in sorted(cfg.pubs)]
+    for i, msg in enumerate(msgs):
+      msg["logMonoTime"] = i * 1_000_000_000
     lr = [log.Event.new_message(**m).as_reader() for m in msgs]
     cfg.timeout = 5
     pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
diff --git a/openpilot/selfdrive/test/process_replay/test_regen.py b/openpilot/selfdrive/test/process_replay/test_regen.py
deleted file mode 100644
index f4942e486c..0000000000
--- a/openpilot/selfdrive/test/process_replay/test_regen.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from openpilot.common.parameterized import parameterized
-
-from openpilot.selfdrive.test.process_replay.regen import regen_segment
-from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.framereader import FrameReader
-
-TESTED_SEGMENTS = [
-  ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS:     NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
-  # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
-  # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"),  # MAZDA.CX9_2021:        TICI, incomplete managerState
-  # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"),   # FORD.BRONCO_SPORT_MK1: TICI
-]
-
-
-def ci_setup_data_readers(route, sidx):
-  lr = LogReader(get_url(route, sidx, "rlog.bz2"))
-  frs = {
-    'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-    'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-  }
-  if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
-    frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))
-
-  return lr, frs
-
-
-class TestRegen:
-  @parameterized.expand(TESTED_SEGMENTS)
-  def test_engaged(self, case_name, segment):
-    route, sidx = segment.rsplit("--", 1)
-    lr, frs = ci_setup_data_readers(route, sidx)
-    output_logs = regen_segment(lr, frs, disable_tqdm=True)
-
-    engaged = check_openpilot_enabled(output_logs)
-    assert engaged, f"openpilot not engaged in {case_name}"
diff --git a/openpilot/selfdrive/test/process_replay/vision_meta.py b/openpilot/selfdrive/test/process_replay/vision_meta.py
index 12deb58724..6942d88367 100644
--- a/openpilot/selfdrive/test/process_replay/vision_meta.py
+++ b/openpilot/selfdrive/test/process_replay/vision_meta.py
@@ -1,17 +1,17 @@
 from collections import namedtuple
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
-ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
-WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None}
-DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
+NARROW_ROAD_CAMERA_FRAME_SIZES = {k: (v.narrow_road.width, v.narrow_road.height) for k, v in DEVICE_CAMERAS.items()}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.wide_road.width, v.wide_road.height) for k, v in DEVICE_CAMERAS.items() if v.wide_road is not None}
+CABIN_CAMERA_FRAME_SIZES = {k: (v.cabin.width, v.cabin.height) for k, v in DEVICE_CAMERAS.items()}
 VIPC_STREAM_METADATA = [
   # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
-  ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
+  ("narrowRoadCameraState", "narrowRoadEncodeIdx", VisionStreamType.VISION_STREAM_NARROW_ROAD, DT_MDL, NARROW_ROAD_CAMERA_FRAME_SIZES),
   ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
-  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES),
+  ("cabinCameraState", "cabinEncodeIdx", VisionStreamType.VISION_STREAM_CABIN, DT_DMON, CABIN_CAMERA_FRAME_SIZES),
 ]
 
 
diff --git a/openpilot/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py
old mode 100644
new mode 100755
index b15d890452..6768dc1d98
--- a/openpilot/selfdrive/test/test_onroad.py
+++ b/openpilot/selfdrive/test/test_onroad.py
@@ -1,13 +1,16 @@
+#!/usr/bin/env python3
+
 import math
 import json
 import os
-import pytest
 import shutil
 import subprocess
 import time
+import unittest
 import numpy as np
 from collections import Counter, defaultdict
 from pathlib import Path
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import tabulate
 
 from openpilot.cereal import log
@@ -54,7 +57,6 @@ PROCS = {
   "openpilot.selfdrive.locationd.paramsd": 9.0,
   "openpilot.selfdrive.locationd.lagd": 11.0,
   "openpilot.selfdrive.ui.soundd": 3.0,
-  "openpilot.selfdrive.ui.feedback.feedbackd": 1.0,
   "openpilot.selfdrive.monitoring.dmonitoringd": 4.0,
   "openpilot.system.proclogd": 7.0,
   "openpilot.system.logmessaged": 1.0,
@@ -67,7 +69,7 @@ PROCS = {
   "openpilot.system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
-  "openpilot.common.hardware.tici.modem": 10.0,
+  "openpilot.common.hardware.comma.modem": 10.0,
 }
 
 TIMINGS = {
@@ -81,12 +83,12 @@ TIMINGS = {
   "controlsState": [2.5, 0.35],
   "longitudinalPlan": [2.5, 0.5],
   "driverAssistance": [2.5, 0.5],
-  "roadCameraState": [2.5, 0.35],
-  "driverCameraState": [2.5, 0.35],
+  "narrowRoadCameraState": [2.5, 0.35],
+  "cabinCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
-  "livePose": [2.5, 0.35],
-  "liveParameters": [2.5, 0.35],
+  "deviceMotion": [2.5, 0.35],
+  "vehicleParameters": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
 
@@ -102,9 +104,8 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
-@pytest.mark.tici
-@pytest.mark.skip_tici_setup
-class TestOnroad:
+class TestOnroad(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   @classmethod
   def setup_class(cls):
@@ -303,7 +304,7 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     result += "-----------------  SOF Timing ------------------\n"
     result += "------------------------------------------------\n"
-    for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
+    for name in ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']:
       ts = self.ts[name]['timestampSof']
       d_ms = np.diff(ts) / 1e6
       d50 = np.abs(d_ms-50)
@@ -316,8 +317,8 @@ class TestOnroad:
     print(result)
 
   def test_camera_sync(self, subtests):
-    cam_states = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
-    encode_cams = ['roadEncodeIdx', 'wideRoadEncodeIdx', 'driverEncodeIdx']
+    cam_states = ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']
+    encode_cams = ['narrowRoadEncodeIdx', 'wideRoadEncodeIdx', 'cabinEncodeIdx']
     for cams in (cam_states, encode_cams):
       with subtests.test(cams=cams):
         # sanity checks within a single cam
@@ -348,15 +349,15 @@ class TestOnroad:
           diff = (max(ts.values()) - min(ts.values()))
           assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
 
-          # driver camera should be staggered ~25ms from road camera
+          # cabin camera should be staggered ~25ms from road camera
           offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
-          assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
+          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
 
   def test_camera_encoder_matches(self, subtests):
     # sanity check that the frame metadata is consistent with the encoded frames
-    pairs = [('roadCameraState', 'roadEncodeIdx'),
+    pairs = [('narrowRoadCameraState', 'narrowRoadEncodeIdx'),
              ('wideRoadCameraState', 'wideRoadEncodeIdx'),
-             ('driverCameraState', 'driverEncodeIdx')]
+             ('cabinCameraState', 'cabinEncodeIdx')]
     for cam, enc in pairs:
       with subtests.test(camera=cam, encoder=enc):
         cam_frames = {fid: (sof, eof) for fid, sof, eof in zip(
@@ -442,3 +443,7 @@ class TestOnroad:
     eng = [m.selfdriveState.engageable for m in self.msgs['selfdriveState'][offset:]]
     assert all(eng), \
            f"Not engageable for whole segment:\n- selfdriveState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/selfdrive/test/test_power_draw.py b/openpilot/selfdrive/test/test_power_draw.py
old mode 100644
new mode 100755
index 9bc012ceaa..1d0be24ef0
--- a/openpilot/selfdrive/test/test_power_draw.py
+++ b/openpilot/selfdrive/test/test_power_draw.py
@@ -1,8 +1,11 @@
+#!/usr/bin/env python3
+
 from collections import defaultdict, deque
-import pytest
 import time
+import unittest
 import numpy as np
 from dataclasses import dataclass
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import tabulate
 
 import openpilot.cereal.messaging as messaging
@@ -10,7 +13,7 @@ from openpilot.cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
-from openpilot.common.hardware.tici.power_monitor import get_power
+from openpilot.common.hardware.comma.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 
@@ -31,15 +34,15 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
   Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
 
-@pytest.mark.tici
-class TestPowerDraw:
+class TestPowerDraw(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
@@ -92,7 +95,7 @@ class TestPowerDraw:
 
     return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
 
-  @mock_messages(['livePose'])
+  @mock_messages(['deviceMotion'])
   def test_camera_procs(self, subtests):
     baseline = get_power()
 
@@ -123,3 +126,7 @@ class TestPowerDraw:
         assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W"
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/selfdrive/ui/SConscript b/openpilot/selfdrive/ui/SConscript
index d187b4ca3c..b5c81a9009 100644
--- a/openpilot/selfdrive/ui/SConscript
+++ b/openpilot/selfdrive/ui/SConscript
@@ -1,24 +1,9 @@
-from pathlib import Path
 import importlib.util
+from pathlib import Path
 
 Import('env', 'arch', 'common')
 
-# build the fonts
-generator = File("#openpilot/selfdrive/assets/fonts/process.py")
-source_files = Glob("#openpilot/selfdrive/assets/fonts/*.ttf") + Glob("#openpilot/selfdrive/assets/fonts/*.otf")
-output_files = [
-  (f"#{Path(f.path).with_suffix('.fnt')}", f"#{Path(f.path).with_suffix('.png')}")
-  for f in source_files
-  if "NotoColor" not in f.name
-]
-env.Command(
-  target=output_files,
-  source=[generator, source_files],
-  action=f"python3 {generator}",
-)
-
-
-if GetOption('extras') and arch == "larch64":
+if GetOption('extras') and arch == "comma_arm64":
   # build installers
   raylib_dir = Path(importlib.util.find_spec("raylib").submodule_search_locations[0]) / "install"
   raylib_env = env.Clone()
diff --git a/openpilot/selfdrive/ui/body/animations.py b/openpilot/selfdrive/ui/body/animations.py
index 302f8989bf..3aecd52e97 100644
--- a/openpilot/selfdrive/ui/body/animations.py
+++ b/openpilot/selfdrive/ui/body/animations.py
@@ -87,21 +87,12 @@ BROW_LOWERED = [
 (2, 0)
 ]
 BROW_STRAIGHT = [(1, 0), (1, 1), (1, 2)]
-BROW_DOWN = [
-(0, 1), (0, 2),
-                (1, 3)
-]
-
 # Mouths (centered, not mirrored)
 MOUTH_SMILE = [
 (6, 6),                 (6, 9),
         (7, 7), (7, 8),
 ]
 MOUTH_NORMAL = [(7, 7), (7, 8)]
-MOUTH_SAD = [
-        (6, 7), (6, 8),
-(7, 6),                 (7, 9)
-]
 
 # --- Animations ---
 
@@ -168,16 +159,6 @@ INQUISITIVE = Animation(
   repeat_interval=10
 )
 
-WINK = Animation(
-  frames=[
-    _make_frame(EYE_OPEN, _mirror(EYE_OPEN), BROW_HIGH, _mirror(BROW_HIGH), MOUTH_SMILE),
-    _make_frame(EYE_OPEN, _mirror(EYE_CLOSED), BROW_HIGH, _mirror(_shift(BROW_DOWN, (0, 2))), MOUTH_SMILE),
-  ],
-  mode=AnimationMode.ONCE_FORWARD_BACKWARD,
-  frame_duration=0.75,
-)
-
-
 # --- Face Animator Class ---
 
 class FaceAnimator:
diff --git a/openpilot/selfdrive/ui/body/layouts/onroad.py b/openpilot/selfdrive/ui/body/layouts/onroad.py
index d7e9f419cc..a48e525628 100644
--- a/openpilot/selfdrive/ui/body/layouts/onroad.py
+++ b/openpilot/selfdrive/ui/body/layouts/onroad.py
@@ -67,8 +67,8 @@ class BodyLayout(Widget):
       self._animator.set_animation(ASLEEP)
 
     steer = sm['testJoystick'].axes[1] if len(sm['testJoystick'].axes) > 1 else 0
-    self._turning_left = steer <= -0.05
-    self._turning_right = steer >= 0.05
+    self._turning_left = steer >= 0.05
+    self._turning_right = steer <= -0.05
 
   # play animation on screen tap
   def _handle_mouse_release(self, mouse_pos):
diff --git a/openpilot/selfdrive/ui/feedback/feedbackd.py b/openpilot/selfdrive/ui/feedback/feedbackd.py
deleted file mode 100755
index 8056a580c6..0000000000
--- a/openpilot/selfdrive/ui/feedback/feedbackd.py
+++ /dev/null
@@ -1,72 +0,0 @@
-#!/usr/bin/env python3
-import openpilot.cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from opendbc.car.structs import car
-from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
-
-FEEDBACK_MAX_DURATION = 10.0
-ButtonType = car.CarState.ButtonEvent.Type
-
-
-def main():
-  params = Params()
-  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
-  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
-  should_record_audio = False
-  block_num = 0
-  waiting_for_release = False
-  early_stop_triggered = False
-
-  while True:
-    sm.update()
-    should_send_bookmark = False
-
-    # TODO: https://github.com/commaai/openpilot/issues/36015
-    # only allow the LKAS button to record feedback when MADS is disabled
-    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
-      for be in sm['carState'].buttonEvents:
-        if be.type == ButtonType.lkas:
-          if be.pressed:
-            if not should_record_audio:
-              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
-                should_record_audio = True
-                block_num = 0
-                waiting_for_release = False
-                early_stop_triggered = False
-                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
-              else:
-                should_send_bookmark = True  # immediately send bookmark if toggle false
-                cloudlog.info("LKAS button pressed - bookmarking")
-            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
-              waiting_for_release = True
-          elif waiting_for_release:  # Second press released
-            waiting_for_release = False
-            early_stop_triggered = True
-            cloudlog.info("LKAS button released - ending recording early")
-
-    if should_record_audio and sm.updated['rawAudioData']:
-      raw_audio = sm['rawAudioData']
-      msg = messaging.new_message('audioFeedback', valid=True)
-      msg.audioFeedback.audio.data = raw_audio.data
-      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
-      msg.audioFeedback.blockNum = block_num
-      block_num += 1
-      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
-        should_send_bookmark = True  # send bookmark at end of audio segment
-        should_record_audio = False
-        early_stop_triggered = False
-        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
-      pm.send('audioFeedback', msg)
-
-    if sm.updated['bookmarkButton']:
-      cloudlog.info("Bookmark button pressed!")
-      should_send_bookmark = True
-
-    if should_send_bookmark:
-      msg = messaging.new_message('userBookmark', valid=True)
-      pm.send('userBookmark', msg)
-
-
-if __name__ == '__main__':
-  main()
diff --git a/openpilot/selfdrive/ui/layouts/main.py b/openpilot/selfdrive/ui/layouts/main.py
index 69536912ce..c4224d6467 100644
--- a/openpilot/selfdrive/ui/layouts/main.py
+++ b/openpilot/selfdrive/ui/layouts/main.py
@@ -26,7 +26,7 @@ class MainLayout(Widget):
   def __init__(self):
     super().__init__()
 
-    self._pm = messaging.PubMaster(['bookmarkButton'])
+    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
 
     self._sidebar = Sidebar()
     self._current_mode = MainState.HOME
@@ -115,9 +115,9 @@ class MainLayout(Widget):
     self.open_settings(PanelType.DEVICE)
 
   def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
+    for service in ('bookmarkButton', 'userBookmark'):
+      msg = messaging.new_message(service, valid=True)
+      self._pm.send(service, msg)
 
   def _on_onroad_clicked(self):
     self._sidebar.set_visible(not self._sidebar.is_visible)
diff --git a/openpilot/selfdrive/ui/layouts/settings/device.py b/openpilot/selfdrive/ui/layouts/settings/device.py
index 8844623b6e..5be78cf652 100644
--- a/openpilot/selfdrive/ui/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/layouts/settings/device.py
@@ -5,7 +5,7 @@ from openpilot.cereal import messaging, log
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
 from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
@@ -61,7 +61,7 @@ class DeviceLayout(Widget):
       text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
       self._pair_device_btn,
       button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']),
-                  callback=lambda: gui_app.push_widget(DriverCameraDialog()), enabled=ui_state.is_offroad),
+                  callback=lambda: gui_app.push_widget(CabinCameraDialog()), enabled=ui_state.is_offroad),
       self._reset_calib_btn,
       button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']),
                   self._on_review_training_guide, enabled=ui_state.is_offroad),
@@ -119,9 +119,9 @@ class DeviceLayout(Widget):
     calib_bytes = self._params.get("CalibrationParams")
     if calib_bytes:
       try:
-        calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration
+        calib = messaging.log_from_bytes(calib_bytes, log.Event).extrinsicsCalibration
 
-        if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated:
+        if calib.calStatus != log.ExtrinsicsCalibration.Status.uncalibrated:
           pitch = math.degrees(calib.rpyCalib[1])
           yaw = math.degrees(calib.rpyCalib[2])
           desc += tr(" Your device is pointed {:.1f}° {} and {:.1f}° {}.").format(abs(pitch), tr("down") if pitch > 0 else tr("up"),
@@ -133,7 +133,7 @@ class DeviceLayout(Widget):
     lag_bytes = self._params.get("LiveDelay")
     if lag_bytes:
       try:
-        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc
+        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).lateralDelay.calPerc
       except Exception:
         cloudlog.exception("invalid LiveDelay")
     if lag_perc < 100:
@@ -144,7 +144,7 @@ class DeviceLayout(Widget):
     torque_bytes = self._params.get("LiveTorqueParameters")
     if torque_bytes:
       try:
-        torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters
+        torque = messaging.log_from_bytes(torque_bytes, log.Event).lateralTorqueParameters
         # don't add for non-torque cars
         if torque.useParams:
           torque_perc = torque.calPerc
diff --git a/openpilot/selfdrive/ui/mici/layouts/home.py b/openpilot/selfdrive/ui/mici/layouts/home.py
index 4c4dfac520..ff8d350e08 100644
--- a/openpilot/selfdrive/ui/mici/layouts/home.py
+++ b/openpilot/selfdrive/ui/mici/layouts/home.py
@@ -139,7 +139,7 @@ class MiciHomeLayout(Widget):
     self._version_text = self._get_version_text()
 
     self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
-    self._egpu_icon = IconWidget("icons_mici/egpu.png", (50, 37))
+    self._egpu_icon = IconWidget("icons_mici/egpu_green.png", (50, 37))
     self._egpu_icon_gray = IconWidget("icons_mici/egpu_gray.png", (50, 37))
     self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
     self._body_icon = IconWidget("icons_mici/body.png", (54, 37))
@@ -174,7 +174,7 @@ class MiciHomeLayout(Widget):
     if self._mouse_down_t is not None:
       if time.monotonic() - self._mouse_down_t > 0.5:
         # long gating for experimental mode - only allow toggle if longitudinal control is available
-        if ui_state.has_longitudinal_control:
+        if ui_state.has_longitudinal_control and ui_state.experimental_mode_confirmed:
           ui_state.experimental_mode = not ui_state.experimental_mode
           ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
         self._mouse_down_t = None
@@ -248,8 +248,8 @@ class MiciHomeLayout(Widget):
 
     # ***** Center-aligned bottom section icons *****
     self._experimental_icon.set_visible(ui_state.experimental_mode)
-    self._egpu_icon.set_visible(ui_state.usbgpu and ui_state.usbgpu_compiled)
-    self._egpu_icon_gray.set_visible(ui_state.usbgpu and not ui_state.usbgpu_compiled)
+    self._egpu_icon.set_visible(ui_state.sm["deviceState"].chestnutPresent and ui_state.usbgpu_compiled)
+    self._egpu_icon_gray.set_visible(ui_state.sm["deviceState"].chestnutPresent and not ui_state.usbgpu_compiled)
     self._mic_icon.set_visible(ui_state.recording_audio)
     self._body_icon.set_visible(bool(ui_state.is_body))
 
diff --git a/openpilot/selfdrive/ui/mici/layouts/main.py b/openpilot/selfdrive/ui/mici/layouts/main.py
index 0ddd2decd1..7b96366894 100644
--- a/openpilot/selfdrive/ui/mici/layouts/main.py
+++ b/openpilot/selfdrive/ui/mici/layouts/main.py
@@ -22,7 +22,7 @@ class MiciMainLayout(Scroller):
   def __init__(self):
     super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
 
-    self._pm = messaging.PubMaster(['bookmarkButton'])
+    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
 
     self._prev_onroad = False
     self._prev_standstill = False
@@ -64,6 +64,9 @@ class MiciMainLayout(Scroller):
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
+    # initialize correct onroad layout
+    self._on_body_changed()
+
   @property
   def _onroad_layout(self) -> Widget:
     # For scroll_to
@@ -143,9 +146,9 @@ class MiciMainLayout(Scroller):
       self._scroll_to(self._home_layout)
 
   def _on_bookmark_clicked(self):
-    user_bookmark = messaging.new_message('bookmarkButton')
-    user_bookmark.valid = True
-    self._pm.send('bookmarkButton', user_bookmark)
+    for service in ('bookmarkButton', 'userBookmark'):
+      msg = messaging.new_message(service, valid=True)
+      self._pm.send(service, msg)
 
   def _on_body_changed(self):
     self._car_onroad_layout.set_visible(not ui_state.is_body)
diff --git a/openpilot/selfdrive/ui/mici/layouts/onboarding.py b/openpilot/selfdrive/ui/mici/layouts/onboarding.py
index 3c5ad27a17..80483d1b01 100644
--- a/openpilot/selfdrive/ui/mici/layouts/onboarding.py
+++ b/openpilot/selfdrive/ui/mici/layouts/onboarding.py
@@ -1,9 +1,9 @@
 import math
 import numpy as np
-import qrcode
 import pyray as rl
 from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.qrcode import make_texture
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import SmallCircleIconButton
@@ -17,11 +17,11 @@ from openpilot.common.version import sunnylink_consent_version, sunnylink_consen
 from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
+from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import BaseCabinCameraDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 
 
-class DriverCameraSetupDialog(BaseDriverCameraDialog):
+class DriverCameraSetupDialog(BaseCabinCameraDialog):
   def __init__(self):
     super().__init__()
     self.driver_state_renderer = DriverStateRenderer(inset=True)
@@ -282,25 +282,7 @@ class QRCodeWidget(Widget):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, size, size))
     self._size = size
-    self._qr_texture: rl.Texture | None = None
-    self._generate_qr(url)
-
-  def _generate_qr(self, url: str):
-    qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
-    qr.add_data(url)
-    qr.make(fit=True)
-
-    pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
-    img_array = np.array(pil_img, dtype=np.uint8)
-
-    rl_image = rl.Image()
-    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-    rl_image.width = pil_img.width
-    rl_image.height = pil_img.height
-    rl_image.mipmaps = 1
-    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-    self._qr_texture = rl.load_texture_from_image(rl_image)
+    self._qr_texture = make_texture(url, inverted=True)
 
   def _render(self, _):
     if self._qr_texture:
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/device.py b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
index 7f4a9ab0b8..6038ff7d35 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/device.py
@@ -9,7 +9,7 @@ from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.multilang import tr
@@ -189,9 +189,9 @@ class DeviceLayoutMici(NavScroller):
     regulatory_btn = BigButton("regulatory info", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
     regulatory_btn.set_click_callback(self._on_regulatory)
 
-    driver_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64))
-    driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog()))
-    driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())
+    cabin_cam_btn = BigButton("driver\ncamera preview", "", gui_app.texture("icons_mici/settings/device/cameras.png", 64, 64))
+    cabin_cam_btn.set_click_callback(lambda: gui_app.push_widget(CabinCameraDialog()))
+    cabin_cam_btn.set_enabled(lambda: ui_state.is_offroad())
 
     review_training_guide_btn = BigButton("review\ntraining guide", "", gui_app.texture("icons_mici/settings/device/info.png", 64, 64))
     review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
@@ -204,7 +204,7 @@ class DeviceLayoutMici(NavScroller):
       DeviceInfoLayoutMici(),
       PairBigButton(),
       review_training_guide_btn,
-      driver_cam_btn,
+      cabin_cam_btn,
       terms_btn,
       regulatory_btn,
       reset_calibration_btn,
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
index 56a953a65d..eb7789cba9 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/settings.py
@@ -50,7 +50,6 @@ class SettingsLayout(NavScroller):
       device_btn,
       software_btn,
       PairBigButton(),
-      #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
       firehose_btn,
       developer_btn,
     ])
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
index 52bbb65e6a..2dba124df5 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -1,7 +1,10 @@
+from collections.abc import Callable
+
 from openpilot.cereal import log
 
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -9,16 +12,42 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 
+class ExperimentalModeConfirmPage(NavScroller):
+  def __init__(self, on_confirm: Callable[[], None]):
+    super().__init__()
+
+    accept = BigConfirmationCircleButton("enable\nexperimental mode",
+                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
+                                         lambda: self.dismiss(on_confirm))
+
+    self._scroller.add_widgets([
+      GreyBigButton("enabling\nexperimental mode", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
+      GreyBigButton("", "openpilot defaults to driving in chill mode."),
+      GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
+      GreyBigButton("End-to-End Longitudinal Control"),
+      GreyBigButton("", "Let the driving model control the gas and brakes."),
+      GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
+      GreyBigButton("", "The set speed will only act as an upper bound."),
+      GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
+      GreyBigButton("New Driving Visualization"),
+      GreyBigButton("", "The path will change colors to communicate acceleration intent."),
+      GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
+      accept,
+    ])
+
+
 class TogglesLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
 
     self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
-    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
+    self._experimental_btn = BigToggle("experimental mode", initial_state=ui_state.params.get_bool("ExperimentalMode"),
+                                       toggle_callback=self._on_experimental_mode)
     is_metric_toggle = BigParamControl("use metric units", "IsMetric")
     ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
     always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
-    record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
+    record_front = BigParamControl("record & upload cabin camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
 
@@ -85,3 +114,17 @@ class TogglesLayoutMici(NavScroller):
     # Refresh toggles from params to mirror external changes
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
+
+  def _on_experimental_mode(self, state: bool):
+    if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
+      # Don't show enabled state until confirm
+      self._experimental_btn.set_checked(False)
+
+      def on_confirm():
+        ui_state.params.put_bool("ExperimentalModeConfirmed", True)
+        ui_state.params.put_bool("ExperimentalMode", True)
+        self._experimental_btn.set_checked(True)
+
+      gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
+    else:
+      ui_state.params.put_bool("ExperimentalMode", state)
diff --git a/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
index 016e09a0f1..4be32459d5 100644
--- a/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -9,7 +9,7 @@ from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -136,7 +136,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it
-      if TICI and not waiting_for_startup:
+      if COMMA_HARDWARE and not waiting_for_startup:
         ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
         if ss_missing > SELFDRIVE_STATE_TIMEOUT:
           if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
@@ -310,13 +310,10 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
 
     # TODO: hack
     alert_text1 = alert.text1.lower().replace('calibrating: ', 'calibrating:\n')
-    can_draw_second_line = False
     # TODO: there should be a common way to determine font size based on text length to maximize rect
     if len(alert_text1) <= 12:
-      can_draw_second_line = True
       font_size = 92 - 10
     elif len(alert_text1) <= 16:
-      can_draw_second_line = True
       font_size = 70
     else:
       font_size = 64 - 10
@@ -348,13 +345,13 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
         self._text_gen_time = time.monotonic()
       alert_text2 = self._alert_text2_gen or alert_text2
 
-    if can_draw_second_line and alert_text2:
+    if alert_text2:
       last_line_h = self._alert_text1_label.rect.y + self._alert_text1_label.get_content_height(int(alert_layout.text_rect.width))
       last_line_h -= 4
-      if len(alert_text2) > 18:
-        small_font_size = 36
-      elif len(alert_text2) > 24:
+      if len(alert_text2) > 24:
         small_font_size = 32
+      elif len(alert_text2) > 18:
+        small_font_size = 36
       else:
         small_font_size = 40
       text_rect2 = rl.Rectangle(
diff --git a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
index b5b9a54be8..e37e9b7ea9 100644
--- a/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -2,7 +2,7 @@ import numpy as np
 import pyray as rl
 from openpilot.cereal import log
 from opendbc.car.structs import car
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
 from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
@@ -24,8 +24,8 @@ if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
-CALIBRATED = log.LiveCalibrationData.Status.calibrated
-ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+CALIBRATED = log.ExtrinsicsCalibration.Status.calibrated
+NARROW_ROAD_CAM = VisionStreamType.VISION_STREAM_NARROW_ROAD
 WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
 DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
 
@@ -134,7 +134,7 @@ class BookmarkIcon(Widget):
 
 
 class AugmentedRoadView(CameraView):
-  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_NARROW_ROAD):
     super().__init__("camerad", stream_type)
     self._bookmark_callback = bookmark_callback
     self._set_placeholder_color(rl.BLACK)
@@ -254,12 +254,12 @@ class AugmentedRoadView(CameraView):
       if v_ego < WIDE_CAM_MAX_SPEED:
         target = WIDE_CAM
       elif v_ego > ROAD_CAM_MIN_SPEED:
-        target = ROAD_CAM
+        target = NARROW_ROAD_CAM
       else:
         # Hysteresis zone - keep current stream
         target = self.stream_type
     else:
-      target = ROAD_CAM
+      target = NARROW_ROAD_CAM
 
     if self.stream_type != target:
       self.switch_stream(target)
@@ -267,14 +267,14 @@ class AugmentedRoadView(CameraView):
   def _update_calibration(self):
     # Update device camera if not already set
     sm = ui_state.sm
-    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+    if not self.device_camera and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
 
-    # Check if live calibration data is available and valid
-    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+    # Check if camera calibration data is available and valid
+    if not (sm.updated["extrinsicsCalibration"] and sm.valid['extrinsicsCalibration']):
       return
 
-    calib = sm['liveCalibration']
+    calib = sm['extrinsicsCalibration']
     if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
       return
 
@@ -289,7 +289,7 @@ class AugmentedRoadView(CameraView):
 
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     cache_key = (
-      ui_state.sm.recv_frame['liveCalibration'],
+      ui_state.sm.recv_frame['extrinsicsCalibration'],
       int(self._content_rect.width),
       int(self._content_rect.height),
       self.stream_type,
@@ -302,7 +302,7 @@ class AugmentedRoadView(CameraView):
     # Get camera configuration
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
-    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    intrinsic = device_camera.wide_road.intrinsics if is_wide_camera else device_camera.narrow_road.intrinsics
     calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
     if is_wide_camera:
       zoom = 0.7 * 1.5
@@ -365,14 +365,14 @@ class AugmentedRoadView(CameraView):
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
-  road_camera_view = AugmentedRoadView(lambda: None, stream_type=ROAD_CAM)
+  road_camera_view = AugmentedRoadView(lambda: None, stream_type=NARROW_ROAD_CAM)
   print("***press space to switch camera view***")
   try:
     for _ in gui_app.render():
       ui_state.update()
       if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
         if WIDE_CAM in road_camera_view.available_streams:
-          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          stream = NARROW_ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
           road_camera_view.switch_stream(stream)
       road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
   finally:
diff --git a/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py
similarity index 95%
rename from openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
rename to openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py
index e81877b402..e86c0aa739 100644
--- a/openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/openpilot/selfdrive/ui/mici/onroad/cabin_camera_dialog.py
@@ -1,6 +1,6 @@
 import pyray as rl
 from openpilot.cereal import log, messaging
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -11,7 +11,7 @@ from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import gui_label
 
 
-class DriverCameraView(CameraView):
+class CabinCameraView(CameraView):
   def _calc_frame_matrix(self, rect: rl.Rectangle):
     base = super()._calc_frame_matrix(rect)
     driver_view_ratio = 1.5
@@ -20,11 +20,11 @@ class DriverCameraView(CameraView):
     return base
 
 
-class BaseDriverCameraDialog(Widget):
+class BaseCabinCameraDialog(Widget):
   # Not a NavWidget so training guide can use this without back navigation
   def __init__(self):
     super().__init__()
-    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self._camera_view = CabinCameraView("camerad", VisionStreamType.VISION_STREAM_CABIN)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
@@ -229,7 +229,7 @@ class BaseDriverCameraDialog(Widget):
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
 
-class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
+class CabinCameraDialog(NavWidget, BaseCabinCameraDialog):
   def __init__(self):
     super().__init__()
     # TODO: this can grow unbounded, should be given some thought
@@ -237,12 +237,12 @@ class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Driver Camera View (mici)")
+  gui_app.init_window("Cabin Camera View (mici)")
 
-  driver_camera_view = DriverCameraDialog()
-  gui_app.push_widget(driver_camera_view)
+  cabin_camera_view = CabinCameraDialog()
+  gui_app.push_widget(cabin_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
   finally:
-    driver_camera_view.close()
+    cabin_camera_view.close()
diff --git a/openpilot/selfdrive/ui/mici/onroad/cameraview.py b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
index 82e4865c76..8a3e2cbed5 100644
--- a/openpilot/selfdrive/ui/mici/onroad/cameraview.py
+++ b/openpilot/selfdrive/ui/mici/onroad/cameraview.py
@@ -2,9 +2,10 @@ import platform
 import numpy as np
 import pyray as rl
 
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
@@ -38,7 +39,7 @@ void main() {
 """
 
 # Choose fragment shader based on platform capabilities
-if TICI:
+if COMMA_HARDWARE:
   FRAME_FRAGMENT_SHADER = """
     #version 300 es
     #extension GL_OES_EGL_image_external_essl3 : enable
@@ -110,7 +111,7 @@ class CameraView(Widget):
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
-    self._stream_type = stream_type
+    self._stream_type: VisionStreamType = stream_type
     self.available_streams: list[VisionStreamType] = []
 
     # Target stream for switching
@@ -121,11 +122,11 @@ class CameraView(Widget):
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
-    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not COMMA_HARDWARE else -1
     self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
     self._engaged_val = rl.ffi.new("int[1]", [1])
     self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
-    self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
+    self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_CABIN else 0])
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -137,8 +138,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
 
-    # Initialize EGL for zero-copy rendering on TICI
-    if TICI:
+    # Initialize EGL for zero-copy rendering on COMMA_HARDWARE
+    if COMMA_HARDWARE:
       if not init_egl():
         raise RuntimeError("Failed to initialize EGL")
 
@@ -185,7 +186,7 @@ class CameraView(Widget):
     self._clear_textures()
 
     # Clean up EGL texture
-    if TICI and self.egl_texture:
+    if COMMA_HARDWARE and self.egl_texture:
       rl.unload_texture(self.egl_texture)
       self.egl_texture = None
 
@@ -242,8 +243,8 @@ class CameraView(Widget):
 
     transform = self._calc_frame_matrix(rect)
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    # Flip driver camera horizontally
-    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+    # Flip cabin camera horizontally
+    if self._stream_type == VisionStreamType.VISION_STREAM_CABIN:
       src_rect.width = -src_rect.width
 
     # Calculate scale
@@ -260,7 +261,7 @@ class CameraView(Widget):
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
-    if TICI:
+    if COMMA_HARDWARE:
       self._render_egl(src_rect, dst_rect)
     else:
       self._render_textures(src_rect, dst_rect)
@@ -370,6 +371,7 @@ class CameraView(Widget):
       del self.client
 
     # Switch to target
+    assert self._target_client is not None and self._target_stream_type is not None
     self.client = self._target_client
     self._stream_type = self._target_stream_type
     self._texture_needs_update = True
@@ -383,12 +385,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-      self._clear_textures()
-      if not TICI:
-        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    self._clear_textures()
+    if not COMMA_HARDWARE:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:
@@ -400,7 +402,7 @@ class CameraView(Widget):
       self.texture_uv = None
 
     # Clean up EGL resources
-    if TICI:
+    if COMMA_HARDWARE:
       for data in self.egl_images.values():
         destroy_egl_image(data)
       self.egl_images = {}
@@ -408,6 +410,6 @@ class CameraView(Widget):
 
 if __name__ == "__main__":
   gui_app.init_window("camera view")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
   for _ in gui_app.render():
     road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/openpilot/selfdrive/ui/mici/onroad/driver_state.py b/openpilot/selfdrive/ui/mici/onroad/driver_state.py
index 85b90704ac..ad5a521518 100644
--- a/openpilot/selfdrive/ui/mici/onroad/driver_state.py
+++ b/openpilot/selfdrive/ui/mici/onroad/driver_state.py
@@ -169,8 +169,8 @@ class DriverStateRenderer(Widget):
     self._is_rhd = dm_state.isRHD
     self._face_detected = dm_state.visionPolicyState.faceDetected
     self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
-    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
-    self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
+    self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6)  # calib or DM pose is not accurate, add a fake upward pitch to bias forward
+    self._face_yaw = dm_state.visionPolicyState.pose.yaw * (1 if self._is_rhd else -1)  # undo sign flip in face_orientation_from_model to match UI convention
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
diff --git a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
index 67f9833021..2d1f954122 100644
--- a/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -1,3 +1,4 @@
+import math
 import pyray as rl
 from dataclasses import dataclass
 from openpilot.common.constants import CV
@@ -106,6 +107,8 @@ class HudRenderer(Widget):
     self.speed: float = 0.0
     self.v_ego_cluster_seen: bool = False
     self._engaged: bool = False
+    self._small_model_engaged: bool = False
+    self._egpu_fade_time: float = 0
 
     self._can_draw_top_icons = True
     self._show_wheel_critical = False
@@ -121,11 +124,17 @@ class HudRenderer(Widget):
     self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
     self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
     self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 9, 44)
+    self._txt_egpu: rl.Texture = gui_app.texture('icons_mici/egpu.png', 60, 44)
+    self._txt_egpu_green: rl.Texture = gui_app.texture('icons_mici/egpu_green.png', 60, 44)
+    self._txt_egpu_orange: rl.Texture = gui_app.texture('icons_mici/egpu_orange.png', 60, 44)
+    self._txt_egpu_crossed: rl.Texture = gui_app.texture('icons_mici/egpu_crossed.png', 60, 52)
+    self._egpu_icon: rl.Texture | None = None
 
     self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
     self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
 
     self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._egpu_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
   def set_wheel_critical_icon(self, critical: bool):
     """Set the wheel icon to critical or normal state."""
@@ -156,6 +165,11 @@ class HudRenderer(Widget):
       controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
     )
     engaged = sm['selfdriveState'].enabled
+    if (engaged and not self._engaged and not ui_state.usbgpu_loading and ui_state.usbgpu_active is not True and
+        ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame):
+      self._small_model_engaged = True
+    if engaged != self._engaged:
+      self._egpu_fade_time = rl.get_time() if engaged else 0
     if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
       self._set_speed_changed_time = rl.get_time()
     self._engaged = engaged
@@ -177,8 +191,46 @@ class HudRenderer(Widget):
     if self.is_cruise_set:
       self._draw_set_speed(rect)
 
+    if ui_state.usbgpu and ui_state.usbgpu_compiled:
+      self._draw_model_source(rect)
+
     self._draw_steering_wheel(rect)
 
+  def _draw_model_source(self, rect: rl.Rectangle) -> None:
+    if ui_state.sm.recv_frame['selfdriveState'] < ui_state.started_frame:
+      return
+
+    big_failed = (ui_state.usbgpu_active is False or not ui_state.sm['deviceState'].chestnutPresent or
+                  (ui_state.usbgpu_active is True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame and
+                   not ui_state.sm.alive['modelV2']) or
+                  (ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
+    self._small_model_engaged &= big_failed
+    loading = ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed)
+    if loading:
+      pulse = 0.5 - 0.5 * math.cos(rl.get_time() * 6.0)
+      icon = self._txt_egpu
+      opacity = 0.35 + 0.65 * pulse
+    elif self._small_model_engaged:
+      icon = self._txt_egpu_crossed
+      opacity = 0.65
+    elif big_failed:
+      icon = self._txt_egpu_orange
+      opacity = 1.0
+    else:
+      icon = self._txt_egpu_green
+      opacity = 1.0
+
+    if icon is not self._egpu_icon:
+      self._egpu_fade_time = rl.get_time()
+      self._egpu_icon = icon
+    alpha = self._egpu_alpha_filter.update(loading or 0 < rl.get_time() - self._egpu_fade_time < SET_SPEED_PERSISTENCE)
+    if alpha < 1e-2:
+      return
+
+    pos = rl.Vector2(rect.x + rect.width - 10 - icon.width,
+                     rect.y + rect.height - 14 - (self._txt_wheel.height + icon.height) / 2)
+    rl.draw_texture_ex(icon, pos, 0.0, 1.0, rl.Color(255, 255, 255, int(255 * opacity * alpha)))
+
   def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
     wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
 
diff --git a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
index 3f514b28d2..805bdcc335 100644
--- a/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/mici/onroad/model_renderer.py
@@ -111,7 +111,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 
     # Check if data is up-to-date
-    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+    if (sm.recv_frame["extrinsicsCalibration"] < ui_state.started_frame or
         sm.recv_frame["modelV2"] < ui_state.started_frame):
       return
 
@@ -123,8 +123,8 @@ class ModelRenderer(Widget, ModelRendererSP):
     # Update state
     self._experimental_mode = sm['selfdriveState'].experimentalMode
 
-    live_calib = sm['liveCalibration']
-    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+    extrinsics_calibration = sm['extrinsicsCalibration']
+    self._path_offset_z = extrinsics_calibration.height[0] if extrinsics_calibration.height else HEIGHT_INIT[0]
 
     if sm.updated['carParams']:
       self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
diff --git a/openpilot/selfdrive/ui/mici/onroad/torque_bar.py b/openpilot/selfdrive/ui/mici/onroad/torque_bar.py
index 85edd89e98..c4ccafa0a3 100644
--- a/openpilot/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/openpilot/selfdrive/ui/mici/onroad/torque_bar.py
@@ -168,7 +168,7 @@ class TorqueBar(Widget):
     if ui_state.sm['controlsState'].lateralControlState.which() in ('angleState', 'curvatureState'):
       controls_state = ui_state.sm['controlsState']
       car_state = ui_state.sm['carState']
-      live_parameters = ui_state.sm['liveParameters']
+      vehicle_parameters = ui_state.sm['vehicleParameters']
       car_control = ui_state.sm['carControl']
 
       # Include lateral accel error in estimated torque utilization
@@ -178,7 +178,7 @@ class TorqueBar(Widget):
 
       # Include road roll in estimated torque utilization
       # Roll is less accurate near standstill, so reduce its effect at low speed
-      roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      roll_compensation = vehicle_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
       lateral_acceleration = actual_lateral_accel - roll_compensation
       max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
 
diff --git a/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
index 68c61f4ff3..c0f1ac1510 100755
--- a/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
+++ b/openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py
@@ -1,16 +1,16 @@
 import gc
 import weakref
-import pytest
+import unittest
 
 # FIXME: known small leaks not worth worrying about at the moment
 KNOWN_LEAKS = {
-  "openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog.DriverCameraView",
+  "openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog.CabinCameraView",
   "openpilot.selfdrive.ui.mici.layouts.onboarding.TermsPage",
   "openpilot.selfdrive.ui.mici.layouts.onboarding.TrainingGuide",
   "openpilot.selfdrive.ui.mici.layouts.onboarding.DeclinePage",
   "openpilot.selfdrive.ui.mici.layouts.onboarding.OnboardingWindow",
   "openpilot.selfdrive.ui.onroad.driver_state.DriverStateRenderer",
-  "openpilot.selfdrive.ui.onroad.driver_camera_dialog.DriverCameraDialog",
+  "openpilot.selfdrive.ui.onroad.cabin_camera_dialog.CabinCameraDialog",
   "openpilot.selfdrive.ui.layouts.onboarding.TermsPage",
   "openpilot.selfdrive.ui.layouts.onboarding.DeclinePage",
   "openpilot.selfdrive.ui.layouts.onboarding.OnboardingWindow",
@@ -41,8 +41,9 @@ def get_child_widgets(widget) -> list:
   return children
 
 
-class TestWidgetLeaks:
-  @pytest.mark.skip(reason="segfaults")
+from openpilot.common.test import OpenpilotTestCase
+class TestWidgetLeaks(OpenpilotTestCase):
+  @unittest.skip("segfaults")
   def test_dialogs_do_not_leak(self):
     import pyray as rl
     rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
@@ -50,13 +51,13 @@ class TestWidgetLeaks:
 
     # mici dialogs
     from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
-    from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+    from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog as MiciCabinCameraDialog
     from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
     from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
     from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
 
     # tici dialogs
-    from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+    from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog as TiciCabinCameraDialog
     from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
     from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
     from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
@@ -70,7 +71,7 @@ class TestWidgetLeaks:
 
     for ctor in (
       # mici
-      MiciDriverCameraDialog, MiciPairingDialog,
+      MiciCabinCameraDialog, MiciPairingDialog,
       lambda: MiciTrainingGuide(lambda: None),
       lambda: MiciOnboardingWindow(lambda: None),
       lambda: BigDialog("test", "test"),
@@ -78,7 +79,7 @@ class TestWidgetLeaks:
       lambda: BigInputDialog("test"),
       lambda: MiciFccModal(text="test"),
       # tici
-      TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+      TiciCabinCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
       lambda: ConfirmDialog("test", "ok"),
       lambda: MultiOptionDialog("test", ["a", "b"]),
       lambda: HtmlModal(text="test"),
diff --git a/openpilot/selfdrive/ui/mici/widgets/button.py b/openpilot/selfdrive/ui/mici/widgets/button.py
index 3dd7ad9a8a..0ecda6a0c5 100644
--- a/openpilot/selfdrive/ui/mici/widgets/button.py
+++ b/openpilot/selfdrive/ui/mici/widgets/button.py
@@ -1,6 +1,6 @@
 import math
 import pyray as rl
-from typing import Union
+from typing import TYPE_CHECKING, Union
 from enum import Enum
 from collections.abc import Callable
 from openpilot.system.ui.widgets import Widget
@@ -9,12 +9,14 @@ from openpilot.system.ui.widgets.scroller import DO_ZOOM
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.common.filter_simple import BounceFilter
 
-try:
+if TYPE_CHECKING:
   from openpilot.common.params import Params
-except ImportError:
-  Params = None
+else:
+  try:
+    from openpilot.common.params import Params
+  except (ImportError, OSError):
+    Params = None
 
-SCROLLING_SPEED_PX_S = 50
 COMPLICATION_SIZE    = 36
 LABEL_COLOR          = rl.Color(255, 255, 255, int(255 * 0.9))
 COMPLICATION_GREY    = rl.Color(0xAA, 0xAA, 0xAA, 255)
diff --git a/openpilot/selfdrive/ui/mici/widgets/dialog.py b/openpilot/selfdrive/ui/mici/widgets/dialog.py
index ed1466449b..77dfa3cb97 100644
--- a/openpilot/selfdrive/ui/mici/widgets/dialog.py
+++ b/openpilot/selfdrive/ui/mici/widgets/dialog.py
@@ -10,7 +10,7 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, BigButton, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton, GreyBigButton
 
 DEBUG = False
 
@@ -216,18 +216,6 @@ class BigInputDialog(BigDialogBase):
       self._confirm_callback()
 
 
-class BigDialogButton(BigButton):
-  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", description: str = ""):
-    super().__init__(text, value, icon)
-    self._description = description
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    super()._handle_mouse_release(mouse_pos)
-
-    dlg = BigDialog(self.text, self._description)
-    gui_app.push_widget(dlg)
-
-
 class BigConfirmationCircleButton(BigCircleButton):
   def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable[[], None], exit_on_confirm: bool = True,
                red: bool = False, icon_offset: tuple[int, int] = (0, 0)):
diff --git a/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py b/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
index a18b26ec02..7e05bc2fa0 100644
--- a/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
+++ b/openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py
@@ -1,9 +1,8 @@
 import pyray as rl
-import qrcode
-import numpy as np
 import time
 
 from openpilot.common.api import Api
+from openpilot.common.qrcode import make_texture
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -37,24 +36,9 @@ class PairingDialog(NavWidget):
 
   def _generate_qr_code(self) -> None:
     try:
-      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
-      qr.add_data(self._get_pairing_url())
-      qr.make(fit=True)
-
-      pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
-      img_array = np.array(pil_img, dtype=np.uint8)
-
       if self._qr_texture and self._qr_texture.id != 0:
         rl.unload_texture(self._qr_texture)
-
-      rl_image = rl.Image()
-      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-      rl_image.width = pil_img.width
-      rl_image.height = pil_img.height
-      rl_image.mipmaps = 1
-      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-      self._qr_texture = rl.load_texture_from_image(rl_image)
+      self._qr_texture = make_texture(self._get_pairing_url(), inverted=True)
     except Exception as e:
       cloudlog.warning(f"QR code generation failed: {e}")
       self._qr_texture = None
diff --git a/openpilot/selfdrive/ui/onroad/alert_renderer.py b/openpilot/selfdrive/ui/onroad/alert_renderer.py
index b77b1539f4..64e9fefa9c 100644
--- a/openpilot/selfdrive/ui/onroad/alert_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/alert_renderer.py
@@ -3,7 +3,7 @@ import pyray as rl
 from dataclasses import dataclass
 from openpilot.cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached
@@ -96,7 +96,7 @@ class AlertRenderer(Widget):
         return ALERT_STARTUP_PENDING
 
       # 2. Lost communication with selfdriveState after receiving it
-      if TICI and not waiting_for_startup:
+      if COMMA_HARDWARE and not waiting_for_startup:
         ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
         if ss_missing > SELFDRIVE_STATE_TIMEOUT:
           if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
diff --git a/openpilot/selfdrive/ui/onroad/augmented_road_view.py b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
index c255804f2d..70b75d13bd 100644
--- a/openpilot/selfdrive/ui/onroad/augmented_road_view.py
+++ b/openpilot/selfdrive/ui/onroad/augmented_road_view.py
@@ -1,7 +1,7 @@
 import numpy as np
 import pyray as rl
 from openpilot.cereal import log
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
@@ -21,8 +21,8 @@ if gui_app.sunnypilot_ui():
   from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
 
 OpState = log.SelfdriveState.OpenpilotState
-CALIBRATED = log.LiveCalibrationData.Status.calibrated
-ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+CALIBRATED = log.ExtrinsicsCalibration.Status.calibrated
+NARROW_ROAD_CAM = VisionStreamType.VISION_STREAM_NARROW_ROAD
 WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
 DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
 
@@ -39,7 +39,7 @@ INF_POINT = np.array([1000.0, 0.0, 0.0])
 
 
 class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
-  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_NARROW_ROAD):
     CameraView.__init__(self, "camerad", stream_type)
     AugmentedRoadViewSP.__init__(self)
     self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
@@ -125,12 +125,12 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
       if v_ego < WIDE_CAM_MAX_SPEED:
         target = WIDE_CAM
       elif v_ego > ROAD_CAM_MIN_SPEED:
-        target = ROAD_CAM
+        target = NARROW_ROAD_CAM
       else:
         # Hysteresis zone - keep current stream
         target = self.stream_type
     else:
-      target = ROAD_CAM
+      target = NARROW_ROAD_CAM
 
     if self.stream_type != target:
       self.switch_stream(target)
@@ -138,14 +138,14 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
   def _update_calibration(self):
     # Update device camera if not already set
     sm = ui_state.sm
-    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+    if not self.device_camera and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
 
-    # Check if live calibration data is available and valid
-    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+    # Check if camera calibration data is available and valid
+    if not (sm.updated["extrinsicsCalibration"] and sm.valid['extrinsicsCalibration']):
       return
 
-    calib = sm['liveCalibration']
+    calib = sm['extrinsicsCalibration']
     if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
       return
 
@@ -161,7 +161,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     # Check if we can use cached matrix
     cache_key = (
-      ui_state.sm.recv_frame['liveCalibration'],
+      ui_state.sm.recv_frame['extrinsicsCalibration'],
       self._content_rect.width,
       self._content_rect.height,
       self.stream_type
@@ -172,7 +172,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Get camera configuration
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
-    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    intrinsic = device_camera.wide_road.intrinsics if is_wide_camera else device_camera.narrow_road.intrinsics
     calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
     zoom = 2.0 if is_wide_camera else 1.1
 
@@ -231,7 +231,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
 
 if __name__ == "__main__":
   gui_app.init_window("OnRoad Camera View")
-  road_camera_view = AugmentedRoadView(ROAD_CAM)
+  road_camera_view = AugmentedRoadView(NARROW_ROAD_CAM)
   gui_app.push_widget(road_camera_view)
   print("***press space to switch camera view***")
   try:
@@ -239,7 +239,7 @@ if __name__ == "__main__":
       ui_state.update()
       if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
         if WIDE_CAM in road_camera_view.available_streams:
-          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          stream = NARROW_ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
           road_camera_view.switch_stream(stream)
   finally:
     road_camera_view.close()
diff --git a/openpilot/selfdrive/ui/onroad/driver_camera_dialog.py b/openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py
similarity index 90%
rename from openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
rename to openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py
index 7e07e44210..7bb1917c35 100644
--- a/openpilot/selfdrive/ui/onroad/driver_camera_dialog.py
+++ b/openpilot/selfdrive/ui/onroad/cabin_camera_dialog.py
@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -9,9 +9,9 @@ from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets.label import gui_label
 
 
-class DriverCameraDialog(CameraView):
+class CabinCameraDialog(CameraView):
   def __init__(self):
-    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_CABIN)
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
     device.add_interactive_timeout_callback(gui_app.pop_widget)
@@ -100,12 +100,12 @@ class DriverCameraDialog(CameraView):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Driver Camera View")
+  gui_app.init_window("Cabin Camera View")
 
-  driver_camera_view = DriverCameraDialog()
-  gui_app.push_widget(driver_camera_view)
+  cabin_camera_view = CabinCameraDialog()
+  gui_app.push_widget(cabin_camera_view)
   try:
     for _ in gui_app.render():
       ui_state.update()
   finally:
-    driver_camera_view.close()
+    cabin_camera_view.close()
diff --git a/openpilot/selfdrive/ui/onroad/cameraview.py b/openpilot/selfdrive/ui/onroad/cameraview.py
index 846bf20bbc..aa4f2271dc 100644
--- a/openpilot/selfdrive/ui/onroad/cameraview.py
+++ b/openpilot/selfdrive/ui/onroad/cameraview.py
@@ -2,9 +2,10 @@ import platform
 import numpy as np
 import pyray as rl
 
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
@@ -38,7 +39,7 @@ void main() {
 """
 
 # Choose fragment shader based on platform capabilities
-if TICI:
+if COMMA_HARDWARE:
   FRAME_FRAGMENT_SHADER = """
     #version 300 es
     #extension GL_OES_EGL_image_external_essl3 : enable
@@ -71,7 +72,7 @@ class CameraView(Widget):
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
-    self._stream_type = stream_type
+    self._stream_type: VisionStreamType = stream_type
     self.available_streams: list[VisionStreamType] = []
 
     # Target stream for switching
@@ -82,7 +83,7 @@ class CameraView(Widget):
     self._texture_needs_update = True
     self.last_connection_attempt: float = 0.0
     self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
-    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not COMMA_HARDWARE else -1
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -94,8 +95,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
 
-    # Initialize EGL for zero-copy rendering on TICI
-    if TICI:
+    # Initialize EGL for zero-copy rendering on COMMA_HARDWARE
+    if COMMA_HARDWARE:
       if not init_egl():
         raise RuntimeError("Failed to initialize EGL")
 
@@ -146,7 +147,7 @@ class CameraView(Widget):
     self._clear_textures()
 
     # Clean up EGL texture
-    if TICI and self.egl_texture:
+    if COMMA_HARDWARE and self.egl_texture:
       rl.unload_texture(self.egl_texture)
       self.egl_texture = None
 
@@ -202,8 +203,8 @@ class CameraView(Widget):
 
     transform = self._calc_frame_matrix(rect)
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    # Flip driver camera horizontally
-    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+    # Flip cabin camera horizontally
+    if self._stream_type == VisionStreamType.VISION_STREAM_CABIN:
       src_rect.width = -src_rect.width
 
     # Calculate scale
@@ -220,7 +221,7 @@ class CameraView(Widget):
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
-    if TICI:
+    if COMMA_HARDWARE:
       self._render_egl(src_rect, dst_rect)
     else:
       self._render_textures(src_rect, dst_rect)
@@ -323,6 +324,7 @@ class CameraView(Widget):
       del self.client
 
     # Switch to target
+    assert self._target_client is not None and self._target_stream_type is not None
     self.client = self._target_client
     self._stream_type = self._target_stream_type
     self._texture_needs_update = True
@@ -337,7 +339,7 @@ class CameraView(Widget):
 
   def _initialize_textures(self):
     self._clear_textures()
-    if not TICI:
+    if not COMMA_HARDWARE:
       self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
         int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
       self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
@@ -353,7 +355,7 @@ class CameraView(Widget):
       self.texture_uv = None
 
     # Clean up EGL resources
-    if TICI:
+    if COMMA_HARDWARE:
       for data in self.egl_images.values():
         destroy_egl_image(data)
       self.egl_images = {}
@@ -361,6 +363,6 @@ class CameraView(Widget):
 
 if __name__ == "__main__":
   gui_app.init_window("camera view")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
   for _ in gui_app.render():
     road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/openpilot/selfdrive/ui/onroad/model_renderer.py b/openpilot/selfdrive/ui/onroad/model_renderer.py
index a4d9b8b65b..def1c644af 100644
--- a/openpilot/selfdrive/ui/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/onroad/model_renderer.py
@@ -90,7 +90,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     sm = ui_state.sm
 
     # Check if data is up-to-date
-    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+    if (sm.recv_frame["extrinsicsCalibration"] < ui_state.started_frame or
         sm.recv_frame["modelV2"] < ui_state.started_frame):
       return
 
@@ -102,8 +102,8 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     # Update state
     self._experimental_mode = sm['selfdriveState'].experimentalMode
 
-    live_calib = sm['liveCalibration']
-    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+    extrinsics_calibration = sm['extrinsicsCalibration']
+    self._path_offset_z = extrinsics_calibration.height[0] if extrinsics_calibration.height else HEIGHT_INIT[0]
 
     if self._counter % 60 == 0:
       self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index a0ffbacffe..a61e26b0b6 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -53,18 +53,12 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
-  AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),
 
   AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 
   **sound_list_sp,
 }
-if HARDWARE.get_device_type() == "tizi":
-  sound_list.update({
-    AudibleAlert.engage: ("engage_tizi.wav", 1, MAX_VOLUME),
-    AudibleAlert.disengage: ("disengage_tizi.wav", 1, MAX_VOLUME),
-  })
 
 def check_selfdrive_timeout_alert(sm):
   ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
@@ -184,6 +178,7 @@ class Soundd(QuietMode):
   def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
+    micd.patch_sounddevice(sd)
 
     sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure'])
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
index e5c956cd81..99462dfcec 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
-from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app
@@ -82,7 +82,7 @@ class DeviceLayoutSP(DeviceLayout):
       left_text=lambda: tr("Quiet Mode"),
       right_text=lambda: tr("Driver Camera Preview"),
       left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")),
-      right_callback=lambda: gui_app.push_widget(DriverCameraDialog())
+      right_callback=lambda: gui_app.push_widget(CabinCameraDialog())
     )
     self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
 
diff --git a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
index be2883d718..ae4ff802f3 100644
--- a/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -106,7 +106,7 @@ class ModelsLayout(Widget):
     desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
               "Keeping this on provides the stock openpilot experience.")
     if lagd_toggle:
-      desc += f"
    {tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
+      desc += f"
    {tr('Live Steer Delay:')} {ui_state.sm['lateralDelay'].lateralDelay:.3f} s"
     elif ui_state.CP is not None:
       sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
       cp = ui_state.CP.steerActuatorDelay
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
index 889e1737ee..9d6cfd15a7 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -142,7 +142,7 @@ class DeveloperUiRenderer(Widget):
     # Add torque-specific elements if using torque control
     if sm['controlsState'].lateralControlState.which() == 'torqueState':
       override_active = ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled
-      if sm.valid['liveTorqueParameters'] or override_active:
+      if sm.valid['lateralTorqueParameters'] or override_active:
         elements.extend([
           self.friction_elem.update(sm, ui_state.is_metric),
           self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
index 4119990f22..f89edef48b 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -160,7 +160,7 @@ class ActualLateralAccelElement(LateralControlElement):
     controls_state = sm['controlsState']
     curvature = controls_state.curvature
     v_ego = sm['carState'].vEgo
-    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    roll = sm['vehicleParameters'].roll if sm.valid['vehicleParameters'] else 0.0
     lat_active = sm['carControl'].latActive
     steer_override = sm['carState'].steeringPressed
 
@@ -179,7 +179,7 @@ class DesiredLateralAccelElement(LateralControlElement):
     controls_state = sm['controlsState']
     desired_curvature = controls_state.desiredCurvature
     v_ego = sm['carState'].vEgo
-    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    roll = sm['vehicleParameters'].roll if sm.valid['vehicleParameters'] else 0.0
     lat_active = sm['carControl'].latActive
     steer_override = sm['carState'].steeringPressed
 
@@ -250,7 +250,7 @@ class FrictionCoefficientElement:
     if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
       return UiElement(f"{ui_state.torque_override_friction:.3f}", "FRIC.", self.unit, rl.WHITE)
 
-    ltp = sm['liveTorqueParameters']
+    ltp = sm['lateralTorqueParameters']
     value = f"{ltp.frictionCoefficientFiltered:.3f}"
     color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
     return UiElement(value, "FRIC.", self.unit, color)
@@ -264,7 +264,7 @@ class LatAccelFactorElement:
     if ui_state.enforce_torque_control and ui_state.custom_torque_params and ui_state.torque_override_enabled:
       return UiElement(f"{ui_state.torque_override_lat_accel_factor:.3f}", "L.A.F.", self.unit, rl.WHITE)
 
-    ltp = sm['liveTorqueParameters']
+    ltp = sm['lateralTorqueParameters']
     value = f"{ltp.latAccelFactorFiltered:.3f}"
     color = rl.Color(0, 255, 0, 255) if ltp.liveValid else rl.WHITE
     return UiElement(value, "L.A.F.", self.unit, color)
diff --git a/openpilot/selfdrive/ui/sunnypilot/ui_state.py b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
index 3f2889de9a..602830a4db 100644
--- a/openpilot/selfdrive/ui/sunnypilot/ui_state.py
+++ b/openpilot/selfdrive/ui/sunnypilot/ui_state.py
@@ -34,7 +34,7 @@ class UIStateSP:
     self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
     self.sm_services_ext = [
       "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
+      "gpsLocation", "lateralTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "lateralDelay"
     ]
 
     self.sunnylink_state = SunnylinkState()
@@ -241,19 +241,26 @@ class DeviceSP:
   def _set_awake(self, on: bool, _ui_state=None):
     self._blocked_by_screensaver = False
 
-    if _ui_state.boot_offroad_mode == 1 and not on:
-      _ui_state.params.put_bool("OffroadMode", True)
-
     if not on and _ui_state.screensaver_enabled:
       if _ui_state.screensaver.was_dismissed:
-        if gui_app.get_active_widget() == _ui_state.screensaver:
-          gui_app.pop_widget()
+        self.dismiss_screensaver(_ui_state)
       elif _ui_state.screensaver.is_active:
         self._blocked_by_screensaver = True
       else:
         _ui_state.screensaver.initialize()
         gui_app.push_widget(_ui_state.screensaver)
         self._blocked_by_screensaver = True
+    else:
+      self.dismiss_screensaver(_ui_state)
+
+    # blocked runs every frame, so write only when actually sleeping
+    if _ui_state.boot_offroad_mode == 1 and not on and not self._blocked_by_screensaver:
+      _ui_state.params.put_bool("OffroadMode", True)
+
+  def dismiss_screensaver(self, _ui_state) -> None:
+    if gui_app.get_active_widget() == _ui_state.screensaver:
+      gui_app.pop_widget()
+    self._blocked_by_screensaver = False
 
   @staticmethod
   def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
diff --git a/openpilot/selfdrive/ui/tests/diff/replay_script.py b/openpilot/selfdrive/ui/tests/diff/replay_script.py
index 18f3141fa1..fb654c5e8b 100644
--- a/openpilot/selfdrive/ui/tests/diff/replay_script.py
+++ b/openpilot/selfdrive/ui/tests/diff/replay_script.py
@@ -138,21 +138,25 @@ def setup_update_available(available: bool = True) -> None:
     params.remove("UpdaterTargetBranch")
 
 
+def set_updater_state(state: str) -> None:
+  Params().put("UpdaterState", state, block=True)
+
+
 def setup_calibration_params() -> None:
   params = Params()
-  # live calibration
-  calib = messaging.new_message('liveCalibration')
-  calib.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
-  calib.liveCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
+  # camera calibration
+  calib = messaging.new_message('extrinsicsCalibration')
+  calib.extrinsicsCalibration.calStatus = log.ExtrinsicsCalibration.Status.calibrated
+  calib.extrinsicsCalibration.rpyCalib = [0.0, math.radians(2.5), math.radians(-1.2)]
   params.put("CalibrationParams", calib.to_bytes(), block=True)
-  # live delay
-  delay = messaging.new_message('liveDelay')
-  delay.liveDelay.calPerc = 75
+  # lateral delay
+  delay = messaging.new_message('lateralDelay')
+  delay.lateralDelay.calPerc = 75
   params.put("LiveDelay", delay.to_bytes(), block=True)
-  # live torque parameters
-  torque = messaging.new_message('liveTorqueParameters')
-  torque.liveTorqueParameters.useParams = True
-  torque.liveTorqueParameters.calPerc = 60
+  # lateral torque parameters
+  torque = messaging.new_message('lateralTorqueParameters')
+  torque.lateralTorqueParameters.useParams = True
+  torque.lateralTorqueParameters.calPerc = 60
   params.put("LiveTorqueParameters", torque.to_bytes(), block=True)
 
 
@@ -317,7 +321,7 @@ def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
       lambda: swipe_left(width * 2), click,  # first page, click next
       lambda: swipe_left(width * 2), swipe_down  # second page, go back (TODO: make driver cam preview work)
     ),
-    None,  # TODO: preview driver camera; enabling this causes MultiplePublishersError later in onroad alert tests
+    None,  # TODO: preview cabin camera; enabling this causes MultiplePublishersError later in onroad alert tests
     lambda: explore_setting(swipe_left),  # terms & conditions (swipe to view QR code)
     lambda: explore_setting(lambda: swipe_up(height * 3), lambda: swipe_down(height * 3)),  # regulatory info
     lambda: run_actions(click, lambda: swipe_left(width)),  # reset calibration confirm (goes back automatically)
@@ -482,6 +486,9 @@ def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
   # === Settings - Software ===
   script.setup(lambda: setup_update_available(False), wait_after=0)  # start with no update available
   script.click(278, 720)  # software
+  script.setup(lambda: set_updater_state("checking..."))  # updater mid-check
+  script.setup(lambda: set_updater_state("downloading..."))  # updater mid-download
+  script.setup(lambda: set_updater_state("idle"), wait_after=0)
   for _ in range(2):
     script.click(720, 120)  # toggle current release notes
   script.setup(setup_update_available)  # set update available
diff --git a/openpilot/selfdrive/ui/tests/profile_onroad.py b/openpilot/selfdrive/ui/tests/profile_onroad.py
index ec15e71c35..98816f9ddf 100755
--- a/openpilot/selfdrive/ui/tests/profile_onroad.py
+++ b/openpilot/selfdrive/ui/tests/profile_onroad.py
@@ -5,7 +5,8 @@ import cProfile
 import pyray as rl
 import numpy as np
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.system.ui.lib.application import gui_app
@@ -89,7 +90,7 @@ if __name__ == "__main__":
 
   W, H = 2048, 1216
   vipc = VisionIpcServer("camerad")
-  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_NARROW_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
   yuv_data = np.random.default_rng().integers(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
@@ -99,7 +100,7 @@ if __name__ == "__main__":
         break
       if ui_state.sm.frame % 3 == 0:
         eof = int((ui_state.sm.frame % 3) * 0.05 * 1e9)
-        vipc.send(VisionStreamType.VISION_STREAM_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
+        vipc.send(VisionStreamType.VISION_STREAM_NARROW_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
       ui_state.update()
     pr.dump_stats(f'{args.output}_deterministic.stats')
 
diff --git a/openpilot/selfdrive/ui/tests/test_feedbackd.py b/openpilot/selfdrive/ui/tests/test_feedbackd.py
deleted file mode 100644
index 72bd499081..0000000000
--- a/openpilot/selfdrive/ui/tests/test_feedbackd.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import pytest
-import openpilot.cereal.messaging as messaging
-from opendbc.car.structs import car
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-@pytest.mark.skip("tmp disabled")
-class TestFeedbackd:
-  def setup_method(self):
-    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
-    self.sm = messaging.SubMaster(['audioFeedback'])
-
-  def _send_lkas_button(self, pressed: bool):
-    msg = messaging.new_message('carState')
-    msg.carState.canValid = True
-    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
-    self.pm.send('carState', msg)
-
-  def _send_audio_data(self, count: int = 5):
-    for _ in range(count):
-      audio_msg = messaging.new_message('rawAudioData')
-      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
-      audio_msg.rawAudioData.sampleRate = 16000
-      self.pm.send('rawAudioData', audio_msg)
-      self.sm.update(timeout=100)
-
-  @pytest.mark.parametrize("record_feedback", [False, True])
-  def test_audio_feedback(self, record_feedback):
-    Params().put_bool("RecordAudioFeedback", record_feedback, block=True)
-
-    managed_processes["feedbackd"].start()
-    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
-    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    if record_feedback:
-      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
-    else:
-      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
-
-    self._send_lkas_button(pressed=True)
-    self._send_audio_data()
-    self._send_lkas_button(pressed=False)
-    self._send_audio_data()
-
-    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
-
-    managed_processes["feedbackd"].stop()
diff --git a/openpilot/selfdrive/ui/tests/test_raylib_ui.py b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
index d04c940cde..88f40ae6d9 100644
--- a/openpilot/selfdrive/ui/tests/test_raylib_ui.py
+++ b/openpilot/selfdrive/ui/tests/test_raylib_ui.py
@@ -1,8 +1,9 @@
 import time
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.test.helpers import with_processes
 
 
-class TestRaylibUi:
+class TestRaylibUi(OpenpilotTestCase):
   @with_processes(["ui"])
   def test_raylib_ui(self):
     """Test initialization of the UI widgets is successful."""
diff --git a/openpilot/selfdrive/ui/tests/test_soundd.py b/openpilot/selfdrive/ui/tests/test_soundd.py
index 95588a9fba..e2cd90f988 100644
--- a/openpilot/selfdrive/ui/tests/test_soundd.py
+++ b/openpilot/selfdrive/ui/tests/test_soundd.py
@@ -1,35 +1,35 @@
+import threading
+import time
+
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import log, messaging
 from openpilot.cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert
 
-import time
-
 AudibleAlert = log.SelfdriveState.AudibleAlert
 
 
-class TestSoundd:
-  def test_check_selfdrive_timeout_alert(self):
+class TestSoundd(OpenpilotTestCase):
+  def test_check_selfdrive_timeout_alert(self, mocker):
     sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
     pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
 
-    for _ in range(100):
-      cs = messaging.new_message('selfdriveState')
-      cs.selfdriveState.enabled = True
+    cs = messaging.new_message('selfdriveState')
+    cs.selfdriveState.enabled = True
+    threading.Timer(0.01, pm.send, args=("selfdriveState", cs)).start()
+    sm.update(100)
+    assert sm.updated['selfdriveState']
 
-      pm.send("selfdriveState", cs)
-
-      time.sleep(0.01)
-
-      sm.update(0)
-
-      assert not check_selfdrive_timeout_alert(sm)
-
-    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
-      sm.update(0)
-      time.sleep(0.01)
+    received_at = sm.recv_time['selfdriveState']
+    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
+    assert not check_selfdrive_timeout_alert(sm)
 
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
     assert check_selfdrive_timeout_alert(sm)
 
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
+    assert not check_selfdrive_timeout_alert(sm)
+
   def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
     sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
     pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
@@ -57,4 +57,3 @@ class TestSoundd:
     assert check_selfdrive_timeout_alert(sm)
 
   # TODO: add test with micd for checking that soundd actually outputs sounds
-
diff --git a/openpilot/selfdrive/ui/tests/test_translations.py b/openpilot/selfdrive/ui/tests/test_translations.py
index 9eae072f21..0d636b61c8 100644
--- a/openpilot/selfdrive/ui/tests/test_translations.py
+++ b/openpilot/selfdrive/ui/tests/test_translations.py
@@ -3,8 +3,9 @@ import re
 import string
 from pathlib import Path
 
-import pytest
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.ui.translations.potools import parse_po
 from openpilot.system.ui.lib.multilang import LANGUAGES_FILE, TRANSLATIONS_DIR
 
@@ -46,13 +47,13 @@ def load_po_text(po_path: Path) -> str:
   return po_path.read_text(encoding='utf-8')
 
 
-class TestTranslations:
-  @pytest.mark.parametrize("language_code", sorted(TRANSLATION_LANGUAGES.values()))
+class TestTranslations(OpenpilotTestCase):
+  @parameterized.expand(sorted(TRANSLATION_LANGUAGES.values()))
   def test_translation_file_exists(self, language_code: str):
     po_path = PO_DIR / f"app_{language_code}.po"
     assert po_path.exists(), f"missing translation file: {po_path}"
 
-  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  @parameterized.expand(sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
   def test_translation_placeholders_are_preserved(self, po_path: Path):
     _, entries = parse_po(po_path)
     language = po_path.stem.removeprefix("app_")
@@ -89,14 +90,14 @@ class TestTranslations:
         )
         assert translated_placeholders == source_placeholders, message
 
-  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  @parameterized.expand(sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
   def test_translation_refs_do_not_include_line_numbers(self, po_path: Path):
     for line in load_po_text(po_path).splitlines():
       assert not LINE_NUMBER_REF_RE.match(line), (
         f"{po_path.name}: line-number source reference found: {line}"
       )
 
-  @pytest.mark.parametrize("po_path", sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
+  @parameterized.expand(sorted(PO_DIR.glob("app_*.po")), ids=lambda p: p.name)
   def test_translation_entities_are_valid(self, po_path: Path):
     matches = BAD_ENTITY_RE.findall(load_po_text(po_path))
     assert not matches, (
diff --git a/openpilot/selfdrive/ui/ui.py b/openpilot/selfdrive/ui/ui.py
index ff2bc7d3ce..30bba681c3 100755
--- a/openpilot/selfdrive/ui/ui.py
+++ b/openpilot/selfdrive/ui/ui.py
@@ -3,7 +3,7 @@ import os
 import time
 
 from openpilot.cereal import messaging
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout
@@ -31,7 +31,7 @@ def main():
 
     if should_render:
       # reaffine after power save offlines our core
-      if TICI and os.sched_getaffinity(0) != cores:
+      if COMMA_HARDWARE and os.sched_getaffinity(0) != cores:
         try:
           set_core_affinity(list(cores))
         except OSError:
diff --git a/openpilot/selfdrive/ui/ui_state.py b/openpilot/selfdrive/ui/ui_state.py
index 67845bdc87..e0aca74ff2 100644
--- a/openpilot/selfdrive/ui/ui_state.py
+++ b/openpilot/selfdrive/ui/ui_state.py
@@ -12,6 +12,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.hardware import HARDWARE, PC
+from openpilot.selfdrive.modeld.helpers import usbgpu_compiled
 
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
 
@@ -44,7 +45,7 @@ class UIState(UIStateSP):
         "modelV2",
         "controlsState",
         "onroadEvents",
-        "liveCalibration",
+        "extrinsicsCalibration",
         "radarState",
         "deviceState",
         "pandaStates",
@@ -52,7 +53,7 @@ class UIState(UIStateSP):
         "driverMonitoringState",
         "carState",
         "driverStateV2",
-        "roadCameraState",
+        "narrowRoadCameraState",
         "wideRoadCameraState",
         "managerState",
         "selfdriveState",
@@ -60,7 +61,7 @@ class UIState(UIStateSP):
         "gpsLocationExternal",
         "carOutput",
         "carControl",
-        "liveParameters",
+        "vehicleParameters",
         "testJoystick",
         "rawAudioData",
       ] + self.sm_services_ext
@@ -80,15 +81,18 @@ class UIState(UIStateSP):
     self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
-    self.usbgpu: bool = self.params.get_bool("UsbGpuPresent")
-    self.usbgpu_compiled: bool = self.params.get_bool("UsbGpuCompiled")
+    self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
+    self.usbgpu: bool = False
+    self.usbgpu_compiled: bool = usbgpu_compiled()
+    self.usbgpu_active: bool | None = self.params.get("UsbGpuActive")
+    self.usbgpu_loading: bool = self.params.get_bool("UsbGpuLoading")
     self.started: bool = False
     self.ignition: bool = False
     self.recording_audio: bool = False
     self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
     self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
     self.has_longitudinal_control: bool = False
-    self.is_body: bool | None = None
+    self.is_body: bool | None = False
     self.CP: car.CarParams | None = None
     self.light_sensor: float = -1.0
 
@@ -211,8 +215,13 @@ class UIState(UIStateSP):
     self.is_metric = self.params.get_bool("IsMetric")
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.usbgpu = self.params.get_bool("UsbGpuPresent")
-    self.usbgpu_compiled = self.params.get_bool("UsbGpuCompiled")
+    self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
+    # keep usbgpu UI active until offroad transition when gpu disappears
+    self.usbgpu = self.sm["deviceState"].chestnutPresent or (self.usbgpu and self.started)
+    if not self.usbgpu_compiled:
+      self.usbgpu_compiled = usbgpu_compiled()
+    self.usbgpu_active = self.params.get("UsbGpuActive")
+    self.usbgpu_loading = self.params.get_bool("UsbGpuLoading")
 
     UIStateSP.update_params(self)
 
@@ -338,6 +347,10 @@ class Device(DeviceSP):
     self._set_awake(ui_state.ignition or not interaction_timeout or PC)
 
   def _set_awake(self, on: bool, _ui_state=None):
+    # screensaver holds _awake True, so waking is not a state change
+    if on and self._blocked_by_screensaver:
+      self.dismiss_screensaver(_ui_state or ui_state)
+
     if on != self._awake:
       super()._set_awake(on, _ui_state or ui_state)
       if self._blocked_by_screensaver:
diff --git a/openpilot/selfdrive/ui/watch3.py b/openpilot/selfdrive/ui/watch3.py
index bb64cdc4d5..c601ccabe9 100755
--- a/openpilot/selfdrive/ui/watch3.py
+++ b/openpilot/selfdrive/ui/watch3.py
@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 import pyray as rl
 
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 
 
 if __name__ == "__main__":
   gui_app.init_window("watch3")
-  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_CABIN)
   wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
   for _ in gui_app.render():
     road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
diff --git a/openpilot/selfdrive/ui/widgets/pairing_dialog.py b/openpilot/selfdrive/ui/widgets/pairing_dialog.py
index 1ff550e4b6..54ccfe19be 100644
--- a/openpilot/selfdrive/ui/widgets/pairing_dialog.py
+++ b/openpilot/selfdrive/ui/widgets/pairing_dialog.py
@@ -1,9 +1,8 @@
 import pyray as rl
-import qrcode
-import numpy as np
 import time
 
 from openpilot.common.api import Api
+from openpilot.common.qrcode import make_texture
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.system.ui.widgets import Widget
@@ -39,24 +38,9 @@ class PairingDialog(Widget):
 
   def _generate_qr_code(self) -> None:
     try:
-      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4)
-      qr.add_data(self._get_pairing_url())
-      qr.make(fit=True)
-
-      pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA')
-      img_array = np.array(pil_img, dtype=np.uint8)
-
       if self.qr_texture and self.qr_texture.id != 0:
         rl.unload_texture(self.qr_texture)
-
-      rl_image = rl.Image()
-      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-      rl_image.width = pil_img.width
-      rl_image.height = pil_img.height
-      rl_image.mipmaps = 1
-      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-      self.qr_texture = rl.load_texture_from_image(rl_image)
+      self.qr_texture = make_texture(self._get_pairing_url())
     except Exception:
       cloudlog.exception("QR code generation failed")
       self.qr_texture = None
diff --git a/openpilot/selfdrive/ui/widgets/setup.py b/openpilot/selfdrive/ui/widgets/setup.py
index c9452fc535..b00d1a42d4 100644
--- a/openpilot/selfdrive/ui/widgets/setup.py
+++ b/openpilot/selfdrive/ui/widgets/setup.py
@@ -18,7 +18,8 @@ class SetupWidget(Widget):
     self._pair_device_btn = Button(lambda: tr("Pair device"), self._show_pairing, button_style=ButtonStyle.PRIMARY)
     self._open_settings_btn = Button(lambda: tr("Open"), lambda: self._open_settings_callback() if self._open_settings_callback else None,
                                      button_style=ButtonStyle.PRIMARY)
-    self._firehose_label = Label(lambda: tr("🔥 Firehose Mode 🔥"), font_weight=FontWeight.MEDIUM, font_size=64)
+    self._firehose_label = Label(lambda: tr("Firehose Mode"), font_weight=FontWeight.MEDIUM, font_size=64)
+    self._fire_icon = gui_app.texture("icons/fire.png", 64, 64)
 
   def set_open_settings_callback(self, callback):
     self._open_settings_callback = callback
@@ -67,6 +68,8 @@ class SetupWidget(Widget):
 
     # Title with fire emojis
     self._firehose_label.render(rl.Rectangle(rect.x, y, rect.width, 64))
+    rl.draw_texture_ex(self._fire_icon, rl.Vector2(x, y), 0.0, 1.0, rl.WHITE)
+    rl.draw_texture_ex(self._fire_icon, rl.Vector2(x + w - 64, y), 0.0, 1.0, rl.WHITE)
     y += 64 + spacing
 
     # Description
diff --git a/openpilot/sunnypilot/livedelay/lagd_toggle.py b/openpilot/sunnypilot/livedelay/lagd_toggle.py
index 3926cbebf6..a617aaa4c6 100644
--- a/openpilot/sunnypilot/livedelay/lagd_toggle.py
+++ b/openpilot/sunnypilot/livedelay/lagd_toggle.py
@@ -23,7 +23,7 @@ class LagdToggle:
     self.lagd_toggle = self.params.get_bool("LagdToggle")
     self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
 
-  def update(self, lag_msg: log.LiveDelayData) -> None:
+  def update(self, lag_msg: log.LateralDelay) -> None:
     self.read_params()
 
     if not self.lagd_toggle:
@@ -33,6 +33,6 @@ class LagdToggle:
       self.params.put("LagdValueCache", self.lag)
       return
 
-    lateral_delay = lag_msg.liveDelay.lateralDelay
+    lateral_delay = lag_msg.lateralDelay.lateralDelay
     self.lag = lateral_delay
     self.params.put("LagdValueCache", self.lag)
diff --git a/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
index 14549119fd..0147f2f4fb 100644
--- a/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -5,14 +5,13 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import pytest
-from pytest_mock import MockerFixture
 
 from openpilot.cereal import custom
 from openpilot.common.realtime import DT_CTRL
 from openpilot.sunnypilot.mads.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import ET, NormalPermanentAlert, Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP, EVENTS_SP
+from openpilot.common.test import OpenpilotTestCase
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventNameSP = custom.OnroadEventSP.EventName
@@ -34,16 +33,16 @@ def make_event(event_types):
 
 
 class MockMADS:
-  def __init__(self, mocker: MockerFixture):
+  def __init__(self, mocker):
     self.selfdrive = mocker.MagicMock()
     self.selfdrive.state_machine = mocker.MagicMock()
     self.selfdrive.events = Events()
     self.selfdrive.events_sp = EventsSP()
 
 
-class TestMADSStateMachine:
-  @pytest.fixture(autouse=True)
-  def setup_method(self, mocker: MockerFixture):
+class TestMADSStateMachine(OpenpilotTestCase):
+  def setup_method(self):
+    mocker = self._fixture("mocker")
     self.mads = MockMADS(mocker)
     self.state_machine = StateMachine(self.mads)
     self.events = self.mads.selfdrive.events
diff --git a/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
index 2bc6130ece..2058a8b10c 100644
--- a/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
+++ b/openpilot/sunnypilot/mads/tests/test_mads_steering_mode.py
@@ -5,7 +5,7 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import pytest
+from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import log, custom
 from opendbc.car import structs
@@ -14,6 +14,7 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
 from opendbc.sunnypilot.car.tesla.values import MadsScreenButtonType, TeslaFlagsSP
+from openpilot.common.test import OpenpilotTestCase
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
 EventName = log.OnroadEvent.EventName
@@ -80,8 +81,8 @@ def run_frames(mads, sd, cs, n=1):
 
 # should_silent_lkas_enable across all modes
 
-class TestShouldSilentLkasEnable:
-  @pytest.mark.parametrize("brake,regen", [(True, False), (False, True)])
+class TestShouldSilentLkasEnable(OpenpilotTestCase):
+  @parameterized.expand([(True, False), (False, True)], names=["brake", "regen"])
   def test_pause_blocks_reenable_on_braking_at_standstill(self, mocker, brake, regen):
     mads, _ = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
     cs = make_car_state(brake_pressed=brake, regen_braking=regen, standstill=True)
@@ -105,7 +106,7 @@ class TestShouldSilentLkasEnable:
 
 # pause
 
-class TestPauseMode:
+class TestPauseMode(OpenpilotTestCase):
   def test_stays_paused_at_standstill_brake_held(self, mocker):
     mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
     mads.state_machine.state = State.enabled
@@ -150,7 +151,7 @@ class TestPauseMode:
 
 # disengage
 
-class TestDisengageMode:
+class TestDisengageMode(OpenpilotTestCase):
   def test_brake_while_enabled_disables(self, mocker):
     mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.DISENGAGE)
     mads.state_machine.state = State.enabled
@@ -174,7 +175,7 @@ class TestDisengageMode:
 
 # remain active
 
-class TestRemainActiveMode:
+class TestRemainActiveMode(OpenpilotTestCase):
   def test_brake_does_not_pause_or_disable(self, mocker):
     mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.REMAIN_ACTIVE)
     mads.state_machine.state = State.enabled
@@ -188,7 +189,7 @@ class TestRemainActiveMode:
 
 # lateral mismatch counter
 
-class TestLateralMismatchCounter:
+class TestLateralMismatchCounter(OpenpilotTestCase):
   def test_no_accumulation_while_paused(self, mocker):
     mads, sd = make_mads(mocker, MadsSteeringModeOnBrake.PAUSE)
     mads.state_machine.state = State.paused
@@ -212,7 +213,7 @@ class TestLateralMismatchCounter:
 
 # brand restrictions
 
-class TestBrandSteeringModeRestrictions:
+class TestBrandSteeringModeRestrictions(OpenpilotTestCase):
   def test_rivian_forced_to_disengage(self, mocker):
     CP = structs.CarParams()
     CP.brand = "rivian"
@@ -229,9 +230,9 @@ class TestBrandSteeringModeRestrictions:
     params = mocker.MagicMock()
     assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
 
-  @pytest.mark.parametrize("screen_button", [MadsScreenButtonType.THREE_FINGER,
+  @parameterized.expand([MadsScreenButtonType.THREE_FINGER,
                                              MadsScreenButtonType.FOUR_FINGER,
-                                             MadsScreenButtonType.FIVE_FINGER])
+                                             MadsScreenButtonType.FIVE_FINGER], names=["screen_button"])
   def test_tesla_with_vehicle_bus_uses_param(self, mocker, screen_button):
     CP = structs.CarParams()
     CP.brand = "tesla"
@@ -250,7 +251,7 @@ class TestBrandSteeringModeRestrictions:
                                        "MadsSteeringMode": MadsSteeringModeOnBrake.REMAIN_ACTIVE})
     assert read_steering_mode_param(CP, CP_SP, params) == MadsSteeringModeOnBrake.DISENGAGE
 
-  @pytest.mark.parametrize("brand", ["hyundai", "toyota", "honda", "gm"])
+  @parameterized.expand(["hyundai", "toyota", "honda", "gm"], names=["brand"])
   def test_other_brands_use_param(self, mocker, brand):
     CP = structs.CarParams()
     CP.brand = brand
diff --git a/openpilot/sunnypilot/mapd/live_map_data/debug.py b/openpilot/sunnypilot/mapd/live_map_data/debug.py
index 00783d58df..38a696d403 100644
--- a/openpilot/sunnypilot/mapd/live_map_data/debug.py
+++ b/openpilot/sunnypilot/mapd/live_map_data/debug.py
@@ -37,7 +37,7 @@ def live_map_data_sp_thread():
 
 
 def live_map_data_sp_thread_debug(gps_location_service):
-  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
+  _sub_master = messaging.SubMaster(['carState', 'deviceMotion', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
   _sub_master.update()
 
   v_ego = _sub_master['carState'].vEgo
diff --git a/openpilot/sunnypilot/mapd/mapd_installer.py b/openpilot/sunnypilot/mapd/mapd_installer.py
index 9f2e72720a..ec3cf94e7e 100755
--- a/openpilot/sunnypilot/mapd/mapd_installer.py
+++ b/openpilot/sunnypilot/mapd/mapd_installer.py
@@ -26,7 +26,7 @@ VERSION = "v1.12.0"
 URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
 
 
-def update_installed_version(version: str, params: Params = None) -> None:
+def update_installed_version(version: str, params: Params | None = None) -> None:
   if params is None:
     params = Params()
 
diff --git a/openpilot/sunnypilot/mapd/tests/test_mapd_version.py b/openpilot/sunnypilot/mapd/tests/test_mapd_version.py
index 5619d2ec29..acbbe51c37 100644
--- a/openpilot/sunnypilot/mapd/tests/test_mapd_version.py
+++ b/openpilot/sunnypilot/mapd/tests/test_mapd_version.py
@@ -7,9 +7,10 @@ See the LICENSE.md file in the root directory for more details.
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.mapd import MAPD_PATH
 from openpilot.sunnypilot.mapd.update_version import MAPD_HASH_PATH
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestMapdVersion:
+class TestMapdVersion(OpenpilotTestCase):
   def test_compare_versions(self):
     mapd_hash = get_file_hash(MAPD_PATH)
 
diff --git a/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py b/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
index 7502c3eeb0..648ba01086 100644
--- a/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
+++ b/openpilot/sunnypilot/modeld_v2/camera_offset_helper.py
@@ -28,12 +28,12 @@ class CameraOffsetHelper:
 
   def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera):
     self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
-    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-    height = sm["liveCalibration"].height[0] if sm['liveCalibration'].height else 1.22
+    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
+    height = sm["extrinsicsCalibration"].height[0] if sm['extrinsicsCalibration'].height else 1.22
 
-    intrinsics_main = dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics
+    intrinsics_main = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
     model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
 
-    intrinsics_extra = dc.ecam.intrinsics
+    intrinsics_extra = dc.wide_road.intrinsics
     model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
     return model_transform_main, model_transform_extra
diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py
index 9f3a75a662..66b560802b 100755
--- a/openpilot/sunnypilot/modeld_v2/modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/modeld.py
@@ -8,8 +8,8 @@ See the LICENSE.md file in the root directory for more details.
 
 import os
 os.environ['GMMU'] = '0'
-from openpilot.common.hardware import TICI
-os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+from openpilot.common.hardware import COMMA_HARDWARE
+os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
   os.environ['DEV'] = 'AMD'
@@ -22,7 +22,8 @@ from openpilot.cereal import log
 from opendbc.car.structs import car
 from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 
 from tinygrad.tensor import Tensor
@@ -311,12 +312,12 @@ def main(demo=False):
   while True:
     available_streams = VisionIpcClient.available_streams("camerad", block=False)
     if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_NARROW_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_NARROW_ROAD not in available_streams
       break
     time.sleep(.1)
 
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_NARROW_ROAD
   vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
   vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
   cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
@@ -336,7 +337,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
+  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -406,18 +407,19 @@ def main(demo=False):
     sm.update(0)
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
+    frame_id = sm["narrowRoadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
     if sm.frame % 60 == 0:
-      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+      model.lat_delay = get_lat_delay(params, sm["lateralDelay"].lateralDelay)
       model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
       camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
     lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
-    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
-      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
-      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+    if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
+      device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]
+      main_intrinsics = dc.wide_road.intrinsics if main_wide_camera else dc.narrow_road.intrinsics
+      model_transform_main = get_warp_matrix(device_from_calib_euler, main_intrinsics, False).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.wide_road.intrinsics, True).astype(np.float32)
       model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
       live_calib_seen = True
 
diff --git a/openpilot/sunnypilot/modeld_v2/tests/conftest.py b/openpilot/sunnypilot/modeld_v2/tests/helpers.py
similarity index 97%
rename from openpilot/sunnypilot/modeld_v2/tests/conftest.py
rename to openpilot/sunnypilot/modeld_v2/tests/helpers.py
index f79cbe10b2..6925a61f08 100644
--- a/openpilot/sunnypilot/modeld_v2/tests/conftest.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/helpers.py
@@ -5,8 +5,9 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+import pathlib
 import pickle
-import pytest
+import tempfile
 
 import openpilot.sunnypilot.models.helpers as helpers
 import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
@@ -181,16 +182,19 @@ def make_bundle(archetype):
   )
 
 
-@pytest.fixture
+def tmp_path():
+  with tempfile.TemporaryDirectory() as d:
+    yield pathlib.Path(d)
+
+
 def patch_modeld(monkeypatch):
   def _patch(bundle):
-    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
-    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle)
 
   return _patch
 
 
-@pytest.fixture
 def model_state_factory(tmp_path, monkeypatch, patch_modeld):
   from openpilot.common.hardware import hw
 
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py b/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
index f25bcd0a35..5398ac0ff1 100644
--- a/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
@@ -9,6 +9,7 @@ import numpy as np
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+from openpilot.common.test import OpenpilotTestCase
 
 
 class MockStruct:
@@ -20,7 +21,7 @@ class MockStruct:
     return getattr(self, item)
 
 
-class TestCameraOffset:
+class TestCameraOffset(OpenpilotTestCase):
   def setup_method(self):
     self.camera_offset = CameraOffsetHelper()
     self.dc = DEVICE_CAMERAS[('mici', 'os04c10')]
@@ -30,12 +31,12 @@ class TestCameraOffset:
 
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
-      roadCameraState=MockStruct(sensor='os04c10'),
-      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+      narrowRoadCameraState=MockStruct(sensor='os04c10'),
+      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
     )
 
-    intrinsics_main = self.dc.fcam.intrinsics
-    intrinsics_extra = self.dc.ecam.intrinsics
+    intrinsics_main = self.dc.narrow_road.intrinsics
+    intrinsics_extra = self.dc.wide_road.intrinsics
     device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
@@ -46,7 +47,7 @@ class TestCameraOffset:
     np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
 
   def test_camera_offset_(self):
-    intrinsics = self.dc.fcam.intrinsics
+    intrinsics = self.dc.narrow_road.intrinsics
     transform = np.eye(3, dtype=np.float32)
     height = 1.22
     offset = 0.1
@@ -62,11 +63,11 @@ class TestCameraOffset:
   def test_update(self):
     sm = MockStruct(
       deviceState=MockStruct(deviceType='mici'),
-      roadCameraState=MockStruct(sensor='os04c10'),
-      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+      narrowRoadCameraState=MockStruct(sensor='os04c10'),
+      extrinsicsCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
     )
-    intrinsics_main = self.dc.fcam.intrinsics
-    intrinsics_extra = self.dc.ecam.intrinsics
+    intrinsics_main = self.dc.narrow_road.intrinsics
+    intrinsics_extra = self.dc.wide_road.intrinsics
     device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
     main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
     extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
index 3c544586f8..3396649a1d 100644
--- a/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
@@ -5,20 +5,27 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-import pytest
+from openpilot.common.parameterized import parameterized
 
 import openpilot.sunnypilot.models.helpers as helpers
 import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
 from openpilot.sunnypilot.modeld_v2.modeld import _find_driving_pkl
-from openpilot.sunnypilot.modeld_v2.tests.conftest import DummyModel, DummyBundle, ARCHETYPES, CAM_W, CAM_H, \
+from openpilot.sunnypilot.modeld_v2.tests import helpers as tests_helpers
+from openpilot.sunnypilot.modeld_v2.tests.helpers import DummyModel, DummyBundle, ARCHETYPES, CAM_W, CAM_H, \
   SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES
+from openpilot.common.test import OpenpilotTestCase
+
+# resolved by name from this module when a test asks for them
+tmp_path = tests_helpers.tmp_path
+patch_modeld = tests_helpers.patch_modeld
+model_state_factory = tests_helpers.model_state_factory
 
 ModelState = modeld_module.ModelState
 
 
 # Pkl discovery
 
-class TestFindDrivingPkl:
+class TestFindDrivingPkl(OpenpilotTestCase):
   def test_returns_none_when_no_bundle(self):
     assert _find_driving_pkl(None) is None
 
@@ -49,16 +56,16 @@ class TestFindDrivingPkl:
 
 # Init — assertion guard
 
-class TestModelStateCombinedInit:
+class TestModelStateCombinedInit(OpenpilotTestCase):
   def test_asserts_when_no_pkl(self, monkeypatch):
     bundle = DummyBundle(models=[], is_20hz=True)
-    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
-    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
-    with pytest.raises(AssertionError, match="No driving pkl found"):
+    monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle)
+    monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle)
+    with self.assertRaisesRegex(AssertionError, "No driving pkl found"):
       ModelState(cam_w=CAM_W, cam_h=CAM_H)
 
 
-class TestStockEquivalence:
+class TestStockEquivalence(OpenpilotTestCase):
 
   def test_split_queue_keys_match_stock(self, model_state_factory):
     from openpilot.selfdrive.modeld.compile_modeld import make_input_queues
@@ -100,8 +107,8 @@ class TestStockEquivalence:
 ARCHETYPE_NAMES = list(ARCHETYPES.keys())
 
 
-class TestModelTypeDetection:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestModelTypeDetection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_combined_model_type(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -109,8 +116,8 @@ class TestModelTypeDetection:
       f"{arch.name}: got {state._combined_model_type}, expected {arch.expected_model_type}"
 
 
-class TestConstantsSelection:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestConstantsSelection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_constants_class(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -118,8 +125,8 @@ class TestConstantsSelection:
       f"{arch.name}: got {type(state.constants).__name__}, expected {arch.expected_constants_class.__name__}"
 
 
-class TestParserSelection:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestParserSelection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_parser_module(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -128,8 +135,8 @@ class TestParserSelection:
       f"{arch.name}: parser from {parser_module}, expected module ending with {arch.expected_parser_module}"
 
 
-class TestDesireKeyDetection:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestDesireKeyDetection(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_desire_key(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -137,8 +144,8 @@ class TestDesireKeyDetection:
       f"{arch.name}: got {state.desire_key}, expected {arch.expected_desire_key}"
 
 
-class TestVisionInputNames:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestVisionInputNames(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_vision_names_contain_img(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -147,14 +154,14 @@ class TestVisionInputNames:
       assert 'img' in name, f"{arch.name}: vision input name '{name}' missing 'img'"
 
 
-class TestOutputSlices:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestOutputSlices(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_vision_slices_populated(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
     assert len(state.vision_output_slices) > 0, f"{arch.name}: vision_output_slices empty"
 
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_policy_slices_match_type(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -164,14 +171,14 @@ class TestOutputSlices:
       assert len(state.policy_output_slices) > 0, f"{arch.name}: split/multi should have policy slices"
 
 
-class TestInputQueueCreation:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestInputQueueCreation(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_queues_not_empty(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
     assert len(state.input_queues) > 0, f"{arch.name}: input_queues empty"
 
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_npy_contains_transforms(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -180,7 +187,7 @@ class TestInputQueueCreation:
     assert state.numpy_inputs['tfm'].shape == (3, 3)
     assert state.numpy_inputs['big_tfm'].shape == (3, 3)
 
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_npy_contains_desire(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -188,8 +195,8 @@ class TestInputQueueCreation:
       f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
 
 
-class TestFrameBufferParams:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestFrameBufferParams(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_frame_buf_params_per_vision_input(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
@@ -199,29 +206,29 @@ class TestFrameBufferParams:
       assert len(nv12_info) >= 4, f"{arch.name}: nv12_info for '{name}' too short"
 
 
-class TestBundleOverrides:
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+class TestBundleOverrides(OpenpilotTestCase):
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_smoothing_params_from_overrides(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
     assert state.LAT_SMOOTH_SECONDS == 0.1
     assert state.LONG_SMOOTH_SECONDS == 0.3
 
-  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
+  @parameterized.expand(ARCHETYPE_NAMES, names=["archetype_name"])
   def test_generation_from_bundle(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
     assert state.generation == 10
 
 
-class TestMlsimProperty:
+class TestMlsimProperty(OpenpilotTestCase):
   def test_mlsim_false_for_gen10(self, model_state_factory):
     state = model_state_factory(ARCHETYPES['supercombo_non20hz'])
     assert state.mlsim is False
 
   def test_mlsim_true_for_gen11(self, tmp_path, monkeypatch, patch_modeld):
     from openpilot.common.hardware import hw
-    from openpilot.sunnypilot.modeld_v2.tests.conftest import write_pkl, ARCHETYPES as A
+    from openpilot.sunnypilot.modeld_v2.tests.helpers import write_pkl, ARCHETYPES as A
 
     arch = A['supercombo_non20hz']
     write_pkl(tmp_path, arch)
@@ -233,10 +240,10 @@ class TestMlsimProperty:
     assert state.mlsim is True
 
 
-class TestCrossArchetypeMismatch:
+class TestCrossArchetypeMismatch(OpenpilotTestCase):
   def test_wrong_is_20hz_changes_constants(self, tmp_path, monkeypatch, patch_modeld):
     from openpilot.common.hardware import hw
-    from openpilot.sunnypilot.modeld_v2.tests.conftest import write_pkl
+    from openpilot.sunnypilot.modeld_v2.tests.helpers import write_pkl
     from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
 
     arch = ARCHETYPES['vision_policy_split']
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py b/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
index c30dd46e33..885696b853 100644
--- a/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_compile_modeld.py
@@ -6,12 +6,13 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import numpy as np
-import pytest
+from openpilot.common.parameterized import parameterized
 
 from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, _detect_desire_key
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestDeriveFrameSkip:
+class TestDeriveFrameSkip(OpenpilotTestCase):
   def test_non20hz_supercombo(self):
     vision = {}
     policy = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8)}
@@ -31,21 +32,21 @@ class TestDeriveFrameSkip:
     assert derive_frame_skip({}, {}) == 1
 
 
-class TestFrameSkipBufferLengthEquivalence:
-  @pytest.mark.parametrize("frame_skip,expected_buffer_length", [
+class TestFrameSkipBufferLengthEquivalence(OpenpilotTestCase):
+  @parameterized.expand([
     (1, 2),
     (4, 5),
-  ])
+  ], names=["frame_skip", "expected_buffer_length"])
   def test_img_buffer_size_matches_warp_buffer_length(self, frame_skip, expected_buffer_length):
     n_frames = 2
     img_buf_dim0 = frame_skip * (n_frames - 1) + 1
     assert img_buf_dim0 == expected_buffer_length, \
       f"frame_skip={frame_skip}: img_buf[0]={img_buf_dim0}, expected {expected_buffer_length}"
 
-  @pytest.mark.parametrize("is_20hz,expected_frame_skip,expected_buffer_length", [
+  @parameterized.expand([
     (False, 1, 2),
     (True, 4, 5),
-  ])
+  ], names=["is_20hz", "expected_frame_skip", "expected_buffer_length"])
   def test_is_20hz_to_frame_skip_to_buffer_length(self, is_20hz, expected_frame_skip, expected_buffer_length):
     if is_20hz:
       policy_shapes = {'features_buffer': (1, 24, 512)}
@@ -59,7 +60,7 @@ class TestFrameSkipBufferLengthEquivalence:
     assert img_buf_dim0 == expected_buffer_length
 
 
-class TestTemporalSamplingEquivalence:
+class TestTemporalSamplingEquivalence(OpenpilotTestCase):
   def test_non20hz_desire_sampling_identity(self):
     buf = np.random.default_rng(0).standard_normal((100, 1, 8)).astype(np.float32)
     frame_skip = 1
@@ -94,12 +95,12 @@ class TestTemporalSamplingEquivalence:
     np.testing.assert_array_equal(sampled, buf[:, 0, :])
 
 
-class TestTemporalIdxEquivalence:
-  @pytest.mark.parametrize("mode,desire_shape,fb_shape,frame_skip", [
+class TestTemporalIdxEquivalence(OpenpilotTestCase):
+  @parameterized.expand([
     ('non20hz', (1, 100, 8), (1, 99, 512), 1),
     ('20hz', (1, 25, 8), (1, 24, 512), 4),
     ('split', (1, 25, 8), (1, 25, 512), 4),
-  ])
+  ], names=["mode", "desire_shape", "fb_shape", "frame_skip"])
   def test_features_buffer_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
     history = fb_shape[1]
 
@@ -118,11 +119,11 @@ class TestTemporalIdxEquivalence:
     assert len(modelstate_idxs) == fb_shape[1], \
       f"{mode}: ModelState idx count {len(modelstate_idxs)} != input shape {fb_shape[1]}"
 
-  @pytest.mark.parametrize("mode,desire_shape,fb_shape,frame_skip", [
+  @parameterized.expand([
     ('non20hz', (1, 100, 8), (1, 99, 512), 1),
     ('20hz', (1, 25, 8), (1, 24, 512), 4),
     ('split', (1, 25, 8), (1, 25, 512), 4),
-  ])
+  ], names=["mode", "desire_shape", "fb_shape", "frame_skip"])
   def test_desire_idx_equivalence(self, mode, desire_shape, fb_shape, frame_skip):
     history = desire_shape[1]
 
@@ -132,7 +133,7 @@ class TestTemporalIdxEquivalence:
       f"{mode}: compile desire samples {compile_sampled_count} != model input {history}"
 
 
-class TestDetectDesireKey:
+class TestDetectDesireKey(OpenpilotTestCase):
   def test_finds_desire(self):
     shapes = {'features_buffer': (1, 99, 512), 'desire': (1, 100, 8), 'traffic_convention': (1, 2)}
     assert _detect_desire_key(shapes) == 'desire'
@@ -146,7 +147,7 @@ class TestDetectDesireKey:
     assert _detect_desire_key(shapes) is None
 
 
-class TestOutputSlicePreservation:
+class TestOutputSlicePreservation(OpenpilotTestCase):
   def test_vision_hidden_state_slice_used_for_features(self):
     mock_slices = {'hidden_state': slice(0, 512), 'plan': slice(512, 1024)}
     features_slice = mock_slices['hidden_state']
diff --git a/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
index d7c8563e64..85305395ea 100644
--- a/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
+++ b/openpilot/sunnypilot/modeld_v2/tests/test_recovery_power.py
@@ -7,6 +7,7 @@ from openpilot.cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.modeld import ModelState
 import openpilot.sunnypilot.modeld_v2.modeld as modeld
+from openpilot.common.test import OpenpilotTestCase
 
 
 class MockStruct:
@@ -15,58 +16,59 @@ class MockStruct:
       setattr(self, k, v)
 
 
-def test_recovery_power_scaling():
-  state: Any = MockStruct(
-    PLANPLUS_CONTROL=0.75,
-    LONG_SMOOTH_SECONDS=0.3,
-    LAT_SMOOTH_SECONDS=0.1,
-    MIN_LAT_CONTROL_SPEED=0.3,
-    mlsim=True,
-    generation=12,
-    constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
-  )
-  prev_action = log.ModelDataV2.Action()
-  recorded_vel: list = []
-  recorded_curv_plans: list = []
+class TestRecoveryPower(OpenpilotTestCase):
+  def test_recovery_power_scaling(self):
+    state: Any = MockStruct(
+      PLANPLUS_CONTROL=0.75,
+      LONG_SMOOTH_SECONDS=0.3,
+      LAT_SMOOTH_SECONDS=0.1,
+      MIN_LAT_CONTROL_SPEED=0.3,
+      mlsim=True,
+      generation=12,
+      constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
+    )
+    prev_action = log.ModelDataV2.Action()
+    recorded_vel: list = []
+    recorded_curv_plans: list = []
 
-  def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
-    recorded_vel.append(plan_vel.copy())
-    return 0.0, False
+    def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
+      recorded_vel.append(plan_vel.copy())
+      return 0.0, False
 
-  def mock_curvature(output, plan, vego, lat_action_t, mlsim):
-    recorded_curv_plans.append(plan.copy())
-    return 0.0
+    def mock_curvature(output, plan, vego, lat_action_t, mlsim):
+      recorded_curv_plans.append(plan.copy())
+      return 0.0
 
-  modeld.get_accel_from_plan = mock_accel  # ty: ignore[invalid-assignment]
-  modeld.get_curvature_from_output = mock_curvature  # ty: ignore[invalid-assignment]
-  plan = np.random.default_rng(0).random((1, 100, 15)).astype(np.float32)
-  planplus = np.random.default_rng(1).random((1, 100, 15)).astype(np.float32)
-  merged_plan = plan + planplus
+    modeld.get_accel_from_plan = mock_accel  # ty: ignore[invalid-assignment]
+    modeld.get_curvature_from_output = mock_curvature  # ty: ignore[invalid-assignment]
+    plan = np.random.default_rng(0).random((1, 100, 15)).astype(np.float32)
+    planplus = np.random.default_rng(1).random((1, 100, 15)).astype(np.float32)
+    merged_plan = plan + planplus
 
-  model_output: dict = {
-    'plan': merged_plan.copy(),
-    'planplus': planplus.copy()
-  }
+    model_output: dict = {
+      'plan': merged_plan.copy(),
+      'planplus': planplus.copy()
+    }
 
-  test_cases: list = [
-    # (control, v_ego)
-    (0.55, 20.0),
-    (1.0, 25.0),
-    (1.5, 25.1),
-    (2.0, 20.0),
-    (0.75, 19.0),
-    (0.8, 25.1),
-  ]
+    test_cases: list = [
+      # (control, v_ego)
+      (0.55, 20.0),
+      (1.0, 25.0),
+      (1.5, 25.1),
+      (2.0, 20.0),
+      (0.75, 19.0),
+      (0.8, 25.1),
+    ]
 
-  for control, v_ego in test_cases:
-    state.PLANPLUS_CONTROL = control
-    recorded_vel.clear()
-    recorded_curv_plans.clear()
-    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)  # type: ignore[arg-type]
+    for control, v_ego in test_cases:
+      state.PLANPLUS_CONTROL = control
+      recorded_vel.clear()
+      recorded_curv_plans.clear()
+      ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)  # type: ignore[arg-type]
 
-    expected_accel_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + planplus[0, :, Plan.VELOCITY][:, 0]
-    np.testing.assert_allclose(recorded_vel[0], expected_accel_plan_vel, rtol=1e-5, atol=1e-6)
+      expected_accel_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + planplus[0, :, Plan.VELOCITY][:, 0]
+      np.testing.assert_allclose(recorded_vel[0], expected_accel_plan_vel, rtol=1e-5, atol=1e-6)
 
-    # For the below, yes, I know this isn't the same slicing as fillmodlmsg. This is to show that the values are only scaled on curv
-    expected_curv_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + control * planplus[0, :, Plan.VELOCITY][:, 0]
-    np.testing.assert_allclose(recorded_curv_plans[0][:, Plan.VELOCITY][:, 0], expected_curv_plan_vel, rtol=1e-5, atol=1e-6)
+      # For the below, yes, I know this isn't the same slicing as fillmodlmsg. This is to show that the values are only scaled on curv
+      expected_curv_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + control * planplus[0, :, Plan.VELOCITY][:, 0]
+      np.testing.assert_allclose(recorded_curv_plans[0][:, Plan.VELOCITY][:, 0], expected_curv_plan_vel, rtol=1e-5, atol=1e-6)
diff --git a/openpilot/sunnypilot/models/manager.py b/openpilot/sunnypilot/models/manager.py
index d742e968a9..7ba805ff95 100644
--- a/openpilot/sunnypilot/models/manager.py
+++ b/openpilot/sunnypilot/models/manager.py
@@ -9,7 +9,7 @@ import asyncio
 import os
 import time
 
-import aiohttp
+import requests
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
@@ -19,6 +19,9 @@ from openpilot.cereal import messaging, custom
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
 from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
 
+# (connect, read) seconds. read is per-request inactivity, not a total cap
+DOWNLOAD_TIMEOUT = (30, 30)
+
 
 class ModelManagerSP:
   """Manages model downloads and status reporting"""
@@ -63,30 +66,29 @@ class ModelManagerSP:
     """Downloads a file with progress tracking"""
     self._download_start_times[model.fileName] = time.monotonic()
 
-    async with aiohttp.ClientSession() as session:
-      async with session.get(url) as response:
-        response.raise_for_status()
-        total_size = int(response.headers.get("content-length", 0))
-        bytes_downloaded = 0
+    with requests.get(url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:  # noqa: ASYNC210
+      response.raise_for_status()
+      total_size = int(response.headers.get("content-length", 0))
+      bytes_downloaded = 0
 
-        with open(path, 'wb') as f:  # noqa: ASYNC230
-          async for chunk in response.content.iter_chunked(self._chunk_size):  # type: bytes
-            f.write(chunk)
-            bytes_downloaded += len(chunk)
+      with open(path, 'wb') as f:  # noqa: ASYNC230
+        for chunk in response.iter_content(chunk_size=self._chunk_size):  # type: bytes
+          f.write(chunk)
+          bytes_downloaded += len(chunk)
 
-            if self.params.get("ModelManager_DownloadIndex") is None:
-              raise Exception("Download cancelled")
+          if self.params.get("ModelManager_DownloadIndex") is None:
+            raise Exception("Download cancelled")
 
-            if total_size > 0:
-              progress = (bytes_downloaded / total_size) * 100
-              model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
-              model.downloadProgress.progress = progress
-              model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
-              self._sync_artifact_progress(model)
-              self._report_status()
+          if total_size > 0:
+            progress = (bytes_downloaded / total_size) * 100
+            model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
+            model.downloadProgress.progress = progress
+            model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
+            self._sync_artifact_progress(model)
+            self._report_status()
 
-        # Clean up start time after download completes
-        del self._download_start_times[model.fileName]
+    # Clean up start time after download completes
+    del self._download_start_times[model.fileName]
 
   async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
     from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
@@ -98,16 +100,18 @@ class ModelManagerSP:
     manifest_path = get_manifest_path(base_path)
     self._download_start_times[artifact.fileName] = time.monotonic()
 
-    for i, _ in enumerate(artifact.chunks):
-      chunk_url = get_chunk_name(base_url, i, num_chunks)
-      chunk_path = get_chunk_name(base_path, i, num_chunks)
-      chunk_downloaded = 0
-      async with aiohttp.ClientSession() as session:
-        async with session.get(chunk_url) as response:
+    # Shared connection saves a TCP+TLS handshake per chunk.
+    # Keep sequential: the link saturates on one stream and Session is not thread-safe.
+    with requests.Session() as session:
+      for i, _ in enumerate(artifact.chunks):
+        chunk_url = get_chunk_name(base_url, i, num_chunks)
+        chunk_path = get_chunk_name(base_path, i, num_chunks)
+        chunk_downloaded = 0
+        with session.get(chunk_url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
           response.raise_for_status()
           chunk_size = int(response.headers.get("content-length", 0))
           with open(chunk_path, 'wb') as f:  # noqa: ASYNC230
-            async for data in response.content.iter_chunked(self._chunk_size):
+            for data in response.iter_content(chunk_size=self._chunk_size):
               f.write(data)
               chunk_downloaded += len(data)
               if self.params.get("ModelManager_DownloadIndex") is None:
diff --git a/openpilot/sunnypilot/models/tests/test_default_model.py b/openpilot/sunnypilot/models/tests/test_default_model.py
index ab51027442..450237e0e9 100644
--- a/openpilot/sunnypilot/models/tests/test_default_model.py
+++ b/openpilot/sunnypilot/models/tests/test_default_model.py
@@ -8,9 +8,10 @@ See the LICENSE.md file in the root directory for more details.
 from openpilot.sunnypilot import get_file_hash
 from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, SUPERCOMBO_ONNX_PATH
 import hashlib
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestDefaultModel:
+class TestDefaultModel(OpenpilotTestCase):
   def test_compare_onnx_hashes(self):
     supercombo_hash = get_file_hash(SUPERCOMBO_ONNX_PATH)
 
diff --git a/openpilot/sunnypilot/models/tests/test_manager_download.py b/openpilot/sunnypilot/models/tests/test_manager_download.py
new file mode 100644
index 0000000000..67fb9023af
--- /dev/null
+++ b/openpilot/sunnypilot/models/tests/test_manager_download.py
@@ -0,0 +1,300 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import asyncio
+import hashlib
+import http.server
+import os
+import tempfile
+import threading
+import unittest
+from typing import Any
+from unittest import mock
+
+import requests
+from urllib3.connectionpool import HTTPConnectionPool
+
+from openpilot.cereal import custom
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
+from openpilot.selfdrive.test.helpers import http_server_context
+from openpilot.sunnypilot.models import manager as manager_module
+from openpilot.sunnypilot.models.manager import ModelManagerSP
+
+CHUNK_BODIES = [b'A' * 5000, b'B' * 5000, b'C' * 3000]
+WHOLE_BODY = b'Z' * 9000
+
+
+def sha256(data: bytes) -> str:
+  return hashlib.sha256(data).hexdigest()
+
+
+class DownloadHandler(http.server.BaseHTTPRequestHandler):
+  """Serves the fixture bodies. Class attributes are reset per test."""
+  request_paths: list[str] = []
+  fail_paths: dict[str, int] = {}
+  stall_paths: set[str] = set()
+  stall_event: threading.Event | None = None
+
+  def log_message(self, format: str, *args: Any) -> None:  # noqa: A002
+    pass
+
+  def _body_for(self, path):
+    if path.endswith('.whole'):
+      return WHOLE_BODY
+    for i in range(len(CHUNK_BODIES)):
+      if path.endswith(get_chunk_name('', i, len(CHUNK_BODIES))):
+        return CHUNK_BODIES[i]
+    return None
+
+  def do_GET(self):
+    type(self).request_paths.append(self.path)
+
+    status = type(self).fail_paths.get(self.path)
+    if status:
+      self.send_response(status)
+      self.end_headers()
+      return
+
+    body = self._body_for(self.path)
+    if body is None:
+      self.send_response(404)
+      self.end_headers()
+      return
+
+    self.send_response(200)
+    self.send_header('Content-Length', str(len(body)))
+    self.end_headers()
+
+    if self.path in type(self).stall_paths:
+      # write a little, then wait so the test can cancel mid-transfer
+      self.wfile.write(body[:100])
+      self.wfile.flush()
+      if type(self).stall_event is not None:
+        type(self).stall_event.wait(timeout=5)
+      self.wfile.write(body[100:])
+    else:
+      self.wfile.write(body)
+
+
+class ManagerDownloadTestBase(OpenpilotTestCase):
+  def setUp(self):
+    super().setUp()
+    DownloadHandler.request_paths = []
+    DownloadHandler.fail_paths = {}
+    DownloadHandler.stall_paths = set()
+    DownloadHandler.stall_event = None
+
+    self._tmp = tempfile.TemporaryDirectory()
+    self.addCleanup(self._tmp.cleanup)
+    self.dest = self._tmp.name
+
+    self.reported: list[float] = []
+
+    self.manager = ModelManagerSP.__new__(ModelManagerSP)
+    self.manager.params = mock.MagicMock()
+    self.manager.params.get.return_value = b'0'  # not cancelled
+    self.manager.pm = mock.MagicMock()
+    self.manager.pm.send.side_effect = self._record_progress
+    self.manager.selected_bundle = None
+    self.manager.active_bundle = None
+    self.manager.available_models = []
+    self.manager._chunk_size = 1024
+    self.manager._download_start_times = {}
+
+  def _record_progress(self, *args) -> None:
+    """Runs on every real _report_status send."""
+    artifact = getattr(self, 'artifact', None)
+    if artifact is not None:
+      self.reported.append(float(artifact.downloadProgress.progress))
+
+  def make_artifact(self, chunked: bool):
+    bundle = custom.ModelManagerSP.ModelBundle.new_message()
+    bundle.init('models', 1)
+    artifact = bundle.models[0].artifact
+    artifact.fileName = 'driving_test_tinygrad.pkl'
+    if chunked:
+      artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl'
+      artifact.downloadUri.sha256 = sha256(b''.join(CHUNK_BODIES))
+      artifact.init('chunks', len(CHUNK_BODIES))
+      for i, body in enumerate(CHUNK_BODIES):
+        artifact.chunks[i].sha256 = sha256(body)
+    else:
+      artifact.downloadUri.uri = self.base_url + '/driving_test_tinygrad.pkl.whole'
+      artifact.downloadUri.sha256 = sha256(WHOLE_BODY)
+    self._bundle = bundle
+    self.artifact = artifact
+    return artifact
+
+  def chunk_paths(self, base_path):
+    return [get_chunk_name(base_path, i, len(CHUNK_BODIES)) for i in range(len(CHUNK_BODIES))]
+
+  def assert_no_partials(self, base_path):
+    leftovers = [p for p in [base_path, get_manifest_path(base_path)] + self.chunk_paths(base_path)
+                 if os.path.isfile(p)]
+    assert leftovers == [], f"partial files left behind: {leftovers}"
+
+
+class TestManagerDownload(ManagerDownloadTestBase):
+  """Exercises the real _download_file / _download_chunked against a local server."""
+
+  def run_with_server(self, fn):
+    with http_server_context(handler=DownloadHandler) as (host, port):
+      self.base_url = f'http://{host}:{port}'
+      return fn()
+
+  def test_download_file_writes_exact_bytes(self):
+    def body():
+      artifact = self.make_artifact(chunked=False)
+      path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_file(artifact.downloadUri.uri, path, artifact))
+      with open(path, 'rb') as f:
+        written = f.read()
+      assert written == WHOLE_BODY
+      assert sha256(written) == artifact.downloadUri.sha256
+      assert artifact.fileName not in self.manager._download_start_times
+    self.run_with_server(body)
+
+  def test_download_chunked_writes_all_chunks_and_manifest(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      for i, expected in enumerate(CHUNK_BODIES):
+        with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+          assert f.read() == expected, f"chunk {i} body mismatch"
+
+      with open(get_manifest_path(base_path)) as f:
+        assert f.read() == str(len(CHUNK_BODIES))
+
+      assert not os.path.isfile(base_path), "base file should be removed after chunking"
+      assert artifact.fileName not in self.manager._download_start_times
+    self.run_with_server(body)
+
+  def test_progress_is_monotonic_and_bounded(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      assert self.reported, "expected progress reports"
+      for a, b in zip(self.reported, self.reported[1:], strict=False):
+        assert b >= a, f"progress went backwards: {a} -> {b}"
+      assert max(self.reported) <= 99.0, f"chunked progress must stay <=99 until verify, got {max(self.reported)}"
+    self.run_with_server(body)
+
+  def test_session_is_reused_across_chunks(self):
+    """One connection pool shared across every chunk."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+
+      pools = []
+      original = HTTPConnectionPool.urlopen
+
+      def tracked(pool_self, *args, **kwargs):
+        pools.append(id(pool_self))
+        return original(pool_self, *args, **kwargs)
+
+      with mock.patch.object(HTTPConnectionPool, 'urlopen', tracked):
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      assert len(pools) == len(CHUNK_BODIES), f"expected one request per chunk, got {len(pools)}"
+      assert len(set(pools)) == 1, f"connection pool not reused across chunks: {len(set(pools))} pools"
+    self.run_with_server(body)
+
+  def test_http_error_propagates(self):
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      failing = '/' + os.path.basename(get_chunk_name(artifact.downloadUri.uri, 1, len(CHUNK_BODIES)))
+      DownloadHandler.fail_paths = {failing: 404}
+
+      with self.assertRaises(requests.exceptions.HTTPError):
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+
+      # chunk 1 failed, so its file and the manifest must not exist
+      assert not os.path.isfile(get_chunk_name(base_path, 1, len(CHUNK_BODIES)))
+      assert not os.path.isfile(get_manifest_path(base_path))
+    self.run_with_server(body)
+
+  def test_cancellation_mid_transfer(self):
+    """Cancellation is checked inside the byte loop; it must still fire after the port."""
+    def body():
+      artifact = self.make_artifact(chunked=True)
+      base_path = os.path.join(self.dest, artifact.fileName)
+      self.manager.params.get.return_value = None  # cancelled
+
+      with self.assertRaises(Exception) as ctx:
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+      assert 'cancelled' in str(ctx.exception).lower()
+      assert not os.path.isfile(get_manifest_path(base_path))
+    self.run_with_server(body)
+
+  def test_repeat_downloads_are_stable(self):
+    """Back-to-back runs must produce identical bytes and leak no start-time state."""
+    def body():
+      for _ in range(2):
+        artifact = self.make_artifact(chunked=True)
+        base_path = os.path.join(self.dest, artifact.fileName)
+        asyncio.run(self.manager._download_chunked(artifact.downloadUri.uri, base_path, artifact))
+        for i, expected in enumerate(CHUNK_BODIES):
+          with open(get_chunk_name(base_path, i, len(CHUNK_BODIES)), 'rb') as f:
+            assert f.read() == expected
+        assert self.manager._download_start_times == {}
+    self.run_with_server(body)
+
+
+class TestManagerImports(OpenpilotTestCase):
+  """Catches undeclared dependencies. aiohttp lived only in the AGNOS venv; 19.6 dropped
+  it and models_manager died on device while CI stayed green."""
+
+  def test_manager_imports(self):
+    assert manager_module.ModelManagerSP is not None
+
+  def test_no_undeclared_http_client(self):
+    with open(manager_module.__file__) as f:
+      src = f.read()
+    assert 'import aiohttp' not in src, "aiohttp is not available on AGNOS 19.6; use requests"
+
+  def test_download_timeout_is_explicit(self):
+    connect, read = manager_module.DOWNLOAD_TIMEOUT
+    assert connect > 0 and read > 0, "requests defaults to no timeout; downloads would hang forever"
+
+
+@unittest.skipUnless(os.environ.get('RUN_INTEGRATION_TESTS'), 'requires external network')
+class TestLiveModelManifest(OpenpilotTestCase):
+  """Every artifact and chunk URL in the published manifest must resolve."""
+
+  def test_all_manifest_urls_available(self):
+    from openpilot.sunnypilot.models.fetcher import ModelFetcher
+
+    manifest = requests.get(ModelFetcher.MODEL_URL, timeout=30).json()
+    session = requests.Session()
+    dead = []
+
+    for bundle in manifest.get('bundles', []):
+      for model in bundle.get('models', []):
+        artifact = model['artifact']
+        url = artifact['download_uri']['url']
+        chunks = artifact.get('chunks', [])
+        urls = ([url] if not chunks
+                else [get_chunk_name(url, i, len(chunks)) for i in range(len(chunks))])
+        for u in urls:
+          try:
+            r = session.head(u, timeout=15, allow_redirects=True)
+            if r.status_code != 200:
+              dead.append(f"{bundle.get('short_name')}: HTTP {r.status_code} {u}")
+          except requests.RequestException as e:
+            dead.append(f"{bundle.get('short_name')}: {type(e).__name__} {u}")
+
+    assert not dead, "unreachable model URLs:\n" + "\n".join(dead)
+
+
+if __name__ == '__main__':
+  unittest.main()
diff --git a/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
index 3e60ab5308..1712c60410 100644
--- a/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
+++ b/openpilot/sunnypilot/models/tests/test_tinygrad_ref.py
@@ -2,6 +2,7 @@ import requests
 
 from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
+from openpilot.common.test import OpenpilotTestCase
 
 
 def fetch_tinygrad_ref():
@@ -11,13 +12,14 @@ def fetch_tinygrad_ref():
   return json_data.get("tinygrad_ref")
 
 
-def test_tinygrad_ref():
-  current_ref = get_tinygrad_ref()
-  remote_ref = fetch_tinygrad_ref()
-  assert remote_ref == current_ref, (
-    f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
-  Current: {current_ref}
-  Remote: {remote_ref}
-  Please run build-all workflow to update models."""
-  )
-  print("tinygrad_repo ref matches current compiled driving models json ref.")
+class TestTinygradRef(OpenpilotTestCase):
+  def test_tinygrad_ref(self):
+    current_ref = get_tinygrad_ref()
+    remote_ref = fetch_tinygrad_ref()
+    assert remote_ref == current_ref, (
+      f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
+    Current: {current_ref}
+    Remote: {remote_ref}
+    Please run build-all workflow to update models."""
+    )
+    print("tinygrad_repo ref matches current compiled driving models json ref.")
diff --git a/openpilot/sunnypilot/navd/helpers.py b/openpilot/sunnypilot/navd/helpers.py
index c57706d32a..63e7c8c7be 100644
--- a/openpilot/sunnypilot/navd/helpers.py
+++ b/openpilot/sunnypilot/navd/helpers.py
@@ -106,7 +106,7 @@ def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> floa
   return total_distance_closest
 
 
-def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
+def coordinate_from_param(param: str, params: Params | None = None) -> Coordinate | None:
   if params is None:
     params = Params()
 
diff --git a/openpilot/sunnypilot/selfdrive/car/interfaces.py b/openpilot/sunnypilot/selfdrive/car/interfaces.py
index ecabc53b57..4988e863b1 100644
--- a/openpilot/sunnypilot/selfdrive/car/interfaces.py
+++ b/openpilot/sunnypilot/selfdrive/car/interfaces.py
@@ -25,7 +25,7 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None, enabled: bool = False) -> bool:
+def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params | None = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
@@ -36,7 +36,7 @@ def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None
 
 
 def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                               params: Params = None, enabled: bool = False) -> bool:
+                                               params: Params | None = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
@@ -55,7 +55,7 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str
   return enabled
 
 
-def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params | None = None) -> None:
   if params is None:
     params = Params()
 
@@ -69,7 +69,7 @@ def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarPara
     CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
 
 
-def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params | None = None) -> None:
   if params is None:
     params = Params()
 
@@ -98,7 +98,7 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
   set_speed_limit_assist_availability(CP, CP_SP, params)
 
 
-def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
+def setup_interfaces(CI: CarInterfaceBase, params: Params | None = None) -> None:
   enforce_torque = _enforce_torque_lateral_control(CI.CP, params)
   nnlc_enabled = _initialize_neural_network_lateral_control(CI.CP, CI.CP_SP, params)
   _initialize_intelligent_cruise_button_management(CI.CP, CI.CP_SP, params)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py b/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
index 3f3701b3ae..b5cd9f6f87 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
@@ -1,5 +1,6 @@
 from opendbc.car.structs import car
 from openpilot.common.parameterized import parameterized_class
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
 
@@ -8,7 +9,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 
 @parameterized_class(('openpilot_longitudinal',), [(True,)])
-class TestCruiseHelper:
+class TestCruiseHelper(OpenpilotTestCase):
   def setup_method(self):
     self.CP = car.CarParams(openpilotLongitudinalControl=self.openpilot_longitudinal)
     self.cruise_helper = CruiseHelper(self.CP)
diff --git a/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
index ce5d7dc124..56491e3518 100644
--- a/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
+++ b/openpilot/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -1,8 +1,6 @@
-import pytest
-
 from opendbc.car.structs import car
 from openpilot.common.constants import CV
-from openpilot.common.parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized, parameterized_class
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
 from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
@@ -15,7 +13,7 @@ ButtonType = car.CarState.ButtonEvent.Type
 @parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestCustomAccIncrements(TestVCruiseHelper):
   def setup_method(self):
-    TestVCruiseHelper.setup_method(self)
+    TestVCruiseHelper.openpilot_setup_method(self)
     self.params = Params()
     self.reset_custom_params()
 
@@ -67,7 +65,7 @@ class TestCustomAccIncrements(TestVCruiseHelper):
     self.press_button_short(ButtonType.accelCruise)
     assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1
 
-  @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
+  @parameterized.expand((1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
   def test_custom_short_press_increments(self, increment):
     """Test custom short press increments (1-10)"""
     self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5)
@@ -84,7 +82,7 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
     assert self.v_cruise_helper.v_cruise_kph == expected_speed
 
-  @pytest.mark.parametrize("increment", (1, 5, 10))
+  @parameterized.expand((1, 5, 10))
   def test_custom_long_press_increments(self, increment):
     """Test custom long press increments (1, 5, 10)"""
     self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment)
@@ -101,7 +99,7 @@ class TestCustomAccIncrements(TestVCruiseHelper):
 
     assert self.v_cruise_helper.v_cruise_kph == expected_speed
 
-  @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise])
+  @parameterized.expand([ButtonType.accelCruise, ButtonType.decelCruise])
   def test_accel_decel_symmetry(self, button_type):
     """Test that acceleration and deceleration work symmetrically"""
     self.set_custom_increments(enabled=True, short_inc=3, long_inc=5)
diff --git a/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py b/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
index 33cc9e3ad8..344ae52a93 100644
--- a/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -52,7 +52,7 @@ class ControlsExt(ModelStateBase):
       self.blinker_pause_lateral.get_params()
 
       if self.CP.lateralTuning.which() == 'torque':
-        self.lat_delay = get_lat_delay(self.params, sm["liveDelay"].lateralDelay)
+        self.lat_delay = get_lat_delay(self.params, sm["lateralDelay"].lateralDelay)
 
       self._param_update_time = time.monotonic()
 
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
deleted file mode 100644
index 407ed0af3a..0000000000
--- a/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import pytest
-
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
-class MockLeadOne:
-  def __init__(self, status=0.0):
-    self.status = status
-
-class MockRadarState:
-  def __init__(self, status=0.0):
-    self.leadOne = MockLeadOne(status=status)
-
-class MockCarState:
-  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
-    self.vEgo = vEgo
-    self.vCruise = vCruise
-    self.standstill = standstill
-
-class MockModelData:
-  def __init__(self, valid=True):
-    size = 33 if valid else 10  # incomplete if invalid
-    self.position = type("Pos", (), {"x": [0.0] * size})()
-    self.orientation = type("Ori", (), {"x": [0.0] * size})()
-
-class MockSelfDriveState:
-  def __init__(self, experimentalMode=False):
-    self.experimentalMode = experimentalMode
-
-class MockParams:
-  def get_bool(self, name):
-    return True
-
-@pytest.fixture
-def default_sm():
-  sm = {
-    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
-    'radarState': MockRadarState(status=1.0),
-    'modelV2': MockModelData(valid=True),
-    'selfdriveState': MockSelfDriveState(experimentalMode=True),
-  }
-  return sm
-
-@pytest.fixture
-def mock_cp():
-  class CP:
-    radarUnavailable = False
-  return CP()
-
-@pytest.fixture
-def mock_mpc():
-  class MPC:
-    crash_cnt = 0
-  return MPC()
-
-# Fake Kalman Filter that always returns a given value
-class FakeKalman:
-  def __init__(self, value=1.0):
-    self.value = value
-  def add_data(self, v): pass
-  def get_value(self): return self.value
-  def get_confidence(self): return 1.0
-  def reset_data(self): pass
-
-def test_initial_mode_is_acc(mock_cp, mock_mpc):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  assert controller.mode() == "acc"
-
-def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  default_sm['carState'].standstill = True
-  for _ in range(10):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  mock_mpc.crash_cnt = 1  # simulate FCW
-  for _ in range(2):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
-  mock_cp.radarUnavailable = True
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-
-  # Force conditions to simulate slowdown
-  controller._slow_down_filter = FakeKalman(value=1.0)  # ty: ignore[invalid-assignment]
-  controller._v_ego_kph = 35.0
-  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
-
-  for _ in range(3):
-    controller.update(default_sm)
-
-  assert controller.mode() == "blended"
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py
new file mode 100644
index 0000000000..4fec6eaa52
--- /dev/null
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/dec/tests/test_dynamic_controller.py
@@ -0,0 +1,91 @@
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+
+class MockLeadOne:
+  def __init__(self, present=0.0):
+    self.present = present
+
+class MockRadarState:
+  def __init__(self, present=0.0):
+    self.leadOne = MockLeadOne(present=present)
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
+
+class MockModelData:
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+class MockParams:
+  def get_bool(self, name):
+    return True
+
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(present=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
+
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
+
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
+
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass
+
+class TestDynamicExperimentalController(OpenpilotTestCase):
+  def test_initial_mode_is_acc(self, mock_cp, mock_mpc):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+    assert controller.mode() == "acc"
+
+  def test_standstill_triggers_blended(self, mock_cp, mock_mpc, default_sm):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+    default_sm['carState'].standstill = True
+    for _ in range(10):
+      controller.update(default_sm)
+    assert controller.mode() == "blended"
+
+  def test_emergency_blended_on_fcw(self, mock_cp, mock_mpc, default_sm):
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+    mock_mpc.crash_cnt = 1  # simulate FCW
+    for _ in range(2):
+      controller.update(default_sm)
+    assert controller.mode() == "blended"
+
+  def test_radarless_slowdown_triggers_blended(self, mock_cp, mock_mpc, default_sm):
+    mock_cp.radarUnavailable = True
+    controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+
+    # Force conditions to simulate slowdown
+    controller._slow_down_filter = FakeKalman(value=1.0)  # ty: ignore[invalid-assignment]
+    controller._v_ego_kph = 35.0
+    default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
+
+    for _ in range(3):
+      controller.update(default_sm)
+
+    assert controller.mode() == "blended"
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
index 6ddfaea231..b6ee7baabe 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -50,7 +50,7 @@ class LatControlTorque(LatControl):
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
-  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+  def update_torque_parameters(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
index 07e7d2852d..8eaa90babd 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -7,6 +7,7 @@ from opendbc.car.tesla.values import CAR as TESLA
 from openpilot.common.parameterized import parameterized
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.common.test import OpenpilotTestCase
 
 
 FINGERPRINT_EXACT_MATCH = [HONDA.HONDA_CIVIC_BOSCH, TOYOTA.TOYOTA_RAV4_TSS2_2022, HYUNDAI.HYUNDAI_IONIQ_5]
@@ -14,7 +15,7 @@ FINGERPRINT_FUZZY_MATCH = [HONDA.HONDA_CIVIC_BOSCH_DIESEL, HYUNDAI.GENESIS_G70_2
 FINGERPRINT_ANGLE_NO_MATCH = [TOYOTA.TOYOTA_RAV4_TSS2_2023, NISSAN.NISSAN_LEAF, TESLA.TESLA_MODEL_3]
 
 
-class TestNNLCFingerprintBase:
+class TestNNLCFingerprintBase(OpenpilotTestCase):
 
   @staticmethod
   def _setup_platform(car_name):
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index 2f4e0d6993..4e0da4eeed 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -8,9 +8,10 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestNNTorqueModel:
+class TestNNTorqueModel(OpenpilotTestCase):
 
   @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
   def test_load_model(self, car_name):
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index 56fd2f9ce7..4782b0c4f3 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -14,9 +14,10 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.test import OpenpilotTestCase
 
 
 def generate_modelV2():
@@ -42,7 +43,7 @@ def generate_modelV2():
   return model
 
 
-class TestNeuralNetworkLateralControl:
+class TestNeuralNetworkLateralControl(OpenpilotTestCase):
 
   @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
@@ -66,10 +67,10 @@ class TestNeuralNetworkLateralControl:
     CS.vEgo = 30
     CS.steeringPressed = False
 
-    params = log.LiveParametersData.new_message()
+    params = log.VehicleParameters.new_message()
 
-    lp = generate_livePose()
-    pose = Pose.from_live_pose(lp.livePose)
+    lp = generate_deviceMotion()
+    pose = Pose.from_device_motion(lp.deviceMotion)
 
     mdl = generate_modelV2()
     sm = {'modelV2': mdl.modelV2}
@@ -81,7 +82,7 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.update_torque_parameters(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
       controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
     assert lac_log.saturated
@@ -89,7 +90,7 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.update_torque_parameters(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
       controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
     assert not lac_log.saturated
@@ -97,7 +98,7 @@ class TestNeuralNetworkLateralControl:
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
       controller.extension.update_lateral_lag(test_lag)
-      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.update_torque_parameters(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
       controller.extension.update_limits()
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
     assert lac_log.saturated
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
index dc27447c0b..a9e5cdd992 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -8,18 +8,18 @@ import json
 import math
 import platform
 
-import pytest
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import R, SmartCruiseControlMap
+from openpilot.common.test import OpenpilotTestCase
 
 MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 
 
-class TestSmartCruiseControlMap:
+class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
     self.params = Params()
@@ -70,6 +70,6 @@ class TestSmartCruiseControlMap:
 
     self.scc_m.update(True, False, 25.0, 0.0, 30.0)
 
-    assert self.scc_m.v_target == pytest.approx(24.0)
+    self.assertAlmostEqual(self.scc_m.v_target, 24.0, delta=24.0 * 1e-6)
 
   # TODO-SP: mock data from modelV2 to test other states
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
index 98b3ffc8e7..610acd47df 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 from typing import Any
 
 import numpy as np
-import pytest
+from openpilot.common.parameterized import parameterized
 
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import custom, log
@@ -17,6 +17,7 @@ from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
+from openpilot.common.test import OpenpilotTestCase
 
 VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
 
@@ -105,7 +106,7 @@ def generate_controlsState():
   return controls_state
 
 
-class TestSmartCruiseControlVision:
+class TestSmartCruiseControlVision(OpenpilotTestCase):
 
   def setup_method(self):
     self.params = Params()
@@ -145,19 +146,11 @@ class TestSmartCruiseControlVision:
       self.scc_v.update(self.sm, True, False, 0., 0., 0.)
     assert self.scc_v.state == VisionState.enabled
 
-  @pytest.mark.parametrize(
-    "case, should_enter",
-    [
+  @parameterized.expand([
       ("p97_just_above_threshold", True),
       ("single_spike_filtered", False),
       ("persistent_high_values", True),
-    ],
-    ids=[
-      "p97>threshold_enters",
-      "single_spike_max_large_but_p97_below_threshold",
-      "high_values_persist_trigger_entering",
-    ],
-  )
+    ], names=["case", "should_enter"])
   def test_max_pred_lat_acc_uses_p97_and_threshold(self, case, should_enter):
     n = len(ModelConstants.T_IDXS)
     th = float(_ENTERING_PRED_LAT_ACC_TH)
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
index 77d89251e2..848f99edc7 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -23,7 +23,7 @@ def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_
   return req_plus, req_minus
 
 
-def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
+def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params | None = None) -> bool:
   if params is None:
     params = Params()
 
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
index 1f23fb2299..f3d32a4d5b 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 
 import time
 
-import pytest
+from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import custom
 from opendbc.car.car_helpers import interfaces
@@ -27,6 +27,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist
   PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES, CRUISE_BUTTON_CONFIRM_HOLD
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.common.test import OpenpilotTestCase
 
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
@@ -45,21 +46,10 @@ SPEED_LIMITS = {
 DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
 
 
-@pytest.fixture
-def car_name(request):
-  return getattr(request, "param", DEFAULT_CAR)
+class TestSpeedLimitAssist(OpenpilotTestCase):
+  car_name = DEFAULT_CAR
 
-
-@pytest.fixture(autouse=True)
-def set_car_name_on_instance(request, car_name):
-  instance = getattr(request, "instance", None)
-  if instance:
-    instance.car_name = car_name
-
-
-class TestSpeedLimitAssist:
-
-  def setup_method(self, method):
+  def setup_method(self):
     self.params = Params()
     self.reset_custom_params()
     self.events_sp = EventsSP()
@@ -69,7 +59,7 @@ class TestSpeedLimitAssist:
     self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
     self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
 
-  def teardown_method(self, method):
+  def teardown_method(self):
     self.reset_state()
 
   def _setup_platform(self, car_name):
@@ -112,13 +102,16 @@ class TestSpeedLimitAssist:
     assert not self.sla.is_active
     assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
 
-  @pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1, TESLA.TESLA_MODEL_Y], indirect=True)
+  @parameterized.expand([RIVIAN.RIVIAN_R1, TESLA.TESLA_MODEL_Y], names=["car_name"])
   def test_disallowed_brands(self, car_name):
     """
       Speed Limit Assist is disabled for the following brands and conditions:
       - All Tesla and is a release branch;
       - All Rivian
     """
+    self.car_name = car_name
+    self.openpilot_setup_method()  # rebuild the platform for this brand
+
     assert not self.sla.enabled
 
     # stay disallowed even when the param may have changed from somewhere else
@@ -285,9 +278,10 @@ class TestSpeedLimitAssist:
         assert self.sla.state in ACTIVE_STATES
 
 
-class TestButtonStateTrackerSLAIntegration:
+class TestButtonStateTrackerSLAIntegration(OpenpilotTestCase):
+
+  def setup_method(self):
 
-  def setup_method(self, method):
     self.tracker = ButtonStateTracker()
     self.params = Params()
     self.params.put("IsReleaseSpBranch", True, block=True)
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
index a18880c620..884749c72e 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
@@ -7,26 +7,26 @@ See the LICENSE.md file in the root directory for more details.
 import random
 import time
 
-import pytest
-from pytest_mock import MockerFixture
+from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import custom
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE
 
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver, ALL_SOURCES
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+from openpilot.common.test import OpenpilotTestCase
 
 SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
 
 
-def create_mock(properties, mocker: MockerFixture):
+def create_mock(properties, mocker):
   mock = mocker.MagicMock()
   for _property, value in properties.items():
     setattr(mock, _property, value)
   return mock
 
 
-def setup_sm_mock(mocker: MockerFixture):
+def setup_sm_mock(mocker):
   cruise_speed_limit = random.uniform(0, 120)
   live_map_data_limit = random.uniform(0, 120)
 
@@ -58,21 +58,24 @@ def setup_sm_mock(mocker: MockerFixture):
   return sm_mock
 
 
-parametrized_policies = pytest.mark.parametrize(
-  "policy, sm_key, function_key", [
+parametrized_policies = parameterized.expand(
+  [
     (Policy.car_state_only, 'carStateSP', SpeedLimitSource.car),
     (Policy.car_state_priority, 'carStateSP', SpeedLimitSource.car),
     (Policy.map_data_only, 'liveMapDataSP', SpeedLimitSource.map),
     (Policy.map_data_priority, 'liveMapDataSP', SpeedLimitSource.map),
   ],
-  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
+  names=["policy", "sm_key", "function_key"]
 )
 
 
-@pytest.mark.parametrize("resolver_class", [SpeedLimitResolver])
-class TestSpeedLimitResolverValidation:
+def resolver_class():
+  return SpeedLimitResolver
 
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+
+class TestSpeedLimitResolverValidation(OpenpilotTestCase):
+
+  @parameterized.expand(list(Policy), names=["policy"])
   def test_initial_state(self, resolver_class, policy):
     resolver = resolver_class()
     resolver.policy = policy
@@ -82,7 +85,7 @@ class TestSpeedLimitResolverValidation:
         assert resolver.distance_solutions[source] == 0.
 
   @parametrized_policies
-  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker):
     resolver = resolver_class()
     resolver.policy = policy
     sm_mock = setup_sm_mock(mocker)
@@ -93,7 +96,7 @@ class TestSpeedLimitResolverValidation:
     assert resolver.speed_limit == source_speed_limit
     assert resolver.source == ALL_SOURCES[function_key]
 
-  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
+  def test_resolver_combined(self, resolver_class, mocker):
     resolver = resolver_class()
     resolver.policy = Policy.combined
     sm_mock = setup_sm_mock(mocker)
@@ -108,7 +111,7 @@ class TestSpeedLimitResolverValidation:
     assert resolver.source == socket_to_source[minimum_key]
 
   @parametrized_policies
-  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker):
     resolver = resolver_class()
     resolver.policy = policy
     sm_mock = setup_sm_mock(mocker)
@@ -119,8 +122,8 @@ class TestSpeedLimitResolverValidation:
     assert resolver.limit_solutions[ALL_SOURCES[function_key]] == source_speed_limit
     assert resolver.distance_solutions[ALL_SOURCES[function_key]] == 0.
 
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
+  @parameterized.expand(list(Policy), names=["policy"])
+  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker):
     v_ego = 50
     resolver = resolver_class()
     resolver.policy = policy
@@ -133,8 +136,8 @@ class TestSpeedLimitResolverValidation:
     assert resolver.distance is not None
     assert resolver.source is not None
 
-  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
-  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
+  @parameterized.expand(list(Policy), names=["policy"])
+  def test_old_map_data_ignored(self, resolver_class, policy, mocker):
     resolver = resolver_class()
     resolver.policy = policy
     sm_mock = mocker.MagicMock()
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
index b4ec5041c8..0d95550412 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -9,6 +9,7 @@ from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
   AUTO_LANE_CHANGE_TIMER, ONE_SECOND_DELAY
+from openpilot.common.test import OpenpilotTestCase
 
 AUTO_LANE_CHANGE_TIMER_COMBOS = [
   (AutoLaneChangeMode.NUDGELESS, AUTO_LANE_CHANGE_TIMER[AutoLaneChangeMode.NUDGELESS]),
@@ -19,7 +20,7 @@ AUTO_LANE_CHANGE_TIMER_COMBOS = [
 ]
 
 
-class TestAutoLaneChangeController:
+class TestAutoLaneChangeController(OpenpilotTestCase):
   def setup_method(self):
     self.DH = DesireHelper()
     self.alc = AutoLaneChangeController(self.DH)
@@ -85,24 +86,24 @@ class TestAutoLaneChangeController:
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
   def test_timers(self, timer_state, timer_delay):
-      self._reset_states()
-      self.alc.lane_change_bsm_delay = False  # BSM delay off
-      self.alc.lane_change_set_timer = timer_state
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = timer_state
 
-      # Update controller once
+    # Update controller once
+    self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # The timer should still be below the threshold after one update
+    assert not self.alc.auto_lane_change_allowed
+
+    # Update enough times to exceed the threshold (seconds / DT_MDL)
+    num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+    for _ in range(num_updates):
       self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
-      # The timer should still be below the threshold after one update
-      assert not self.alc.auto_lane_change_allowed
-
-      # Update enough times to exceed the threshold (seconds / DT_MDL)
-      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
-      for _ in range(num_updates):
-        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
-
-      # Now lane change should be allowed
-      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
-      assert self.alc.auto_lane_change_allowed
+    # Now lane change should be allowed
+    assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+    assert self.alc.auto_lane_change_allowed
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
   def test_brake_pressed_disables_auto_lane_change(self, timer_state, timer_delay):
@@ -169,32 +170,32 @@ class TestAutoLaneChangeController:
 
   @parameterized.expand(AUTO_LANE_CHANGE_TIMER_COMBOS)
   def test_disallow_continuous_auto_lane_change(self, timer_state, timer_delay):
-      self._reset_states()
-      self.alc.lane_change_bsm_delay = False  # BSM delay off
-      self.alc.lane_change_set_timer = timer_state
-      num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False  # BSM delay off
+    self.alc.lane_change_set_timer = timer_state
+    num_updates = int(timer_delay / DT_MDL) + 1  # Add one extra updates to ensure we exceed the threshold
 
-      # Update enough times to exceed the threshold (seconds / DT_MDL)
-      for _ in range(num_updates):
-        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+    # Update enough times to exceed the threshold (seconds / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
-      # Now lane change should be allowed
-      assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
-      assert self.alc.auto_lane_change_allowed
+    # Now lane change should be allowed
+    assert self.alc.lane_change_wait_timer > self.alc.lane_change_delay
+    assert self.alc.auto_lane_change_allowed
 
-      # Simulate lane change is initiated
-      self.DH.lane_change_state = LaneChangeState.laneChangeStarting
-      self.alc.update_state()
+    # Simulate lane change is initiated
+    self.DH.lane_change_state = LaneChangeState.laneChangeStarting
+    self.alc.update_state()
 
-      # Simulate lane change is completed, and one_blinker stays on
-      self.DH.lane_change_state = LaneChangeState.preLaneChange
-      self.alc.update_state()
+    # Simulate lane change is completed, and one_blinker stays on
+    self.DH.lane_change_state = LaneChangeState.preLaneChange
+    self.alc.update_state()
 
-      # Update enough times to exceed the threshold (seconds / DT_MDL)
-      for _ in range(num_updates):
-        self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+    # Update enough times to exceed the threshold (seconds / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
-      assert not self.alc.auto_lane_change_allowed
+    assert not self.alc.auto_lane_change_allowed
 
   def test_auto_lane_change_mode_off_disallows_lane_change(self):
     """Test that OFF mode never allows auto lane change."""
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
index 7a72cfa1f2..4f0e6c03df 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -8,9 +8,10 @@ from opendbc.car.structs import car
 
 from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestBlinkerPauseLateral:
+class TestBlinkerPauseLateral(OpenpilotTestCase):
 
   def setup_method(self):
     self.blinker_pause_lateral = BlinkerPauseLateral()
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
index 434b12110b..52c6cecbfc 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -1,6 +1,7 @@
-import pytest
 from openpilot.cereal import log, custom
 from openpilot.common.params import Params
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
@@ -10,65 +11,63 @@ from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLan
 TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 
-@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
-  (True, False, 5, False, False, TurnDirection.turnLeft),
-  (False, True, 6, False, False, TurnDirection.turnRight),
-  (True, False, 9, False, False, TurnDirection.none),
-  (True, False, 7, True, False, TurnDirection.none),
-  (False, True, 6, False, True, TurnDirection.none),
-  (False, False, 5, False, False, TurnDirection.none),
-  (True, True, 5, False, False, TurnDirection.none),
-])
-def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
-  assert controller.get_turn_direction() == expected
+class TestLaneTurnDesire(OpenpilotTestCase):
+  @parameterized.expand([
+    (True, False, 5, False, False, TurnDirection.turnLeft),
+    (False, True, 6, False, False, TurnDirection.turnRight),
+    (True, False, 9, False, False, TurnDirection.none),
+    (True, False, 7, True, False, TurnDirection.none),
+    (False, True, 6, False, True, TurnDirection.none),
+    (False, False, 5, False, False, TurnDirection.none),
+    (True, True, 5, False, False, TurnDirection.none),
+  ])
+  def test_lane_turn_desire_conditions(self, left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+    assert controller.get_turn_direction() == expected
 
+  def test_lane_turn_desire_disabled(self):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = False
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, False, True, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
 
-def test_lane_turn_desire_disabled():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = False
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, False, True, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
+  def test_lane_turn_overrides_lane_change(self):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    # left turn desire
+    controller.update_lane_turn(False, False, True, False, 5)
+    assert controller.get_turn_direction() == TurnDirection.turnLeft
+    # right turn desire
+    controller.update_lane_turn(False, False, False, True, 6)
+    assert controller.get_turn_direction() == TurnDirection.turnRight
+    # no turn
+    controller.update_lane_turn(False, False, False, False, 7)
+    assert controller.get_turn_direction() == TurnDirection.none
 
-
-def test_lane_turn_overrides_lane_change():
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  # left turn desire
-  controller.update_lane_turn(False, False, True, False, 5)
-  assert controller.get_turn_direction() == TurnDirection.turnLeft
-  # right turn desire
-  controller.update_lane_turn(False, False, False, True, 6)
-  assert controller.get_turn_direction() == TurnDirection.turnRight
-  # no turn
-  controller.update_lane_turn(False, False, False, False, 7)
-  assert controller.get_turn_direction() == TurnDirection.none
-
-
-@pytest.mark.parametrize("v_ego,expected", [
-  (8.93, TurnDirection.turnLeft),  # just below threshold
-  (8.96, TurnDirection.none),  # above threshold
-  (8.95, TurnDirection.none),  # just above threshold
-])
-def test_lane_turn_desire_speed_boundary(v_ego, expected):
-  dh = DesireHelper()
-  controller = LaneTurnController(dh)
-  controller.enabled = True
-  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
-  controller.turn_direction = TurnDirection.none
-  controller.update_lane_turn(False, True, True, False, v_ego)
-  assert controller.get_turn_direction() == expected
+  @parameterized.expand([
+    (8.93, TurnDirection.turnLeft),  # just below threshold
+    (8.96, TurnDirection.none),  # above threshold
+    (8.95, TurnDirection.none),  # just above threshold
+  ])
+  def test_lane_turn_desire_speed_boundary(self, v_ego, expected):
+    dh = DesireHelper()
+    controller = LaneTurnController(dh)
+    controller.enabled = True
+    controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+    controller.turn_direction = TurnDirection.none
+    controller.update_lane_turn(False, True, True, False, v_ego)
+    assert controller.get_turn_direction() == expected
 
 
 class DummyCarState:
@@ -84,43 +83,42 @@ class DummyCarState:
     self.brakePressed = brakePressed
 
 
-@pytest.fixture
 def set_lane_turn_params():
   params = Params()
   params.put("LaneTurnDesire", True)
   params.put("LaneTurnValue", 20.0)
 
 
-@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
-  # Lane turn desire overrides lane change desire
-  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnLeft),
-  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
-   log.Desire.turnRight),
-  # Lane change desire only (no turn desires)
-  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
-                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
-  # No desire (inactive)
-  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
-  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
-])
-def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
-  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob,
-              left_edge_detected=False, right_edge_detected=False)
-  assert dh.desire == expected_desire
+class TestDesireHelperIntegration(OpenpilotTestCase):
+  @parameterized.expand([
+    # Lane turn desire overrides lane change desire
+    (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+     log.Desire.turnLeft),
+    (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+     log.Desire.turnRight),
+    # Lane change desire only (no turn desires)
+    (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                   steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+    # No desire (inactive)
+    (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+    (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+  ], names=["carstate", "lateral_active", "lane_change_prob", "expected_desire"])
+  def test_desire_helper_integration(self, carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    for _ in range(10):
+      dh.update(carstate, lateral_active, lane_change_prob,
+                left_edge_detected=False, right_edge_detected=False)
+    assert dh.desire == expected_desire
 
-
-def test_edge_blocks_lane_change(set_lane_turn_params):
-  dh = DesireHelper()
-  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
-  carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
-  for _ in range(10):
-    dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
-  assert dh.lane_change_state == LaneChangeState.preLaneChange
-  assert dh.lane_change_direction == LaneChangeDirection.left
-  assert dh.desire == log.Desire.none
+  def test_edge_blocks_lane_change(self, set_lane_turn_params):
+    dh = DesireHelper()
+    dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    carstate = DummyCarState(vEgo=15, leftBlinker=True, steeringPressed=True, steeringTorque=1)
+    for _ in range(10):
+      dh.update(carstate, True, 1.0, left_edge_detected=True, right_edge_detected=False)
+    assert dh.lane_change_state == LaneChangeState.preLaneChange
+    assert dh.lane_change_direction == LaneChangeDirection.left
+    assert dh.desire == log.Desire.none
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
index 2b47977514..b4f1137081 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_latcontrol_torque_ext.py
@@ -16,9 +16,10 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.locationd.helpers import Pose
-from openpilot.common.mock.generators import generate_livePose
+from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.common.test import OpenpilotTestCase
 
 
 def _make_controller(enhanced=False, nnlc=False):
@@ -62,16 +63,16 @@ def _run_update(controller, VM):
   CS = car.CarState.new_message()
   CS.vEgo = 30
   CS.steeringPressed = False
-  lp = generate_livePose()
-  pose = Pose.from_live_pose(lp.livePose)
-  params = log.LiveParametersData.new_message()
+  lp = generate_deviceMotion()
+  pose = Pose.from_device_motion(lp.deviceMotion)
+  params = log.VehicleParameters.new_message()
   model_v2 = _make_model_v2().modelV2
   controller.extension.update_model_v2(model_v2)
   controller.extension.update_lateral_lag(0.2)
   return controller.update(True, CS, VM, params, False, 0.5, pose, False, 0.2)
 
 
-class TestLatControlTorqueExt:
+class TestLatControlTorqueExt(OpenpilotTestCase):
   def test_init_enhanced_only(self):
     controller, VM, _ = _make_controller(enhanced=True, nnlc=False)
     assert controller.extension._jerk_aware_enabled
diff --git a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
index 71b153c8b7..8fea65e1a1 100644
--- a/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
+++ b/openpilot/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
@@ -4,7 +4,8 @@ Copyright (c) 2021-, rav4kumar, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import pytest
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
@@ -29,7 +30,6 @@ CLOSE_EDGES = edges(-2.0, 1.5)
 FAR_EDGES = edges(-10.0, 10.0)
 
 
-@pytest.fixture
 def relc(mocker):
   mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
   controller = RoadEdgeLaneChangeController()
@@ -42,128 +42,129 @@ def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, ro
     controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
 
 
-@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
-  ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
-  ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
-])
-def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
-  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
-  assert getattr(relc, attr)
+class TestRELC(OpenpilotTestCase):
+  @parameterized.expand([
+    ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
+    ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
+  ], names=["road_edge_stds", "lane_line_probs", "attr"])
+  def test_edge_detection(self, relc, road_edge_stds, lane_line_probs, attr):
+    drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+    assert getattr(relc, attr)
 
 
-def test_edge_detection_requires_time(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
-  assert not relc.left_edge_detected
+  def test_edge_detection_requires_time(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+    assert not relc.left_edge_detected
 
 
-def test_both_edges_detected(relc):
-  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
-  assert relc.right_edge_detected
+  def test_both_edges_detected(self, relc):
+    drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
+    assert relc.right_edge_detected
 
 
-def test_noise_doesnt_clear(relc):
-  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
-  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+  def test_noise_doesnt_clear(self, relc):
+    edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+    clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
 
-  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
+    drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
 
-  relc.update(*clear, V_HIGH, CLOSE_EDGES)
-  relc.update(*edge, V_HIGH, CLOSE_EDGES)
-  assert relc.left_edge_detected
+    relc.update(*clear, V_HIGH, CLOSE_EDGES)
+    relc.update(*edge, V_HIGH, CLOSE_EDGES)
+    assert relc.left_edge_detected
 
 
-def test_clears_after_window(relc):
-  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
-  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+  def test_clears_after_window(self, relc):
+    edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+    clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
 
-  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
+    drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
 
-  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
-  assert not relc.left_edge_detected
-  assert relc.left_edge_timer == 0.0
+    drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+    assert not relc.left_edge_detected
+    assert relc.left_edge_timer == 0.0
 
 
-def test_low_speed_skips(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
-  assert not relc.left_edge_detected
-  assert relc.left_edge_timer == 0.0
+  def test_low_speed_skips(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+    assert not relc.left_edge_detected
+    assert relc.left_edge_timer == 0.0
 
 
-def test_speed_drop_resets(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
+  def test_speed_drop_resets(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
 
-  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
-  assert not relc.left_edge_detected
+    relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW, CLOSE_EDGES)
+    assert not relc.left_edge_detected
 
 
-def test_param_off_resets(relc):
-  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
-  assert relc.left_edge_detected
+  def test_param_off_resets(self, relc):
+    drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+    assert relc.left_edge_detected
 
-  relc.params.get_bool.return_value = False
-  relc.read_params()
-  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
+    relc.params.get_bool.return_value = False
+    relc.read_params()
+    relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH, CLOSE_EDGES)
+    assert not relc.left_edge_detected
+    assert not relc.right_edge_detected
 
 
-def test_lane_line_prevents_detection(relc):
-  drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
-  assert not relc.left_edge_detected
+  def test_lane_line_prevents_detection(self, relc):
+    drive(relc, [0.0, 0.9], [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+    assert not relc.left_edge_detected
 
 
-def test_one_side_blocks_other_allows(relc):
-  drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
-  assert relc.right_edge_detected
-  assert not relc.left_edge_detected
+  def test_one_side_blocks_other_allows(self, relc):
+    drive(relc, [0.9, 0.0], [0.8, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+    assert relc.right_edge_detected
+    assert not relc.left_edge_detected
 
 
-def test_disabled_no_detection(relc):
-  relc.enabled = False
-  relc.params.get_bool.return_value = False
-  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
+  def test_disabled_no_detection(self, relc):
+    relc.enabled = False
+    relc.params.get_bool.return_value = False
+    drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+    assert not relc.left_edge_detected
+    assert not relc.right_edge_detected
 
 
-def test_far_edge_no_block(relc):
-  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
-  assert not relc.left_edge_detected
+  def test_far_edge_no_block(self, relc):
+    drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1, road_edges=FAR_EDGES)
+    assert not relc.left_edge_detected
 
 
-def test_close_edge_blocks(relc):
-  drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-8.0, 1.5))
-  assert relc.right_edge_detected
-  assert not relc.left_edge_detected
+  def test_close_edge_blocks(self, relc):
+    drive(relc, [0.9, 0.0], [0.05, 0.8, 0.8, 0.05], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-8.0, 1.5))
+    assert relc.right_edge_detected
+    assert not relc.left_edge_detected
 
 
-def test_wide_road_no_lines_no_block(relc):
-  drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-8.0, 8.0))
-  assert not relc.left_edge_detected
-  assert not relc.right_edge_detected
+  def test_wide_road_no_lines_no_block(self, relc):
+    drive(relc, [0.0, 0.0], [0.05, 0.4, 0.4, 0.05], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-8.0, 8.0))
+    assert not relc.left_edge_detected
+    assert not relc.right_edge_detected
 
 
-def test_narrow_road_both_block(relc):
-  drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-2.5, 2.5))
-  assert relc.left_edge_detected
-  assert relc.right_edge_detected
+  def test_narrow_road_both_block(self, relc):
+    drive(relc, [0.0, 0.0], [0.02, 0.4, 0.4, 0.02], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-2.5, 2.5))
+    assert relc.left_edge_detected
+    assert relc.right_edge_detected
 
 
-def test_clearance_boundary(relc):
-  boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE  # 4.78m
-  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-(boundary - 0.1), 10.0))
-  assert relc.left_edge_detected
+  def test_clearance_boundary(self, relc):
+    boundary = VEHICLE_EDGE_MARGIN + EDGE_CLEARANCE  # 4.78m
+    drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-(boundary - 0.1), 10.0))
+    assert relc.left_edge_detected
 
-  relc.reset()
+    relc.reset()
 
-  drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
-        road_edges=edges(-(boundary + 0.1), 10.0))
-  assert not relc.left_edge_detected
+    drive(relc, [0.0, 0.9], [0.05, 0.5, 0.5, 0.08], EDGE_REACTION_TIME + 0.1,
+          road_edges=edges(-(boundary + 0.1), 10.0))
+    assert not relc.left_edge_detected
diff --git a/openpilot/sunnypilot/selfdrive/locationd/locationd.cc b/openpilot/sunnypilot/selfdrive/locationd/locationd.cc
index b24daa961b..499088a340 100644
--- a/openpilot/sunnypilot/selfdrive/locationd/locationd.cc
+++ b/openpilot/sunnypilot/selfdrive/locationd/locationd.cc
@@ -492,7 +492,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
 }
 
-void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
+void Localizer::handle_live_calib(double current_time, const cereal::ExtrinsicsCalibration::Reader& log) {
   if (!this->is_timestamp_valid(current_time)) {
     this->observation_timings_invalid = true;
     return;
@@ -501,15 +501,15 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
   if (log.getRpyCalib().size() > 0) {
     auto live_calib = floatlist2vector(log.getRpyCalib());
     if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
-      this->observation_values_invalid["liveCalibration"] += 1.0;
+      this->observation_values_invalid["extrinsicsCalibration"] += 1.0;
       return;
     }
 
     this->calib = live_calib;
     this->device_from_calib = euler2rot(this->calib);
     this->calib_from_device = this->device_from_calib.transpose();
-    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
-    this->observation_values_invalid["liveCalibration"] *= DECAY;
+    this->calibrated = log.getCalStatus() == cereal::ExtrinsicsCalibration::Status::CALIBRATED;
+    this->observation_values_invalid["extrinsicsCalibration"] *= DECAY;
   }
 }
 
@@ -604,8 +604,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
     this->handle_car_state(t, log.getCarState());
   } else if (log.isCameraOdometry()) {
     this->handle_cam_odo(t, log.getCameraOdometry());
-  } else if (log.isLiveCalibration()) {
-    this->handle_live_calib(t, log.getLiveCalibration());
+  } else if (log.isExtrinsicsCalibration()) {
+    this->handle_live_calib(t, log.getExtrinsicsCalibration());
   }
   this->finite_check();
   this->update_reset_tracker();
@@ -688,7 +688,7 @@ int Localizer::locationd_thread() {
   }
 
   this->configure_gnss_source(source);
-  const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
+  const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "extrinsicsCalibration",
                                                           "carState", "accelerometer", "gyroscope"};
 
   SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
@@ -696,7 +696,7 @@ int Localizer::locationd_thread() {
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
-  const std::vector critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
+  const std::vector critical_input_services = {"cameraOdometry", "extrinsicsCalibration", "accelerometer", "gyroscope"};
   for (std::string service : critical_input_services) {
     this->observation_values_invalid.insert({service, 0.0});
   }
diff --git a/openpilot/sunnypilot/selfdrive/locationd/locationd.h b/openpilot/sunnypilot/selfdrive/locationd/locationd.h
index a6ce697f30..c0535e6686 100644
--- a/openpilot/sunnypilot/selfdrive/locationd/locationd.h
+++ b/openpilot/sunnypilot/selfdrive/locationd/locationd.h
@@ -60,7 +60,7 @@ public:
   void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
   void handle_car_state(double current_time, const cereal::CarState::Reader& log);
   void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
-  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
+  void handle_live_calib(double current_time, const cereal::ExtrinsicsCalibration::Reader& log);
 
   void input_fake_gps_observations(double current_time);
 
diff --git a/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
index f81d1349aa..ac6ab6aaea 100644
--- a/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
+++ b/openpilot/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -1,5 +1,5 @@
-import pytest
 import platform
+import unittest
 import json
 import random
 import time
@@ -11,14 +11,12 @@ from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.common.test import OpenpilotTestCase
 
 
-if platform.system() == 'Darwin':
-  pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
+@unittest.skipIf(platform.system() == 'Darwin', "msgq unsupported on macOS")
+class TestLocationdProc(OpenpilotTestCase):
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'extrinsicsCalibration',
               'accelerometer', 'gyroscope']
 
   def setup_method(self):
@@ -88,6 +86,6 @@ class TestLocationdProc:
     time.sleep(1)  # wait for async params write
 
     lastGPS = json.loads(self.params.get('LastGPSPositionLLK'))
-    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
-    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
-    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001)
+    self.assertAlmostEqual(lastGPS['latitude'], self.lat, delta=0.001)
+    self.assertAlmostEqual(lastGPS['longitude'], self.lon, delta=0.001)
+    self.assertAlmostEqual(lastGPS['altitude'], self.alt, delta=0.001)
diff --git a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
index 798fab650b..5824f82531 100644
--- a/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
+++ b/openpilot/sunnypilot/selfdrive/selfdrived/tests/test_button_state_tracker.py
@@ -6,12 +6,13 @@ See the LICENSE.md file in the root directory for more details.
 """
 from opendbc.car.structs import car
 from openpilot.sunnypilot.selfdrive.selfdrived.button_state_tracker import ButtonStateTracker
+from openpilot.common.test import OpenpilotTestCase
 
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-class TestButtonStateTracker:
+class TestButtonStateTracker(OpenpilotTestCase):
   def setup_method(self) -> None:
     self.tracker = ButtonStateTracker()
 
diff --git a/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
index 7b81da5ad4..9540d8329d 100644
--- a/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
+++ b/openpilot/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
@@ -5,9 +5,10 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+from openpilot.common.test import OpenpilotTestCase
 
 
-class TestSunnylinkdMethods:
+class TestSunnylinkdMethods(OpenpilotTestCase):
   def setup_method(self):
     self.saved_params = []
 
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py b/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
index 4af1462479..7e0272a7c9 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_capabilities.py
@@ -12,7 +12,6 @@ the same commit so the bump shows up in code review.
 """
 from __future__ import annotations
 
-import pytest
 
 from openpilot.sunnypilot.sunnylink.capabilities import (
   CAPABILITY_DEFAULTS,
@@ -21,18 +20,18 @@ from openpilot.sunnypilot.sunnylink.capabilities import (
   PROTOCOL_VERSION,
   generate_capabilities,
 )
+from openpilot.common.test import OpenpilotTestCase
 
 
 KNOWN_PROTOCOL_VERSIONS = (1,)
 LATEST_KNOWN = max(KNOWN_PROTOCOL_VERSIONS)
 
 
-@pytest.fixture(scope="module")
 def caps():
   return generate_capabilities()
 
 
-class TestProtocolVersion:
+class TestProtocolVersion(OpenpilotTestCase):
   def test_protocol_version_in_capability_fields(self):
     assert "protocol_version" in CAPABILITY_FIELDS
 
@@ -63,7 +62,7 @@ class TestProtocolVersion:
     )
 
 
-class TestOpaquePerBrandFlags:
+class TestOpaquePerBrandFlags(OpenpilotTestCase):
   def test_subaru_has_sng_field_present(self):
     assert "subaru_has_sng" in CAPABILITY_FIELDS
 
@@ -77,7 +76,7 @@ class TestOpaquePerBrandFlags:
     assert caps["hyundai_alpha_long_available"] is False
 
 
-class TestCapabilitiesShape:
+class TestCapabilitiesShape(OpenpilotTestCase):
   def test_all_fields_present(self, caps):
     for field in CAPABILITY_FIELDS:
       assert field in caps, f"capabilities missing {field}"
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py b/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
index 2fcd889ec3..797bf42558 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
@@ -19,7 +19,6 @@ import difflib
 import json
 import os
 
-import pytest
 import yaml
 
 from openpilot.sunnypilot.sunnylink.tools.compile_settings_ui import (
@@ -29,20 +28,19 @@ from openpilot.sunnypilot.sunnylink.tools.compile_settings_ui import (
   _resolve_refs,
   compile_schema,
 )
+from openpilot.common.test import OpenpilotTestCase
 
 
-@pytest.fixture(scope="module")
 def compiled() -> dict:
   return compile_schema(DEFAULT_SRC)
 
 
-@pytest.fixture(scope="module")
 def committed() -> dict:
   with open(DEFAULT_OUT) as f:
     return json.load(f)
 
 
-class TestRoundtrip:
+class TestRoundtrip(OpenpilotTestCase):
   def test_compiled_matches_committed(self, compiled, committed):
     """Compiled output must match the checked-in JSON."""
     if compiled == committed:
@@ -54,7 +52,7 @@ class TestRoundtrip:
       tofile="settings_ui.json (freshly compiled)",
       lineterm="",
     ))
-    pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
+    self.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")
 
   def test_committed_file_is_canonical(self):
     """Compiled output must byte-match the checked-in file (including trailing newline).
@@ -72,10 +70,10 @@ class TestRoundtrip:
       tofile="settings_ui.json (freshly compiled)",
       lineterm="",
     ))
-    pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
+    self.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")
 
 
-class TestRefResolution:
+class TestRefResolution(OpenpilotTestCase):
   def test_list_context_splices(self):
     macros = {"a": [{"type": "offroad_only"}], "b": [{"type": "not_engaged"}]}
     out = _resolve_refs([{"$ref": "#/macros/a"}, {"$ref": "#/macros/b"}], macros)
@@ -95,12 +93,12 @@ class TestRefResolution:
     assert out == [{"type": "offroad_only"}]
 
   def test_unknown_macro_raises(self):
-    with pytest.raises(CompileError, match="unknown macro"):
+    with self.assertRaisesRegex(CompileError, "unknown macro"):
       _resolve_refs([{"$ref": "#/macros/missing"}], {})
 
   def test_cycle_raises(self):
     macros = {"a": [{"$ref": "#/macros/b"}], "b": [{"$ref": "#/macros/a"}]}
-    with pytest.raises(CompileError, match="cycle"):
+    with self.assertRaisesRegex(CompileError, "cycle"):
       _resolve_refs([{"$ref": "#/macros/a"}], macros)
 
   def test_depth_limit(self):
@@ -111,20 +109,20 @@ class TestRefResolution:
       "l3": [{"$ref": "#/macros/l4"}],
       "l4": [{"type": "offroad_only"}],
     }
-    with pytest.raises(CompileError, match="depth"):
+    with self.assertRaisesRegex(CompileError, "depth"):
       _resolve_refs([{"$ref": "#/macros/l1"}], macros)
 
   def test_invalid_ref_scheme(self):
-    with pytest.raises(CompileError, match="unsupported"):
+    with self.assertRaisesRegex(CompileError, "unsupported"):
       _resolve_refs([{"$ref": "https://example.com/x"}], {})
 
   def test_scalar_macro_in_list_context_raises(self):
     macros = {"x": {"type": "offroad_only"}}  # macro is a single rule (dict), not a list
-    with pytest.raises(CompileError, match="must resolve to a list"):
+    with self.assertRaisesRegex(CompileError, "must resolve to a list"):
       _resolve_refs([{"$ref": "#/macros/x"}], macros)
 
 
-class TestCompiledShape:
+class TestCompiledShape(OpenpilotTestCase):
   def test_panels_present(self, compiled):
     assert isinstance(compiled["panels"], list)
     assert len(compiled["panels"]) == 9
@@ -145,7 +143,7 @@ class TestCompiledShape:
     def walk(node):
       if isinstance(node, dict):
         if "$ref" in node:
-          pytest.fail(f"unresolved $ref: {node}")
+          self.fail(f"unresolved $ref: {node}")
         for v in node.values():
           walk(v)
       elif isinstance(node, list):
@@ -154,7 +152,7 @@ class TestCompiledShape:
     walk(compiled)
 
 
-class TestSourceTreeIntegrity:
+class TestSourceTreeIntegrity(OpenpilotTestCase):
   def test_macros_yaml_well_formed(self):
     with open(os.path.join(DEFAULT_SRC, "_macros.yaml")) as f:
       doc = yaml.safe_load(f)
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
index 07b05d4ac4..d9b1267a10 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -15,7 +15,7 @@ import json
 import os
 from typing import Any
 
-import pytest
+from openpilot.common.parameterized import parameterized
 
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
   DEFINITION_PATH,
@@ -24,6 +24,7 @@ from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
   _load_torque_versions,
   generate_schema,
 )
+from openpilot.common.test import OpenpilotTestCase
 
 
 SCHEMA_VALIDATOR_PATH = os.path.join(os.path.dirname(DEFINITION_PATH), "settings_ui.schema.json")
@@ -105,12 +106,11 @@ def _references_capability_field(rules: list[dict[str, Any]] | None, field: str)
   return found
 
 
-@pytest.fixture(scope="module")
 def schema():
   return generate_schema()
 
 
-class TestMadsBrandGates:
+class TestMadsBrandGates(OpenpilotTestCase):
   def test_mads_main_cruise_has_brand_gate(self, schema):
     """MadsMainCruiseAllowed must gate on brand and tesla_has_vehicle_bus."""
     item = _find_item(schema, "MadsMainCruiseAllowed")
@@ -126,7 +126,7 @@ class TestMadsBrandGates:
     assert _references_capability_field(item.get("enablement"), "tesla_has_vehicle_bus")
 
 
-class TestTestManeuversSection:
+class TestTestManeuversSection(OpenpilotTestCase):
   def test_lateral_maneuver_mode_in_test_maneuvers(self, schema):
     section = _find_section(schema, "developer", "test_maneuvers")
     assert section is not None, "developer.test_maneuvers section missing"
@@ -153,10 +153,13 @@ class TestTestManeuversSection:
       "test_maneuvers must gate ShowAdvancedControls via enablement"
 
 
-class TestValidator:
+class TestValidator(OpenpilotTestCase):
   def test_validator_accepts_real_json(self):
     """settings_ui.json validates against settings_ui.schema.json."""
-    jsonschema = pytest.importorskip("jsonschema")
+    try:
+      import jsonschema
+    except ImportError:
+      self.skipTest("jsonschema not installed")
     with open(DEFINITION_PATH) as f:
       data = json.load(f)
     with open(SCHEMA_VALIDATOR_PATH) as f:
@@ -164,7 +167,7 @@ class TestValidator:
     jsonschema.validate(instance=data, schema=validator)
 
 
-class TestTorqueOptionGeneration:
+class TestTorqueOptionGeneration(OpenpilotTestCase):
   def test_torque_versions_match_generated_options(self, schema):
     versions = _load_torque_versions()
     assert versions, "latcontrol_torque_versions.json must have at least one version"
@@ -179,11 +182,11 @@ class TestTorqueOptionGeneration:
     )
 
 
-class TestReleaseBranchGates:
-  @pytest.mark.parametrize("key", [
+class TestReleaseBranchGates(OpenpilotTestCase):
+  @parameterized.expand([
     "EnableGithubRunner",
     "QuickBootToggle",
-  ])
+  ], names=["key"])
   def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
     """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
     item = _find_item(schema, key)
@@ -192,7 +195,7 @@ class TestReleaseBranchGates:
     assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"
 
 
-class TestSpuriousOffroadGatesDropped:
+class TestSpuriousOffroadGatesDropped(OpenpilotTestCase):
   def test_disengage_on_accelerator_has_no_offroad_only(self, schema):
     item = _find_item(schema, "DisengageOnAccelerator")
     assert item is not None
@@ -204,12 +207,12 @@ class TestSpuriousOffroadGatesDropped:
     assert "offroad_only" not in _flatten_rule_types(item.get("enablement"))
 
 
-class TestNotEngagedReplacement:
-  @pytest.mark.parametrize("key", [
+class TestNotEngagedReplacement(OpenpilotTestCase):
+  @parameterized.expand([
     "AlphaLongitudinalEnabled",
     "ToyotaEnforceStockLongitudinal",
     "ToyotaStopAndGoHack",
-  ])
+  ], names=["key"])
   def test_offroad_only_replaced_with_not_engaged(self, schema, key):
     """These items should use not_engaged, not offroad_only."""
     item = _find_item(schema, key)
diff --git a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
index 579d72b60b..e60ac000f4 100644
--- a/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
+++ b/openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py
@@ -5,7 +5,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import json
-import pytest
 
 from openpilot.common.params import Params
 from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
@@ -16,6 +15,7 @@ from openpilot.sunnypilot.sunnylink.tools.generate_settings_schema import (
   collect_capability_refs,
 )
 from openpilot.sunnypilot.sunnylink.capabilities import CAPABILITY_FIELDS
+from openpilot.common.test import OpenpilotTestCase
 
 
 VALID_WIDGET_TYPES = {"toggle", "option", "multiple_button", "button", "info"}
@@ -55,18 +55,16 @@ def _brand_items(brand_data) -> list[dict]:
   return []
 
 
-@pytest.fixture(scope="module")
 def schema():
   return generate_schema()
 
 
-@pytest.fixture(scope="module")
 def all_param_keys():
   """All keys registered in the device param store."""
   return {k.decode("utf-8") for k in Params().all_keys()}
 
 
-class TestSchemaStructure:
+class TestSchemaStructure(OpenpilotTestCase):
   def test_schema_is_valid_json(self):
     """Schema serializes to valid JSON."""
     raw = generate_schema_json()
@@ -141,16 +139,16 @@ class TestSchemaStructure:
       for item in _iter_panel_items(panel):
         key = item["key"]
         if key in seen:
-          pytest.fail(f"Key '{key}' appears in both panel '{seen[key]}' and '{panel['id']}'")
+          self.fail(f"Key '{key}' appears in both panel '{seen[key]}' and '{panel['id']}'")
         seen[key] = panel["id"]
         for sub in item.get("sub_items", []):
           sub_key = sub["key"]
           if sub_key in seen:
-            pytest.fail(f"Sub-item key '{sub_key}' appears in both '{seen[sub_key]}' and '{panel['id']}'")
+            self.fail(f"Sub-item key '{sub_key}' appears in both '{seen[sub_key]}' and '{panel['id']}'")
           seen[sub_key] = panel["id"]
 
 
-class TestSchemaCoverage:
+class TestSchemaCoverage(OpenpilotTestCase):
   def test_all_schema_keys_exist_in_params(self, schema, all_param_keys):
     """Schema keys must exist in Params().all_keys()."""
     schema_keys = collect_all_keys(schema)
@@ -169,7 +167,7 @@ class TestSchemaCoverage:
     assert set(schema["capability_fields"]) == set(CAPABILITY_FIELDS)
 
 
-class TestRuleWellFormedness:
+class TestRuleWellFormedness(OpenpilotTestCase):
   def _validate_rule(self, rule: dict, context: str = ""):
     """Recursively validate a single rule dict."""
     assert "type" in rule, f"Rule missing 'type' in {context}"
@@ -232,7 +230,7 @@ class TestRuleWellFormedness:
       key = item.get("key")
       for rule in item.get(rules_field, []):
         if rule.get("type") == "param" and rule.get("key") == key:
-          pytest.fail(f"Item {key} has self-referencing {rules_field} rule")
+          self.fail(f"Item {key} has self-referencing {rules_field} rule")
 
     for panel in schema["panels"]:
       for item in _iter_panel_items(panel):
@@ -245,7 +243,7 @@ class TestRuleWellFormedness:
         _check_self_ref(item, "enablement")
 
 
-class TestKnownPanels:
+class TestKnownPanels(OpenpilotTestCase):
   def test_expected_panels_exist(self, schema):
     panel_ids = {p["id"] for p in schema["panels"]}
     expected = {"steering", "cruise", "display", "visuals", "device", "software", "developer"}
@@ -279,7 +277,7 @@ class TestKnownPanels:
     assert "NeuralNetworkLateralControl" in enhanced_enable_keys
 
 
-class TestKnownVehicleSettings:
+class TestKnownVehicleSettings(OpenpilotTestCase):
   def test_hyundai_has_longitudinal_tuning(self, schema):
     keys = {i["key"] for i in _brand_items(schema["vehicle_settings"].get("hyundai"))}
     assert "HyundaiLongitudinalTuning" in keys
@@ -299,7 +297,7 @@ class TestKnownVehicleSettings:
     assert "SubaruStopAndGoManualParkingBrake" in keys
 
 
-class TestItemCompleteness:
+class TestItemCompleteness(OpenpilotTestCase):
   def _collect_all_items(self, schema):
     """Collect all items and sub_items from panels and vehicle_settings."""
     items = []
@@ -319,7 +317,7 @@ class TestItemCompleteness:
     """All items must have titles."""
     missing = [i["key"] for i in self._collect_all_items(schema) if "title" not in i]
     if len(missing) > MAX_ALLOWED_MISSING_TITLES:
-      pytest.fail(f"Items without titles ({len(missing)}): {missing[:10]}")
+      self.fail(f"Items without titles ({len(missing)}): {missing[:10]}")
 
   def test_no_default_titles(self, schema):
     """Item titles must differ from keys."""
diff --git a/openpilot/sunnypilot/system/sensord/tests/test_sensord.py b/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
index 53f5d27219..39486fde76 100644
--- a/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/sunnypilot/system/sensord/tests/test_sensord.py
@@ -1,6 +1,5 @@
 import os
 import subprocess
-import pytest
 import time
 import numpy as np
 from collections import namedtuple, defaultdict
@@ -12,6 +11,7 @@ from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
 from openpilot.common.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.common.test import OpenpilotTestCase
 
 BMX = {
   ('bmx055', 'acceleration'),
@@ -103,8 +103,9 @@ def read_sensor_events(duration_sec):
 
   return {k: v for k, v in events.items() if len(v) > 0}
 
-@pytest.mark.tici
-class TestSensord:
+class TestSensord(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
+
   @classmethod
   def setup_class(cls):
     # enable LSM self test
diff --git a/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py b/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
index b2742841a0..86f82fd9d2 100644
--- a/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
+++ b/openpilot/sunnypilot/system/updated/tests/test_sp_branch_migrations.py
@@ -4,70 +4,72 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import pytest
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 
 from openpilot.common.params import Params
 from openpilot.system.updated.updated import Updater
 
 
-@pytest.mark.parametrize(("device_type", "branch", "expected"), [
-  ("tici", "staging-c3-new", "staging-tici"),
-  ("tici", "dev-c3-new", "staging-tici"),
-  ("tici", "master", "master-tici"),
-  ("tici", "master-dev-c3-new", "master-tici"),
-  ("tizi", "staging-c3-new", "staging"),
-  ("tizi", "dev-c3-new", "dev"),
-  ("tizi", "master-dev-c3-new", "master-dev"),
-  ("tizi", "release3", "release-tizi"),
-  ("tizi", "release3-staging", "release-tizi-staging"),
-  ("mici", "release3", "release-mici"),
-  ("mici", "release3-staging", "release-mici-staging"),
-])
-def test_sp_branch_migrations_from_current_branch(mocker, device_type, branch, expected):
-  params = Params()
-  params.remove("UpdaterTargetBranch")
-
-  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
-  mocker.patch.object(Updater, "get_branch", return_value=branch)
-
-  assert Updater().target_branch == expected
-
-
-@pytest.mark.parametrize(("device_type", "branch", "expected"), [
-  ("tici", "staging-c3-new", "staging-tici"),
-  ("tici", "dev-c3-new", "staging-tici"),
-  ("tici", "master", "master-tici"),
-  ("tici", "master-dev-c3-new", "master-tici"),
-  ("tizi", "staging-c3-new", "staging"),
-  ("tizi", "dev-c3-new", "dev"),
-  ("tizi", "master-dev-c3-new", "master-dev"),
-  ("tizi", "release3", "release-tizi"),
-  ("tizi", "release3-staging", "release-tizi-staging"),
-  ("mici", "release3", "release-mici"),
-  ("mici", "release3-staging", "release-mici-staging"),
-])
-def test_sp_branch_migrations_from_param(mocker, device_type, branch, expected):
-  params = Params()
-  params.put("UpdaterTargetBranch", branch, block=True)
-
-  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
-
-  try:
-    assert Updater().target_branch == expected
-  finally:
+class TestBranchMigrations(OpenpilotTestCase):
+  @parameterized.expand([
+    ("tici", "staging-c3-new", "staging-tici"),
+    ("tici", "dev-c3-new", "staging-tici"),
+    ("tici", "master", "master-tici"),
+    ("tici", "master-dev-c3-new", "master-tici"),
+    ("tizi", "staging-c3-new", "staging"),
+    ("tizi", "dev-c3-new", "dev"),
+    ("tizi", "master-dev-c3-new", "master-dev"),
+    ("tizi", "release3", "release-tizi"),
+    ("tizi", "release3-staging", "release-tizi-staging"),
+    ("mici", "release3", "release-mici"),
+    ("mici", "release3-staging", "release-mici-staging"),
+  ], names=["device_type", "branch", "expected"])
+  def test_sp_branch_migrations_from_current_branch(self, mocker, device_type, branch, expected):
+    params = Params()
     params.remove("UpdaterTargetBranch")
 
+    mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+    mocker.patch.object(Updater, "get_branch", return_value=branch)
 
-@pytest.mark.parametrize(("device_type", "branch"), [
-  ("tici", "unknown"),
-  ("tizi", "unknown"),
-  ("mici", "unknown"),
-])
-def test_sp_branch_migrations_passthrough(mocker, device_type, branch):
-  params = Params()
-  params.remove("UpdaterTargetBranch")
+    assert Updater().target_branch == expected
 
-  mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
-  mocker.patch.object(Updater, "get_branch", return_value=branch)
 
-  assert Updater().target_branch == branch
+  @parameterized.expand([
+    ("tici", "staging-c3-new", "staging-tici"),
+    ("tici", "dev-c3-new", "staging-tici"),
+    ("tici", "master", "master-tici"),
+    ("tici", "master-dev-c3-new", "master-tici"),
+    ("tizi", "staging-c3-new", "staging"),
+    ("tizi", "dev-c3-new", "dev"),
+    ("tizi", "master-dev-c3-new", "master-dev"),
+    ("tizi", "release3", "release-tizi"),
+    ("tizi", "release3-staging", "release-tizi-staging"),
+    ("mici", "release3", "release-mici"),
+    ("mici", "release3-staging", "release-mici-staging"),
+  ], names=["device_type", "branch", "expected"])
+  def test_sp_branch_migrations_from_param(self, mocker, device_type, branch, expected):
+    params = Params()
+    params.put("UpdaterTargetBranch", branch, block=True)
+
+    mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+
+    try:
+      assert Updater().target_branch == expected
+    finally:
+      params.remove("UpdaterTargetBranch")
+
+
+  @parameterized.expand([
+    ("tici", "unknown"),
+    ("tizi", "unknown"),
+    ("mici", "unknown"),
+  ], names=["device_type", "branch"])
+  def test_sp_branch_migrations_passthrough(self, mocker, device_type, branch):
+    params = Params()
+    params.remove("UpdaterTargetBranch")
+
+    mocker.patch("openpilot.system.updated.updated.HARDWARE.get_device_type", return_value=device_type)
+    mocker.patch.object(Updater, "get_branch", return_value=branch)
+
+    assert Updater().target_branch == branch
diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index 1f59c8d271..89a98dd646 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -5,22 +5,26 @@ import base64
 import hashlib
 import itertools
 import json
+import math
 import os
 import queue
 import random
+import re
 import select
 import socket
+import subprocess
 import sys
 import tempfile
 import threading
 import time
 import gzip
+from contextlib import suppress
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial, total_ordering
 from queue import Queue
 from typing import cast
-from collections.abc import Callable
+from collections.abc import Callable, Iterable
 
 import requests
 from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
@@ -32,11 +36,14 @@ from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.hardware import HARDWARE, PC
+from openpilot.system.loggerd.config import CAMERA_FPS, SEGMENT_LENGTH
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+from openpilot.tools.lib.helpers import RE
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.version import get_build_metadata
 from openpilot.common.hardware.hw import Paths
@@ -57,6 +64,7 @@ MAX_AGE = 31 * 24 * 3600  # seconds
 WS_FRAME_SIZE = 4096
 DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 DEFAULT_UPLOAD_PRIORITY = 99  # higher number = lower priority
+CLIP_CHUNK_SIZE = 512 * 1024
 
 SEND_PRIORITY_HIGH = 0
 SEND_PRIORITY_LOW = 1
@@ -373,6 +381,7 @@ def getVersion() -> dict[str, str]:
     "remote": build_metadata.openpilot.git_normalized_origin,
     "branch": build_metadata.channel,
     "commit": build_metadata.openpilot.git_commit,
+    "commit_date": build_metadata.openpilot.git_commit_date.strip("'").split()[0],
   }
 
 
@@ -420,6 +429,217 @@ def listDataDirectory(prefix='') -> list[str]:
   return sorted(set(internal_files + external_files))
 
 
+class VideoClips:
+  @dataclass
+  class Clip:
+    route: str
+    camera: str
+    source_start_time: float
+    source_end_time: float
+    bitrate: int
+    speedup: int
+    filename: str
+    requested_at: float
+
+  def __init__(self):
+    self.clip_path = os.path.join(Paths.log_root(), "clips")
+    self.lock = threading.Condition()
+    self.clips: dict[str, VideoClips.Clip] = {}
+    self.transcode_proc: tuple[str, subprocess.Popen] | None = None
+    threading.Thread(target=self._worker, name="video_clip", daemon=True).start()
+
+  def _encode(self, clip: Clip, inputs: Iterable[str], output_path: str, start_time: float, duration: float) -> None:
+    inputs = list(inputs)
+    metadata = json.dumps(asdict(clip), separators=(',', ':'))
+    if PC:
+      command = [
+        "ffmpeg", "-hide_banner", "-loglevel", "error", "-nostdin", "-y",
+        "-r", str(CAMERA_FPS * clip.speedup), "-f", "concat", "-safe", "0", "-protocol_whitelist", "file,pipe", "-c:v", "hevc",
+        "-i", "pipe:0", "-ss", str(start_time / clip.speedup), "-t", str(duration / clip.speedup),
+        "-map", "0:v:0", "-an", "-r", str(CAMERA_FPS), "-c:v", "libx264", "-preset", "veryfast",
+        "-b:v", f"{clip.bitrate}M", "-pix_fmt", "yuv420p", "-movflags", "+faststart+use_metadata_tags",
+        "-metadata", f"ai.comma.clip.settings={metadata}", output_path,
+      ]
+    else:
+      command = [os.path.join(BASEDIR, "openpilot/system/loggerd/encoderd"), "--clip", output_path,
+                 str(start_time), str(duration), "--bitrate", str(clip.bitrate * 1_000_000),
+                 "--speedup", str(clip.speedup), "--metadata", metadata, "--", *inputs]
+
+    with self.lock:
+      if self.clips.get(clip.filename) is not clip:
+        return
+      process = subprocess.Popen(command, stdin=subprocess.PIPE if PC else subprocess.DEVNULL,
+                                 stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, text=True)
+      self.transcode_proc = (clip.filename, process)
+    try:
+      if PC:
+        if process.stdin is None:
+          raise RuntimeError("ffmpeg stdin is unavailable")
+        process.stdin.write("ffconcat version 1.0\n")
+        for path in inputs:
+          escaped_path = path.replace("'", "'\\''")
+          process.stdin.write(f"file 'file:{escaped_path}'\noption framerate {CAMERA_FPS}\nduration {SEGMENT_LENGTH}\n")
+        process.stdin.close()
+      process.wait()
+      if process.returncode != 0:
+        raise RuntimeError(f"clip encoder exited with code {process.returncode}")
+    finally:
+      with suppress(OSError):
+        if process.stdin is not None:
+          process.stdin.close()
+      if process.poll() is None:
+        process.terminate()
+        process.wait()
+      with self.lock:
+        if self.transcode_proc is not None and self.transcode_proc[0] == clip.filename:
+          self.transcode_proc = None
+
+  def _worker(self) -> None:
+    while True:
+      with self.lock:
+        while not self.clips:
+          self.lock.wait()
+        clip = next(iter(self.clips.values()))
+      temporary_path = ""
+      try:
+        with self.lock:
+          if self.clips.get(clip.filename) is not clip:
+            continue
+        first_segment = math.floor(clip.source_start_time / SEGMENT_LENGTH)
+        inputs = (
+          os.path.join(Paths.log_root(), f"{clip.route}--{segment}", clip.camera)
+          for segment in range(first_segment, math.ceil(clip.source_end_time / SEGMENT_LENGTH))
+        )
+        os.makedirs(self.clip_path, exist_ok=True)
+        temporary_path = os.path.join(self.clip_path, f".{clip.filename}")
+        output_path = os.path.join(self.clip_path, clip.filename)
+        self._encode(clip, inputs, temporary_path, clip.source_start_time - first_segment * SEGMENT_LENGTH,
+                     clip.source_end_time - clip.source_start_time)
+        with self.lock:
+          if self.clips.get(clip.filename) is clip:
+            os.replace(temporary_path, output_path)
+            del self.clips[clip.filename]
+      except Exception:
+        with self.lock:
+          failed = self.clips.get(clip.filename) is clip
+          if failed:
+            del self.clips[clip.filename]
+        if failed:
+          cloudlog.exception("athena.video_clip.failed")
+      finally:
+        with suppress(OSError):
+          if temporary_path:
+            os.unlink(temporary_path)
+
+  def _on_disk(self) -> dict[str, dict]:
+    clips = {}
+    try:
+      entries = os.scandir(self.clip_path)
+    except FileNotFoundError:
+      return clips
+    with entries:
+      for entry in entries:
+        if entry.name.startswith(".") or not entry.is_file():
+          continue
+        probe = subprocess.run(["ffprobe", "-v", "error", "-show_entries", "format_tags=ai.comma.clip.settings",
+                                "-of", "json", entry.path], capture_output=True, text=True)
+        if probe.returncode != 0:
+          continue
+        try:
+          metadata = json.loads(json.loads(probe.stdout)["format"]["tags"]["ai.comma.clip.settings"])
+          size = entry.stat().st_size
+        except (FileNotFoundError, KeyError, TypeError, json.JSONDecodeError):
+          continue
+        if not isinstance(metadata, dict) or not isinstance(metadata.get("requested_at"), (int, float)):
+          continue
+        clips[entry.name] = {**metadata, "filename": entry.name, "status": "ready",
+                             "fn": os.path.relpath(entry.path, Paths.log_root()), "size": size}
+    return clips
+
+  def _available_ranges(self, route: str) -> dict:
+    cameras: dict[str, list[int]] = {}
+    try:
+      with os.scandir(Paths.log_root()) as entries:
+        for entry in entries:
+          entry_route, _, segment = entry.name.rpartition("--")
+          if entry_route != route or not segment.isdigit() or not entry.is_dir():
+            continue
+          with os.scandir(entry.path) as files:
+            for camera in files:
+              if camera.is_file() and camera.name.endswith("camera.hevc"):
+                cameras.setdefault(camera.name, []).append(int(segment))
+    except OSError:
+      return {}
+
+    available = {}
+    for camera, camera_segments in cameras.items():
+      ranges: list[list[int]] = []
+      for segment in sorted(camera_segments):
+        if ranges and ranges[-1][1] == segment * SEGMENT_LENGTH:
+          ranges[-1][1] += SEGMENT_LENGTH
+        else:
+          ranges.append([segment * SEGMENT_LENGTH, (segment + 1) * SEGMENT_LENGTH])
+      available[camera] = {"available_ranges": ranges}
+    return available
+
+  def createClip(self, route: str, source_start_time: float, source_end_time: float, clip: dict):
+    if not PC and not Params().get_bool("IsOffroad"):
+      raise RuntimeError("video clips can only be created while offroad")
+    route_match = re.fullmatch(RE.ROUTE_NAME, route)
+    assert route_match is not None, "invalid route"
+    route_name = route_match.group("log_id")
+    camera = clip["camera"]
+    filename = clip["filename"]
+    assert camera == os.path.basename(camera) and camera.endswith("camera.hevc"), "invalid camera filename"
+    assert filename == os.path.basename(filename), "invalid filename"
+    with self.lock:
+      self.clips[filename] = self.Clip(route_name, camera, source_start_time, source_end_time, clip["bitrate"], clip["speedup"],
+                                        filename, datetime.now().timestamp())
+      self.lock.notify()
+
+  def getClipState(self, route: str | None = None) -> dict:
+    route_match = re.search(RE.ROUTE_NAME, route or "")
+    with self.lock:
+      transcode_filename = self.transcode_proc[0] if self.transcode_proc is not None else None
+      active_clips = {clip.filename: {**asdict(clip), "status": "encoding" if clip.filename == transcode_filename else "queued"}
+                      for clip in self.clips.values()}
+    clips = self._on_disk()
+    clips.update(active_clips)
+    state = {"clips": sorted(clips.values(), key=lambda clip: clip["requested_at"], reverse=True)}
+    if route_match is not None:
+      route_name = route_match.group("log_id")
+      state.update({"route": route_name, "cameras": self._available_ranges(route_name)})
+    return state
+
+  def deleteClip(self, filename: str) -> None:
+    assert filename == os.path.basename(filename), "invalid filename"
+    with self.lock:
+      self.clips.pop(filename, None)
+      output_path = os.path.join(self.clip_path, filename)
+      if self.transcode_proc is not None and self.transcode_proc[0] == filename:
+        self.transcode_proc[1].terminate()
+      if os.path.exists(output_path):
+        os.unlink(output_path)
+
+  def getClipChunk(self, filename: str, offset: int) -> dict:
+    assert filename == os.path.basename(filename) and not filename.startswith("."), "invalid filename"
+    assert isinstance(offset, int) and offset >= 0, "invalid offset"
+    path = os.path.join(self.clip_path, filename)
+    size = os.path.getsize(path)
+    assert offset <= size, "offset past end of file"
+    with open(path, "rb") as f:
+      f.seek(offset)
+      data = f.read(CLIP_CHUNK_SIZE)
+    return {"data": base64.b64encode(data).decode(), "offset": offset, "size": size}
+
+
+video_clips = VideoClips()
+dispatcher.add_method(video_clips.createClip)
+dispatcher.add_method(video_clips.getClipState)
+dispatcher.add_method(video_clips.deleteClip)
+dispatcher.add_method(video_clips.getClipChunk)
+
+
 @dispatcher.add_method
 def uploadFileToUrl(fn: str, url: str, headers: dict[str, str]) -> UploadFilesToUrlResponse:
   # this is because mypy doesn't understand that the decorator doesn't change the return type
@@ -614,7 +834,7 @@ def startStream(sdp: str, enabled: bool) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
   else:
-      raise Exception("failed to get CarParamsPersistent")
+    raise Exception("failed to get CarParamsPersistent")
 
   if params.get_bool("IsOffroad"):
     # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
@@ -623,7 +843,7 @@ def startStream(sdp: str, enabled: bool) -> dict:
     # wait for webrtcd end points to wake up
     wait_for_webrtcd()
 
-  return post_stream_request(StreamRequestBody(sdp, "wideRoad", enabled, bridge_services_in, ["carState", "deviceState"]))
+  return post_stream_request(StreamRequestBody(sdp, ["wideRoad"], enabled, bridge_services_in, ["carState", "deviceState"]))
 
 
 def get_logs_to_send_sorted(log_attr_name=LOG_ATTR_NAME) -> list[str]:
diff --git a/openpilot/system/athena/tests/helpers.py b/openpilot/system/athena/tests/helpers.py
index a0a9cccdc1..dbca66be10 100644
--- a/openpilot/system/athena/tests/helpers.py
+++ b/openpilot/system/athena/tests/helpers.py
@@ -43,11 +43,10 @@ class MockApi:
 
 
 class MockWebsocket:
-  sock = socket.socket()
-
   def __init__(self, recv_queue, send_queue):
     self.recv_queue = recv_queue
     self.send_queue = send_queue
+    self.sock = socket.socket()
 
   def recv(self):
     data = self.recv_queue.get()
@@ -59,7 +58,7 @@ class MockWebsocket:
     self.send_queue.put_nowait((data, opcode))
 
   def close(self):
-    pass
+    self.sock.close()
 
 
 class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
diff --git a/openpilot/system/athena/tests/test_athenad.py b/openpilot/system/athena/tests/test_athenad.py
index 8c090b93af..f9e4c0d334 100644
--- a/openpilot/system/athena/tests/test_athenad.py
+++ b/openpilot/system/athena/tests/test_athenad.py
@@ -1,4 +1,3 @@
-import pytest
 from functools import wraps
 import json
 import multiprocessing
@@ -14,6 +13,8 @@ from datetime import datetime, timedelta
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging
 
 from openpilot.common.params import Params
@@ -47,16 +48,14 @@ def with_upload_handler(func):
       thread.join()
   return wrapper
 
-@pytest.fixture
 def mock_create_connection(mocker):
-    return mocker.patch('openpilot.system.athena.athenad.create_connection')
+  return mocker.patch('openpilot.system.athena.athenad.create_connection')
 
-@pytest.fixture
 def host():
   with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port):
     yield f"http://{host}:{port}"
 
-class TestAthenadMethods:
+class TestAthenadMethods(OpenpilotTestCase):
   @classmethod
   def setup_class(cls):
     cls.SOCKET_PORT = 45454
@@ -104,6 +103,14 @@ class TestAthenadMethods:
       f.write(data)
     return fn
 
+  @staticmethod
+  def _video_clips(clip):
+    clips = object.__new__(athenad.VideoClips)
+    clips.lock = threading.Condition()
+    clips.clips = {clip.filename: clip}
+    clips.transcode_proc = None
+    return clips
+
 
   # *** test cases ***
 
@@ -111,7 +118,7 @@ class TestAthenadMethods:
     assert dispatcher["echo"]("bob") == "bob"
 
   def test_get_message(self):
-    with pytest.raises(TimeoutError) as _:
+    with self.assertRaises(TimeoutError) as _:
       dispatcher["getMessage"]("controlsState")
 
     end_event = multiprocessing.Event()
@@ -174,6 +181,56 @@ class TestAthenadMethods:
     assert resp, 'list empty!'
     assert len(resp) == len(expected)
 
+  def test_video_clip_hardware_encoder(self, mocker):
+    clip = athenad.VideoClips.Clip("route", "fcamera.hevc", 10, 130, 2, 4, "clip.mp4", 123)
+    clips = self._video_clips(clip)
+    process = mocker.Mock(stdin=None, returncode=0)
+    process.poll.return_value = 0
+    popen = mocker.patch("openpilot.system.athena.athenad.subprocess.Popen", return_value=process)
+    mocker.patch.object(athenad, "PC", False)
+
+    clips._encode(clip, ["segment0", "segment1"], "output.mp4", 10, 120)
+
+    metadata = json.dumps(asdict(clip), separators=(',', ':'))
+    assert popen.call_args.args[0] == [
+      os.path.join(athenad.BASEDIR, "openpilot/system/loggerd/encoderd"), "--clip", "output.mp4", "10", "120",
+      "--bitrate", "2000000", "--speedup", "4", "--metadata", metadata, "--", "segment0", "segment1",
+    ]
+    assert popen.call_args.kwargs["stdin"] == athenad.subprocess.DEVNULL
+    assert clips.transcode_proc is None
+
+  def test_video_clip_hardware_encoder_failure(self, mocker):
+    clip = athenad.VideoClips.Clip("route", "fcamera.hevc", 0, 60, 1, 1, "clip.mp4", 123)
+    clips = self._video_clips(clip)
+    process = mocker.Mock(stdin=None, returncode=1)
+    process.poll.return_value = 1
+    mocker.patch("openpilot.system.athena.athenad.subprocess.Popen", return_value=process)
+    mocker.patch.object(athenad, "PC", False)
+
+    with self.assertRaisesRegex(RuntimeError, "clip encoder exited with code 1"):
+      clips._encode(clip, ["segment"], "output.mp4", 0, 60)
+    assert clips.transcode_proc is None
+
+  def test_video_clip_software_fallback(self, mocker):
+    clip = athenad.VideoClips.Clip("route", "fcamera.hevc", 10, 30, 3, 2, "clip.mp4", 123)
+    clips = self._video_clips(clip)
+    stdin = mocker.Mock()
+    process = mocker.Mock(stdin=stdin, returncode=0)
+    process.poll.return_value = 0
+    popen = mocker.patch("openpilot.system.athena.athenad.subprocess.Popen", return_value=process)
+    mocker.patch.object(athenad, "PC", True)
+
+    clips._encode(clip, ["segment'0", "segment1"], "output.mp4", 10, 20)
+
+    command = popen.call_args.args[0]
+    assert ["-r", "40"] == command[command.index("-r"):command.index("-r") + 2]
+    assert ["-ss", "5.0"] == command[command.index("-ss"):command.index("-ss") + 2]
+    assert ["-t", "10.0"] == command[command.index("-t"):command.index("-t") + 2]
+    assert ["-b:v", "3M"] == command[command.index("-b:v"):command.index("-b:v") + 2]
+    writes = [call.args[0] for call in stdin.write.call_args_list]
+    assert "file 'file:segment'\\''0'\n" in writes[1]
+    assert writes[-1].startswith("file 'file:segment1'")
+
   def test_strip_extension(self):
     # any requested log file with an invalid extension won't return as existing
     fn = self._create_file('qlog.bz2')
@@ -184,14 +241,14 @@ class TestAthenadMethods:
     if fn.endswith('.zst'):
       assert athenad.strip_zst_extension(fn) == fn[:-4]
 
-  @pytest.mark.parametrize("compress", [True, False])
+  @parameterized.expand([True, False], names=("compress",))
   def test_do_upload(self, host, compress):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
     upload_fn = fn + ('.zst' if compress else '')
     item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
-    with pytest.raises(requests.exceptions.ConnectionError):
+    with self.assertRaises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
     item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
@@ -236,7 +293,7 @@ class TestAthenadMethods:
     # TODO: also check that end_event and metered network raises AbortTransferException
     assert athenad.upload_queue.qsize() == 0
 
-  @pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
+  @parameterized.expand([(500,True), (412,False)], names=("status", "retry"))
   @with_upload_handler
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
@@ -410,7 +467,7 @@ class TestAthenadMethods:
 
   def test_get_version(self):
     resp = dispatcher["getVersion"]()
-    keys = ["version", "remote", "branch", "commit"]
+    keys = ["version", "remote", "branch", "commit", "commit_date"]
     assert list(resp.keys()) == keys
     for k in keys:
       assert isinstance(resp[k], str), f"{k} is not a string"
diff --git a/openpilot/system/athena/tests/test_athenad_ping.py b/openpilot/system/athena/tests/test_athenad_ping.py
index 44a6b8a56b..33876a6235 100644
--- a/openpilot/system/athena/tests/test_athenad_ping.py
+++ b/openpilot/system/athena/tests/test_athenad_ping.py
@@ -1,25 +1,26 @@
-import pytest
+import unittest
 import subprocess
 import threading
 import time
 from typing import cast
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 
 TIMEOUT_TOLERANCE = 20  # seconds
 
 
 def wifi_radio(on: bool) -> None:
-  if not TICI:
+  if not COMMA_HARDWARE:
     return
   print(f"wifi {'on' if on else 'off'}")
   subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
 
 
-class TestAthenadPing:
+class TestAthenadPing(OpenpilotTestCase):
   params: Params
   dongle_id: str
 
@@ -90,12 +91,12 @@ class TestAthenadPing:
         time.sleep(0.1)
       print("ping received")
 
-  @pytest.mark.skipif(not TICI, reason="only run on desk")
+  @unittest.skipIf(not COMMA_HARDWARE, "only run on desk")
   def test_offroad(self, subtests, mocker) -> None:
     self.params.put_bool("IsOffroad", True, block=True)
     self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker)  # based using TCP keepalive settings
 
-  @pytest.mark.skipif(not TICI, reason="only run on desk")
+  @unittest.skipIf(not COMMA_HARDWARE, "only run on desk")
   def test_onroad(self, subtests, mocker) -> None:
     self.params.put_bool("IsOffroad", False, block=True)
     self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker)
diff --git a/openpilot/system/athena/tests/test_registration.py b/openpilot/system/athena/tests/test_registration.py
index bb1523de80..3c75255c61 100644
--- a/openpilot/system/athena/tests/test_registration.py
+++ b/openpilot/system/athena/tests/test_registration.py
@@ -2,13 +2,14 @@ import json
 from Crypto.PublicKey import RSA
 from pathlib import Path
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.system.athena.tests.helpers import MockResponse
 from openpilot.common.hardware.hw import Paths
 
 
-class TestRegistration:
+class TestRegistration(OpenpilotTestCase):
 
   def setup_method(self):
     # clear params and setup key paths
diff --git a/openpilot/system/camerad/SConscript b/openpilot/system/camerad/SConscript
index c28330b32c..e6bc3f2bfb 100644
--- a/openpilot/system/camerad/SConscript
+++ b/openpilot/system/camerad/SConscript
@@ -6,6 +6,3 @@ if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
                            'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
   env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
-
-if GetOption("extras") and arch == "x86_64":
-  env.Program('test/test_ae_gray', ['test/test_ae_gray.cc', camera_obj], LIBS=libs)
diff --git a/openpilot/system/camerad/cameras/camera_qcom2.cc b/openpilot/system/camerad/cameras/camera_qcom2.cc
index 63640920db..4d30cd1e2c 100644
--- a/openpilot/system/camerad/cameras/camera_qcom2.cc
+++ b/openpilot/system/camerad/cameras/camera_qcom2.cc
@@ -234,11 +234,11 @@ void CameraState::sendState() {
   framed.setSensor(camera.sensor->image_sensor);
 
   // Log raw frames for road camera
-  if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && meta.frame_id % 100 == 5) {  // no overlap with qlog decimation
+  if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_NARROW_ROAD && meta.frame_id % 100 == 5) {  // no overlap with qlog decimation
     framed.setImage(get_raw_frame_image(&camera.buf));
   }
 
-  set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
+  set_camera_exposure(calculate_exposure_value(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_CABIN ? 2 : 4));
 
   // Send the message
   pm->send(camera.cc.publish_name, msg);
diff --git a/openpilot/system/camerad/cameras/hw.h b/openpilot/system/camerad/cameras/hw.h
index be0bea872d..8f9de5bede 100644
--- a/openpilot/system/camerad/cameras/hw.h
+++ b/openpilot/system/camerad/cameras/hw.h
@@ -2,6 +2,7 @@
 
 #include "common/util.h"
 #include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_server.h"
 
 #include "media/cam_isp_ife.h"
@@ -43,12 +44,12 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
   .staggered_sof = false,
 };
 
-const CameraConfig ROAD_CAMERA_CONFIG = {
+const CameraConfig NARROW_ROAD_CAMERA_CONFIG = {
   .camera_num = 1,
-  .stream_type = VISION_STREAM_ROAD,
+  .stream_type = VISION_STREAM_NARROW_ROAD,
   .focal_len = 8.0,
-  .publish_name = "roadCameraState",
-  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
+  .publish_name = "narrowRoadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initNarrowRoadCameraState,
   .enabled = !getenv("DISABLE_ROAD"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_1,
   .vignetting_correction = true,
@@ -56,12 +57,12 @@ const CameraConfig ROAD_CAMERA_CONFIG = {
   .staggered_sof = false,
 };
 
-const CameraConfig DRIVER_CAMERA_CONFIG = {
+const CameraConfig CABIN_CAMERA_CONFIG = {
   .camera_num = 2,
-  .stream_type = VISION_STREAM_DRIVER,
+  .stream_type = VISION_STREAM_CABIN,
   .focal_len = 1.71,
-  .publish_name = "driverCameraState",
-  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
+  .publish_name = "cabinCameraState",
+  .init_camera_state = &cereal::Event::Builder::initCabinCameraState,
   .enabled = !getenv("DISABLE_DRIVER"),
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
   .vignetting_correction = false,
@@ -69,4 +70,4 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .staggered_sof = true,
 };
 
-const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};
+const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, NARROW_ROAD_CAMERA_CONFIG, CABIN_CAMERA_CONFIG};
diff --git a/openpilot/system/camerad/cameras/spectra.cc b/openpilot/system/camerad/cameras/spectra.cc
index 0b5f5327f5..2cbf3594c4 100644
--- a/openpilot/system/camerad/cameras/spectra.cc
+++ b/openpilot/system/camerad/cameras/spectra.cc
@@ -609,7 +609,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     tmp.header = CAM_ICP_CMD_GENERIC_BLOB_CLK;
     tmp.header |= (sizeof(cam_icp_clk_bw_request)) << 8;
     tmp.clk.budget_ns = 0x1fca058;
-    tmp.clk.frame_cycles = sensor->frame_width * sensor->frame_height; // matches striping lib pixelCount
+    tmp.clk.frame_cycles = 20000000; // force max BPS clock (600 MHz)
     tmp.clk.rt_flag = 0x0;
     tmp.clk.uncompressed_bw = 0x38512180;
     tmp.clk.compressed_bw = 0x38512180;
@@ -1398,14 +1398,14 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
   */
 
   uint64_t request_id = event_data->u.frame_msg.request_id;  // ID from the camera request manager
-  uint64_t frame_id_raw = event_data->u.frame_msg.frame_id;  // raw as opposed to our re-indexed frame ID
+  uint64_t ife_frame_id = event_data->u.frame_msg.frame_id;  // kernel counter incremented on each IFE SOF event
   uint64_t timestamp = event_data->u.frame_msg.timestamp;    // timestamped in the kernel's SOF IRQ callback
-  //LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
+  //LOGD("handle cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, ife_frame_id);
 
   // if there's a lag, some more frames could have already come in before
   // we cleared the queue, so we'll still get them with valid (> 0) request IDs.
   if (timestamp < last_requeue_ts) {
-    LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, frame_id_raw);
+    LOGD("skipping frame: ts before requeue / cam %d ts %lu req id %lu frame id %lu", cc.camera_num, timestamp, request_id, ife_frame_id);
     return false;
   }
 
@@ -1413,39 +1413,39 @@ bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
     return false;
   }
 
-  if (!validateEvent(request_id, frame_id_raw)) {
+  if (!validateEvent(request_id, ife_frame_id)) {
     return false;
   }
 
   // Update tracking variables
-  if (request_id == request_id_last + 1) {
+  if (request_id == last_valid_request_id + 1) {
     skip_expected = false;
   }
-  frame_id_raw_last = frame_id_raw;
-  request_id_last = request_id;
+  last_valid_ife_frame_id = ife_frame_id;
+  last_valid_request_id = request_id;
 
   // Wait until frame's fully read out and processed
   if (!waitForFrameReady(request_id)) {
     // Reset queue on sync failure to prevent frame tearing
-    LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, frame_id_raw);
+    LOGE("camera %d sync failure %ld %ld ", cc.camera_num, request_id, ife_frame_id);
     clearAndRequeue(request_id + 1);
     return false;
   }
 
   int buf_idx = request_id % ife_buf_depth;
-  bool ret = processFrame(buf_idx, request_id, frame_id_raw, timestamp);
+  bool ret = processFrame(buf_idx, request_id, ife_frame_id, timestamp);
   destroySyncObjectAt(buf_idx);
   enqueue_frame(request_id + ife_buf_depth);  // request next frame for this slot
   return ret;
 }
 
-bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
+bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t ife_frame_id) {
   // check if the request ID is even valid. this happens after queued
   // requests are cleared. unclear if it happens any other time.
   if (request_id == 0) {
     if (invalid_request_count++ > ife_buf_depth+2) {
       LOGE("camera %d reset after half second of invalid requests", cc.camera_num);
-      clearAndRequeue(request_id_last + 1);
+      clearAndRequeue(last_valid_request_id + 1);
       invalid_request_count = 0;
     }
     return false;
@@ -1454,14 +1454,14 @@ bool SpectraCamera::validateEvent(uint64_t request_id, uint64_t frame_id_raw) {
 
   // check for skips in frame_id or request_id
   if (!skip_expected) {
-    if (frame_id_raw != frame_id_raw_last + 1) {
-      LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, frame_id_raw_last, frame_id_raw);
+    if (ife_frame_id != last_valid_ife_frame_id + 1) {
+      LOGE("camera %d frame ID skipped, %lu -> %lu", cc.camera_num, last_valid_ife_frame_id, ife_frame_id);
       clearAndRequeue(request_id + 1);
       return false;
     }
 
-    if (request_id != request_id_last + 1) {
-      LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, request_id_last, request_id);
+    if (request_id != last_valid_request_id + 1) {
+      LOGE("camera %d requests skipped %ld -> %ld", cc.camera_num, last_valid_request_id, request_id);
       clearAndRequeue(request_id + 1);
       return false;
     }
@@ -1512,8 +1512,8 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) {
   return success;
 }
 
-bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp) {
-  if (!syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp, cc.staggered_sof)) {
+bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp) {
+  if (!syncFirstFrame(cc.camera_num, request_id, ife_frame_id, timestamp, cc.staggered_sof)) {
     return false;
   }
 
@@ -1523,7 +1523,7 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
   // Update buffer and frame data
   buf.cur_buf_idx = buf_idx;
   buf.cur_frame_data = {
-    .frame_id = (uint32_t)(frame_id_raw - camera_sync_data[cc.camera_num].frame_id_offset),
+    .frame_id = (uint32_t)(ife_frame_id - camera_sync_data[cc.camera_num].frame_id_offset),
     .request_id = (uint32_t)request_id,
     .timestamp_sof = timestamp,
     .timestamp_eof = timestamp_eof,
@@ -1532,11 +1532,11 @@ bool SpectraCamera::processFrame(int buf_idx, uint64_t request_id, uint64_t fram
   return true;
 }
 
-bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp, bool staggered) {
+bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp, bool staggered) {
   if (first_frame_synced) return true;
 
   // Store the frame data for this camera
-  camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1, staggered};
+  camera_sync_data[camera_id] = SyncData{timestamp, ife_frame_id + 1, staggered};
 
   // Ensure all cameras are up
   int enabled_camera_count = std::count_if(std::begin(ALL_CAMERA_CONFIGS), std::end(ALL_CAMERA_CONFIGS),
@@ -1569,7 +1569,7 @@ bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t
   }
 
   // Timeout in case the timestamps never line up
-  if (raw_id > 40) {
+  if (ife_frame_id > 40) {
     LOGE("camera first frame sync timed out");
     first_frame_synced = true;
   }
diff --git a/openpilot/system/camerad/cameras/spectra.h b/openpilot/system/camerad/cameras/spectra.h
index eb6d95af1c..acb2000313 100644
--- a/openpilot/system/camerad/cameras/spectra.h
+++ b/openpilot/system/camerad/cameras/spectra.h
@@ -205,9 +205,9 @@ public:
   int buf_handle_raw[MAX_IFE_BUFS] = {};
   int sync_objs_ife[MAX_IFE_BUFS] = {};
   int sync_objs_bps[MAX_IFE_BUFS] = {};
-  uint64_t request_id_last = 0;
+  uint64_t last_valid_request_id = 0;
   uint64_t last_requeue_ts = 0;
-  uint64_t frame_id_raw_last = 0;
+  uint64_t last_valid_ife_frame_id = 0;
   int invalid_request_count = 0;
   bool skip_expected = true;
 
@@ -216,10 +216,10 @@ public:
 
 private:
   void clearAndRequeue(uint64_t from_request_id);
-  bool validateEvent(uint64_t request_id, uint64_t frame_id_raw);
+  bool validateEvent(uint64_t request_id, uint64_t ife_frame_id);
   bool waitForFrameReady(uint64_t request_id);
-  bool processFrame(int buf_idx, uint64_t request_id, uint64_t frame_id_raw, uint64_t timestamp);
-  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp, bool staggered);
+  bool processFrame(int buf_idx, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp);
+  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t ife_frame_id, uint64_t timestamp, bool staggered);
   struct SyncData {
     uint64_t timestamp;
     uint64_t frame_id_offset = 0;
diff --git a/openpilot/system/camerad/snapshot.py b/openpilot/system/camerad/snapshot.py
index 8383865fce..622da4faef 100755
--- a/openpilot/system/camerad/snapshot.py
+++ b/openpilot/system/camerad/snapshot.py
@@ -3,13 +3,14 @@
 import numpy as np
 
 import openpilot.cereal.messaging as messaging
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient
 from openpilot.common.realtime import DT_MDL
 
 
 VISION_STREAMS = {
-  "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,
-  "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
+  "narrowRoadCameraState": VisionStreamType.VISION_STREAM_NARROW_ROAD,
+  "cabinCameraState": VisionStreamType.VISION_STREAM_CABIN,
   "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD,
 }
 
@@ -44,7 +45,7 @@ def extract_image(buf):
   return yuv_to_rgb(y, u, v)
 
 
-def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
+def get_snapshots(frame="narrowRoadCameraState", front_frame="cabinCameraState"):
   sockets = [s for s in (frame, front_frame) if s is not None]
   sm = messaging.SubMaster(sockets)
   vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
diff --git a/openpilot/system/camerad/test/test_ae_gray.cc b/openpilot/system/camerad/test/test_ae_gray.cc
deleted file mode 100644
index 39c3d9c4e5..0000000000
--- a/openpilot/system/camerad/test/test_ae_gray.cc
+++ /dev/null
@@ -1,84 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
-
-#include 
-
-#include 
-#include 
-
-#include "common/util.h"
-#include "system/camerad/cameras/camera_common.h"
-
-#define W 240
-#define H 160
-
-
-#define TONE_SPLITS 3
-
-float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
-  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
-  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
-  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
-  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
-  0.000000};
-
-
-TEST_CASE("camera.test_calculate_exposure_value") {
-  // set up fake camerabuf
-  CameraBuf cb = {};
-  VisionBuf vb = {};
-  uint8_t * fb_y = new uint8_t[W*H];
-  vb.y = fb_y;
-  cb.cur_yuv_buf = &vb;
-  cb.out_img_width = W;
-  cb.out_img_height = H;
-  Rect rect = {0, 0, W-1, H-1};
-
-  printf("AE test patterns %dx%d\n", cb.out_img_width, cb.out_img_height);
-
-  // mix of 5 tones
-  uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
-
-  bool passed = true;
-  float rtol = 0.05;
-  // generate pattern and calculate EV
-  int cnt = 0;
-  for (int i_0=0; i_0 rtol*evgt) {
-            passed = false;
-          }
-
-          // report
-          printf("%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f));
-          cnt++;
-        }
-      }
-    }
-  }
-  assert(passed);
-
-  delete[] fb_y;
-}
diff --git a/openpilot/system/camerad/test/test_camerad.py b/openpilot/system/camerad/test/test_camerad.py
old mode 100644
new mode 100755
index afc49c02bf..410ea9fdb3
--- a/openpilot/system/camerad/test/test_camerad.py
+++ b/openpilot/system/camerad/test/test_camerad.py
@@ -1,15 +1,19 @@
+#!/usr/bin/env python3
+
 import os
 import time
-import pytest
+import unittest
 import numpy as np
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 from openpilot.system.camerad.snapshot import get_snapshots
 from openpilot.selfdrive.test.helpers import collect_logs, log_collector, processes_context
 
 TEST_TIMESPAN = 10
-CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+CAMERAS = ('narrowRoadCameraState', 'cabinCameraState', 'wideRoadCameraState')
 EXPOSURE_STABLE_COUNT = 3
 EXPOSURE_RANGE = (0.15, 0.35)
 MAX_TEST_TIME = 25
@@ -38,7 +42,6 @@ def run_and_log(procs, services, duration):
   with processes_context(procs):
     return collect_logs(services, duration)
 
-@pytest.fixture(scope="module")
 def _camera_session():
   """Single camerad session that collects logs and exposure data.
      Runs until exposure stabilizes (min TEST_TIMESPAN seconds for enough log data)."""
@@ -46,7 +49,7 @@ def _camera_session():
     exposure = {cam: [] for cam in CAMERAS}
     start = time.monotonic()
     while time.monotonic() - start < MAX_TEST_TIME:
-      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
+      rpic, dpic = get_snapshots(frame="narrowRoadCameraState", front_frame="cabinCameraState")
       wpic, _ = get_snapshots(frame="wideRoadCameraState")
       for cam, img in zip(CAMERAS, [rpic, dpic, wpic], strict=True):
         exposure[cam].append(_exposure_stats(img))
@@ -69,20 +72,18 @@ def _camera_session():
 
   return ts, exposure
 
-@pytest.fixture(scope="module")
-def logs(_camera_session):
-  return _camera_session[0]
+class TestCamerad(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
-@pytest.fixture(scope="module")
-def exposure_data(_camera_session):
-  return _camera_session[1]
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    cls.logs, cls.exposure_data = _camera_session()
 
-@pytest.mark.tici
-class TestCamerad:
-  @pytest.mark.parametrize("cam", CAMERAS)
-  def test_camera_exposure(self, exposure_data, cam):
+  @parameterized.expand(CAMERAS, names=("cam",))
+  def test_camera_exposure(self, cam):
     lo, hi = EXPOSURE_RANGE
-    checks = exposure_data[cam]
+    checks = self.exposure_data[cam]
     assert len(checks) >= EXPOSURE_STABLE_COUNT, f"{cam}: only got {len(checks)} samples"
 
     # check that exposure converges into the valid range
@@ -96,34 +97,34 @@ class TestCamerad:
     for i, (median, mean) in enumerate(checks):
       ok = _in_range(median, mean)
       if in_range and not ok:
-        pytest.fail(f"{cam}: exposure regressed on sample {i+1} " +
+        self.fail(f"{cam}: exposure regressed on sample {i+1} " +
                     f"(median={median:.4f}, mean={mean:.4f}, expected: ({lo}, {hi}))")
       in_range = ok
 
-  def test_frame_skips(self, logs):
+  def test_frame_skips(self):
     for c in CAMERAS:
-      assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
+      assert set(np.diff(self.logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
 
-  def test_frame_sync(self, logs):
-    SYNCED_CAMS = ('roadCameraState', 'wideRoadCameraState')
-    n = range(len(logs['roadCameraState']['t'][:-10]))
+  def test_frame_sync(self):
+    SYNCED_CAMS = ('narrowRoadCameraState', 'wideRoadCameraState')
+    n = range(len(self.logs['narrowRoadCameraState']['t'][:-10]))
 
-    frame_ids = {i: [logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
+    frame_ids = {i: [self.logs[cam]['frameId'][i] for cam in CAMERAS] for i in n}
     assert all(len(set(v)) == 1 for v in frame_ids.values()), "frame IDs not aligned"
 
     # road and wide cameras should be synced within 1.1ms
-    synced_times = {i: [logs[cam]['timestampSof'][i] for cam in SYNCED_CAMS] for i in n}
+    synced_times = {i: [self.logs[cam]['timestampSof'][i] for cam in SYNCED_CAMS] for i in n}
     diffs = {i: (max(ts) - min(ts))/1e6 for i, ts in synced_times.items()}
     laggy_frames = {k: v for k, v in diffs.items() if v > 1.1}
     assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
 
-    # driver camera should be staggered ~25ms from road camera
+    # cabin camera should be staggered ~25ms from road camera
     for i in n:
-      offset_ms = abs(logs['driverCameraState']['timestampSof'][i] - logs['roadCameraState']['timestampSof'][i]) / 1e6
-      assert 20 < offset_ms < 30, f"driver camera stagger out of range at frame {i}: {offset_ms:.1f}ms (expected ~25ms)"
+      offset_ms = abs(self.logs['cabinCameraState']['timestampSof'][i] - self.logs['narrowRoadCameraState']['timestampSof'][i]) / 1e6
+      assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {i}: {offset_ms:.1f}ms (expected ~25ms)"
 
-  def test_sanity_checks(self, logs):
-    self._sanity_checks(logs)
+  def test_sanity_checks(self):
+    self._sanity_checks(self.logs)
 
   def _sanity_checks(self, ts):
     for c in CAMERAS:
@@ -160,3 +161,7 @@ class TestCamerad:
     assert np.max([ np.max(np.diff(ts[c]['requestId'])) for c in CAMERAS ]) > 1
 
     self._sanity_checks(ts)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/system/camerad/webcam/README.md b/openpilot/system/camerad/webcam/README.md
index 17d7ee6d80..7fa28a9919 100644
--- a/openpilot/system/camerad/webcam/README.md
+++ b/openpilot/system/camerad/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 ## Setup openpilot
-- Follow [this readme](../README.md) to install and build the requirements
+- Follow [this readme](/tools/README.md) to install and build the requirements
 
 ## Connect the hardware
 - Connect the camera first
diff --git a/openpilot/system/camerad/webcam/camerad.py b/openpilot/system/camerad/webcam/camerad.py
index c46482360d..4dfa5f3371 100755
--- a/openpilot/system/camerad/webcam/camerad.py
+++ b/openpilot/system/camerad/webcam/camerad.py
@@ -4,25 +4,26 @@ import os
 import platform
 from collections import namedtuple
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.cereal import messaging
 
 from openpilot.system.camerad.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
-ROAD_CAM = os.getenv("ROAD_CAM", "0")
+NARROW_ROAD_CAM = os.getenv("NARROW_ROAD_CAM", os.getenv("ROAD_CAM", "0"))
 WIDE_CAM = os.getenv("WIDE_CAM")
 DRIVER_CAM = os.getenv("DRIVER_CAM")
 
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
+  CameraType("narrowRoadCameraState", VisionStreamType.VISION_STREAM_NARROW_ROAD, NARROW_ROAD_CAM)
 ]
 if WIDE_CAM:
   CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
 if DRIVER_CAM:
-  CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
+  CAMERAS.append(CameraType("cabinCameraState", VisionStreamType.VISION_STREAM_CABIN, DRIVER_CAM))
 
 class Camerad:
   def __init__(self):
diff --git a/openpilot/system/hardware/chestnut/firmware_wrapped.bin b/openpilot/system/hardware/chestnut/firmware_wrapped.bin
new file mode 100644
index 0000000000..1d738e4a75
Binary files /dev/null and b/openpilot/system/hardware/chestnut/firmware_wrapped.bin differ
diff --git a/openpilot/system/hardware/chestnut/flash.py b/openpilot/system/hardware/chestnut/flash.py
new file mode 100755
index 0000000000..32aa5a443a
--- /dev/null
+++ b/openpilot/system/hardware/chestnut/flash.py
@@ -0,0 +1,576 @@
+#!/usr/bin/env python3
+"""chestnut (ASM2464) SPI flasher using data-USB EP0 control transfers."""
+import argparse
+import ctypes
+import errno
+import fcntl
+import glob
+import hashlib
+import os
+import re
+import signal
+import struct
+import sys
+import time
+import zlib
+from pathlib import Path
+
+VID_PIDS = (("add1", "0001"), ("3801", "0001"))
+ROM_VID_PIDS = (("174c", "2464"), ("174c", "2463"))
+ROM_PRODUCT = "USB 3.2 PCIe TinyEnclosure"
+FIRMWARE_PATH = Path(__file__).with_name("firmware_wrapped.bin")
+CONFIG_DIR = "/data/chestnut_config"
+PM_PATHS = ("/sys/bus/platform/devices/a600000.ssusb", "/sys/bus/usb/devices/usb4")
+VBUS_PATH = "/sys/kernel/debug/regulator/smb2-vbus/enable"
+IMAGE_OFFSET = 0x100
+SECTOR, PAGE = 4096, 128
+MAX_CODE_SIZE = 0x10000
+FLASH_BUDGET = 600.0
+USBDEVFS_CONTROL = 0xC0185500
+USBDEVFS_BULK = 0xC0185502
+USBDEVFS_SETINTERFACE = 0x80085504
+USBDEVFS_SETCONFIGURATION = 0x80045505
+USBDEVFS_CLAIMINTERFACE = 0x8004550F
+USBDEVFS_RESET = 0x5514
+USBDEVFS_CLEAR_HALT = 0x80045515
+
+_deadline = float("inf")
+
+
+def check_budget():
+  if time.monotonic() > _deadline:
+    raise TimeoutError(f"flash did not converge within {FLASH_BUDGET:g}s")
+
+
+class Ctrl(ctypes.Structure):
+  _fields_ = [("request_type", ctypes.c_uint8), ("request", ctypes.c_uint8),
+              ("value", ctypes.c_uint16), ("index", ctypes.c_uint16),
+              ("length", ctypes.c_uint16), ("timeout", ctypes.c_uint32),
+              ("data", ctypes.c_void_p)]
+
+
+class Bulk(ctypes.Structure):
+  _fields_ = [("ep", ctypes.c_uint), ("len", ctypes.c_uint),
+              ("timeout", ctypes.c_uint), ("data", ctypes.c_void_p)]
+
+
+class RomFallback(Exception):
+  pass
+
+
+def find_chestnut():
+  found = []
+  for d in glob.glob("/sys/bus/usb/devices/*"):
+    try:
+      vid_pid = (open(d + "/idVendor").read().strip(), open(d + "/idProduct").read().strip())
+      if vid_pid in VID_PIDS + ROM_VID_PIDS:
+        found.append((d, vid_pid, open(d + "/product").read().strip()))
+    except OSError:
+      pass
+  if len(found) > 1:
+    raise RuntimeError(f"expected one chestnut, found {len(found)}")
+  return found[0] if found else (None, None, None)
+
+
+def in_rom_bootloader(vid_pid, product):
+  # the ROM bootloader reports the config page strings, or its own when the config page is lost
+  return vid_pid in ROM_VID_PIDS or product == ROM_PRODUCT or (product or "").startswith("AS2462")
+
+
+def disable_runtime_pm(path):
+  control = os.path.join(path, "power/control")
+  if not os.path.exists(control):
+    return
+  with open(control, "w") as f:
+    f.write("on\n")
+  if open(control).read().strip() != "on":
+    raise RuntimeError(f"could not disable USB runtime PM: {control}")
+  delay = os.path.join(path, "power/autosuspend_delay_ms")
+  if os.path.exists(delay):
+    with open(delay, "w") as f:
+      f.write("-1\n")
+
+
+def unbind_drivers(path):
+  for interface in glob.glob(path + ":*"):
+    driver = interface + "/driver"
+    if os.path.islink(driver):
+      with open(os.path.realpath(driver) + "/unbind", "w") as f:
+        f.write(os.path.basename(interface))
+
+
+def open_device(path):
+  bus, dev = int(open(path + "/busnum").read()), int(open(path + "/devnum").read())
+  return os.open(f"/dev/bus/usb/{bus:03d}/{dev:03d}", os.O_RDWR)
+
+
+def link_up() -> bool:
+  # asm enumerates on USB-C alone, gpu is only usable once pcie link is up
+  try:
+    path, _, _ = find_chestnut()
+    if path is None:
+      return False
+    fd = open_device(path)
+  except (OSError, RuntimeError):
+    return False
+  try:
+    fcntl.ioctl(fd, USBDEVFS_CONTROL, Ctrl(0x40, 0xF3, 1, 0, 0, 2000, None))
+    buf = (ctypes.c_ubyte * 1)()
+    fcntl.ioctl(fd, USBDEVFS_CONTROL, Ctrl(0xC0, 0xE4, 0xB450, 0, 1, 1000, ctypes.cast(buf, ctypes.c_void_p)))
+    return buf[0] == 0x78  # LTSSM L0
+  except OSError:
+    return False
+  finally:
+    os.close(fd)
+
+
+def claim_interface(path, setup=False):
+  # unbind usb-storage, which binds to the ROM bootloader
+  disable_runtime_pm(path)
+  unbind_drivers(path)
+  fd = open_device(path)
+  try:
+    if setup:
+      fcntl.ioctl(fd, USBDEVFS_SETCONFIGURATION, struct.pack("I", 1))
+    fcntl.ioctl(fd, USBDEVFS_CLAIMINTERFACE, struct.pack("I", 0))
+    if setup:
+      fcntl.ioctl(fd, USBDEVFS_SETINTERFACE, struct.pack("II", 0, 0))
+  except OSError as e:
+    os.close(fd)
+    if e.errno == errno.EBUSY:
+      raise RuntimeError("chestnut is in use, stop modeld/GPU processes before flashing") from e
+    raise
+  return fd
+
+
+class Flash:
+  def __init__(self):
+    self.fd = -1
+
+  def close(self):
+    if self.fd >= 0:
+      os.close(self.fd)
+      self.fd = -1
+
+  def connect(self, timeout=5.0):
+    self.close()
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      path, vid_pid, product = find_chestnut()
+      if in_rom_bootloader(vid_pid, product):
+        raise RomFallback("chestnut fell back to the ROM bootloader")
+      if path is not None:
+        self.fd = claim_interface(path)
+        return
+      time.sleep(0.1)
+    raise RuntimeError(f"chestnut did not enumerate within {timeout:g}s")
+
+  def reg_write(self, addr, value):
+    fcntl.ioctl(self.fd, USBDEVFS_CONTROL,
+                Ctrl(0x40, 0xE5, addr & 0xFFFF, value & 0xFFFF, 0, 2000, None))
+
+  def reg_read(self, addr, length=1):
+    buf = (ctypes.c_ubyte * length)()
+    fcntl.ioctl(self.fd, USBDEVFS_CONTROL,
+                Ctrl(0xC0, 0xE4, addr & 0xFFFF, 0, length, 2000, ctypes.cast(buf, ctypes.c_void_p)))
+    return bytes(buf)
+
+  def write_buffer(self, data):
+    for i, value in enumerate(data):
+      self.reg_write(0x7000 + i, value)
+
+  def wait_controller(self, timeout=2.0):
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      if not self.reg_read(0xC8A9)[0] & 1:
+        return
+    raise TimeoutError("flash controller timeout")
+
+  def transaction(self, command, addr=0, length=0, addr_len=0x07, mode=0):
+    for reg, value in ((0xC8AD, mode), (0xC8AE, 0), (0xC8AF, 0), (0xC8AA, command), (0xC8AC, addr_len),
+                       (0xC8A1, addr), (0xC8A2, addr >> 8), (0xC8AB, addr >> 16), (0xC8A3, length >> 8), (0xC8A4, length)):
+      self.reg_write(reg, value & 0xFF)
+    self.reg_write(0xC8A9, 1)
+    self.wait_controller()
+    for _ in range(4):
+      self.reg_write(0xC8AD, 0)
+
+  def write_enable(self):
+    for reg, value in ((0xC8AD, 0), (0xC8AA, 0x06), (0xC8AC, 0x04), (0xC8A3, 0), (0xC8A4, 0), (0xC8A9, 1)):
+      self.reg_write(reg, value)
+    self.wait_controller()
+
+  def status(self):
+    self.transaction(0x05, length=1, addr_len=0x04)
+    return self.reg_read(0x7000)[0]
+
+  def wait_write_done(self, timeout=10.0):
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+      if not self.status() & 1:
+        return
+      time.sleep(0.005)
+    raise TimeoutError("SPI flash WIP timeout")
+
+  def init(self):
+    self.reg_write(0xCC33, 0x04)
+    self.reg_write(0xCA81, self.reg_read(0xCA81)[0] | 1)
+    self.reg_write(0xC805, 0x02)
+    self.reg_write(0xC8A6, 0x04)
+    for _ in range(5):
+      self.write_enable()
+      self.write_buffer(bytes(4))
+      self.transaction(0x01, length=1, addr_len=0x04, mode=1)
+      time.sleep(0.01)
+      if not self.status() & 0x1C:
+        return
+    raise RuntimeError("could not clear SPI block protection")
+
+  def read(self, addr, length):
+    out = bytearray()
+    while len(out) < length:
+      n = min(4096, length - len(out))
+      self.transaction(0x03, addr + len(out), max(4096, n))
+      for off in range(0, n, 255):
+        out += self.reg_read(0x7000 + off, min(255, n - off))
+    return bytes(out)
+
+  def erase_sector(self, addr):
+    self.write_enable()
+    self.transaction(0x20, addr)
+    self.wait_write_done()
+
+  def program(self, addr, data):
+    self.write_buffer(data + bytes((-len(data)) % 4))
+    self.write_enable()
+    self.transaction(0x02, addr, len(data), mode=1)
+    self.wait_write_done()
+
+
+def validate_image(data):
+  if len(data) < 10:
+    raise ValueError("wrapped firmware is too short")
+  body_len = int.from_bytes(data[:4], "little")
+  if body_len > MAX_CODE_SIZE:
+    raise ValueError(f"wrapped firmware body exceeds {MAX_CODE_SIZE} bytes")
+  if len(data) != body_len + 10 or data[4 + body_len] != 0xA5:
+    raise ValueError("invalid wrapped firmware length or magic")
+  body = data[4:4 + body_len]
+  if data[5 + body_len] != sum(body) & 0xFF:
+    raise ValueError("invalid wrapped firmware checksum")
+  if data[6 + body_len:] != zlib.crc32(body).to_bytes(4, "little"):
+    raise ValueError("invalid wrapped firmware CRC")
+
+
+def image_product(image):
+  match = re.search(rb"custom [0-9a-f]{8}-CLEAN", image)
+  if match is None:
+    raise ValueError("no product string in wrapped firmware")
+  return match.group().decode()
+
+
+def reconnect(flash):
+  attempt = 0
+  while True:
+    attempt += 1
+    check_budget()
+    try:
+      flash.connect()
+      flash.init()
+      return
+    except (OSError, TimeoutError, RuntimeError) as e:
+      print(f"waiting for chestnut (attempt {attempt}): {e}", flush=True)
+      time.sleep(1)
+
+
+def with_retries(flash, label, operation):
+  # on any transfer error, reconnect and restart the operation
+  attempt = 0
+  while True:
+    attempt += 1
+    try:
+      return operation()
+    except (OSError, TimeoutError, RuntimeError) as e:
+      check_budget()
+      print(f"{label} attempt {attempt}: {e}", flush=True)
+      reconnect(flash)
+
+
+def stable_read(flash, addr, length, count=2):
+  def read():
+    reads = [flash.read(addr, length) for _ in range(count)]
+    if any(x != reads[0] for x in reads[1:]):
+      raise RuntimeError(f"unstable flash read at 0x{addr:05x}")
+    return reads[0]
+  return with_retries(flash, f"read 0x{addr:05x}", read)
+
+
+def program_sector(flash, addr, target):
+  def program():
+    flash.erase_sector(addr)
+    if flash.read(addr, SECTOR) != bytes([0xFF]) * SECTOR:
+      raise RuntimeError("sector erase verification failed")
+    for off in range(0, SECTOR, PAGE):
+      chunk = target[off:off + PAGE]
+      if chunk != bytes([0xFF]) * len(chunk):
+        flash.program(addr + off, chunk)
+        if flash.read(addr + off, len(chunk)) != chunk:
+          raise RuntimeError(f"page verify failed at 0x{addr + off:05x}")
+    if flash.read(addr, SECTOR) != target:
+      raise RuntimeError("sector verification failed")
+  with_retries(flash, f"sector 0x{addr:05x}", program)
+
+
+def config_path():
+  return os.path.join(CONFIG_DIR, f"{os.uname().nodename}.bin")
+
+
+def saved_config(path, data):
+  os.makedirs(os.path.dirname(path), exist_ok=True)
+  try:
+    fd = os.open(path, os.O_WRONLY | os.O_CREAT | os.O_EXCL, 0o600)
+  except FileExistsError as e:
+    backup = open(path, "rb").read()
+    if len(backup) != 0x100:
+      raise RuntimeError(f"invalid config backup: {path}") from e
+    if backup != data:
+      print(f"restoring config from {path}", flush=True)
+    return backup
+  with os.fdopen(fd, "wb") as f:
+    f.write(data)
+    f.flush()
+    os.fsync(f.fileno())
+  return data
+
+
+def rom_write(image, config):
+  # the ROM bootloader implements only the BOT protocol, and requires a port reset before bulk transfers
+  path, _, _ = find_chestnut()
+  if path is None:
+    raise RuntimeError("chestnut disappeared before recovery")
+  unbind_drivers(path)
+  fd = open_device(path)
+  try:
+    fcntl.ioctl(fd, USBDEVFS_RESET)
+  finally:
+    os.close(fd)
+  time.sleep(3)
+  path, _, _ = find_chestnut()
+  if path is None:
+    raise RuntimeError("chestnut did not re-enumerate after reset")
+  fd = claim_interface(path, setup=True)
+  for ep in (0x02, 0x81):
+    fcntl.ioctl(fd, USBDEVFS_CLEAR_HALT, struct.pack("I", ep))
+  tag = 0
+
+  def bulk(ep, payload, timeout):
+    buf = ctypes.create_string_buffer(bytes(payload), len(payload))
+    fcntl.ioctl(fd, USBDEVFS_BULK, Bulk(ep, len(payload), timeout, ctypes.cast(buf, ctypes.c_void_p)))
+    return buf.raw
+
+  def cmd(cdb, data=b"", timeout=30000):
+    nonlocal tag
+    tag += 1
+    bulk(0x02, struct.pack("BBB12x", 0xE1, 0x50, 0), config[:0x80])
+    cmd(struct.pack(">BBB12x", 0xE1, 0x50, 1), config[0x80:])
+    cmd(struct.pack(">BBI", 0xE3, 0x50, min(len(image), 0xFF00)), image[:0xFF00])
+    if len(image) > 0xFF00:
+      cmd(struct.pack(">BBI", 0xE3, 0xD0, len(image) - 0xFF00), image[0xFF00:])
+    cmd(struct.pack(">BB13x", 0xE8, 0x51))
+  finally:
+    os.close(fd)
+  print("recovery flash done", flush=True)
+
+
+def vbus_write(value):
+  try:
+    with open(VBUS_PATH, "w") as f:
+      f.write(value + "\n")
+  except OSError:
+    pass
+
+
+def vbus_cycle():
+  if os.path.exists(VBUS_PATH):
+    vbus_write("0")
+    time.sleep(2)
+    vbus_write("1")
+    time.sleep(5)
+
+
+def activate(expected_product):
+  if not os.path.exists(VBUS_PATH):
+    print("no VBUS control, firmware activates on the next chestnut power cycle", flush=True)
+    return
+  print("power-cycling chestnut VBUS", flush=True)
+  vbus_write("0")
+  disconnected = False
+  deadline = time.monotonic() + 5.0
+  while time.monotonic() < deadline:
+    path, _, _ = find_chestnut()
+    if path is None:
+      disconnected = True
+      break
+    time.sleep(0.2)
+  time.sleep(1)
+  vbus_write("1")
+  if not disconnected:
+    print("chestnut stayed powered, firmware activates on its next power cycle", flush=True)
+    return
+  deadline = time.monotonic() + 15.0
+  while time.monotonic() < deadline:
+    _, _, product = find_chestnut()
+    if product is not None:
+      if product == expected_product:
+        print(f"activated {expected_product}", flush=True)
+      else:
+        print(f"chestnut re-enumerated with {product!r}, firmware activates on its next power cycle", flush=True)
+      return
+    time.sleep(0.2)
+  print("chestnut did not re-enumerate, firmware activates on its next power cycle", flush=True)
+
+
+def defer_signal(signum, _frame):
+  # writing from a handler must not reenter a print already in progress
+  os.write(1, f"signal {signum} deferred until the chestnut is powered back up\n".encode())
+
+
+def flash_chestnut(expected_version=None, force=False):
+  global _deadline
+
+  image = FIRMWARE_PATH.read_bytes()
+  validate_image(image)
+  expected_product = image_product(image)
+  if expected_version is not None and expected_product != f"custom {expected_version}-CLEAN":
+    raise RuntimeError(f"bundled firmware is {expected_product!r}, expected version {expected_version}")
+
+  path, vid_pid, product = find_chestnut()
+  if path is None:
+    print("no chestnut connected", flush=True)
+    return
+  if product == expected_product and not force:
+    print(f"chestnut firmware is up to date ({expected_product})", flush=True)
+    return
+
+  _deadline = time.monotonic() + FLASH_BUDGET
+  for pm_path in PM_PATHS:
+    disable_runtime_pm(pm_path)
+
+  previous = {sig: signal.signal(sig, defer_signal) for sig in (signal.SIGINT, signal.SIGTERM, signal.SIGHUP)}
+  try:
+    if in_rom_bootloader(vid_pid, product):
+      if not recover_from_rom(image, expected_product):
+        return
+      # firmware is back, verify it against the bundled image
+      force, product = True, None
+    write_image(image, expected_product, product, force)
+  finally:
+    for sig, handler in previous.items():
+      signal.signal(sig, handler)
+
+
+def recover_from_rom(image, expected_product):
+  # returns whether the chestnut came back on custom firmware
+  backup = config_path()
+  if not os.path.isfile(backup):
+    raise RuntimeError(f"cannot recover from the ROM bootloader without a config backup at {backup}")
+  config = open(backup, "rb").read()
+  if len(config) != 0x100:
+    raise RuntimeError(f"invalid config backup: {backup}")
+
+  committed = False
+  while True:
+    check_budget()
+    path, vid_pid, product = find_chestnut()
+    if path is None:
+      if committed:
+        print("chestnut is offline, recovered firmware boots on its next power cycle", flush=True)
+        return False
+      vbus_cycle()
+      continue
+    if not in_rom_bootloader(vid_pid, product):
+      return True
+    if committed:
+      print("chestnut stayed powered, recovered firmware boots on its next power cycle", flush=True)
+      return False
+    try:
+      rom_write(image, config)
+      committed = True
+    except (OSError, TimeoutError, RuntimeError) as e:
+      print(f"ROM recovery failed, retrying: {e}", flush=True)
+      vbus_cycle()
+      continue
+    activate(expected_product)
+
+
+def write_image(image, expected_product, product, force):
+  if force:
+    print(f"forced reflash of {expected_product}", flush=True)
+  else:
+    print(f"chestnut firmware mismatch: {product!r}; expected {expected_product!r}", flush=True)
+
+  flash = Flash()
+  try:
+    reconnect(flash)
+    config = stable_read(flash, 0, 0x100, 3)
+    config = saved_config(config_path(), config)
+    image_end = IMAGE_OFFSET + len(image)
+    first_sector = IMAGE_OFFSET & ~(SECTOR - 1)
+    span = (image_end + SECTOR - 1) & ~(SECTOR - 1)
+    current = stable_read(flash, first_sector, span - first_sector)
+    target = bytearray(current)
+    target[:len(config)] = config
+    target[IMAGE_OFFSET - first_sector:image_end - first_sector] = image
+    target = bytes(target)
+    print(f"target {len(image)} bytes at 0x{IMAGE_OFFSET:05x}, sha256={hashlib.sha256(image).hexdigest()}", flush=True)
+
+    for addr in range(first_sector, span, SECTOR):
+      off = addr - first_sector
+      wanted = target[off:off + SECTOR]
+      if current[off:off + SECTOR] == wanted:
+        print(f"sector 0x{addr:05x}: unchanged", flush=True)
+      else:
+        print(f"sector 0x{addr:05x}: programming", flush=True)
+        program_sector(flash, addr, wanted)
+
+    verified = stable_read(flash, first_sector, span - first_sector, 3)
+    if verified != target:
+      raise RuntimeError("final full-image verification failed")
+    print(f"verified sha256={hashlib.sha256(verified).hexdigest()}", flush=True)
+  finally:
+    flash.close()
+
+  activate(expected_product)
+
+
+def main():
+  parser = argparse.ArgumentParser(description="check and flash the bundled chestnut firmware")
+  parser.add_argument("version", nargs="?", help="expected firmware version hash")
+  parser.add_argument("--force", action="store_true", help="reflash even when the version matches")
+  args = parser.parse_args()
+  if os.geteuid() != 0:
+    raise RuntimeError("flash.py must run as root")
+  flash_chestnut(expected_version=args.version, force=args.force)
+
+
+if __name__ == "__main__":
+  try:
+    main()
+  except Exception as e:
+    print(f"FAIL: {type(e).__name__}: {e}", file=sys.stderr)
+    sys.exit(1)
diff --git a/openpilot/system/hardware/comma/agnos.json b/openpilot/system/hardware/comma/agnos.json
new file mode 120000
index 0000000000..b1465ff49d
--- /dev/null
+++ b/openpilot/system/hardware/comma/agnos.json
@@ -0,0 +1 @@
+../../../common/hardware/comma/agnos.json
\ No newline at end of file
diff --git a/openpilot/system/hardware/hardwared.py b/openpilot/system/hardware/hardwared.py
index e5b3d8020c..eef5db2b78 100755
--- a/openpilot/system/hardware/hardwared.py
+++ b/openpilot/system/hardware/hardwared.py
@@ -3,6 +3,8 @@ import fcntl
 import os
 import queue
 import struct
+import subprocess
+import sys
 import threading
 import time
 from collections import OrderedDict, namedtuple
@@ -15,8 +17,9 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.common.hardware import HARDWARE, TICI
-from openpilot.common.hardware.usb import get_usb_state, set_usb_state
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.hardware.usb import CHESTNUT_FW_VERSION, CHESTNUT_ROM_USB_IDS, CHESTNUT_USB_IDS, get_usb_state, get_usb_topology, set_usb_state
 from openpilot.common.linux import LinuxSystemStats
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.common.swaglog import cloudlog
@@ -35,6 +38,44 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
 ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
 
+class Chestnut:
+  # flash offroad, modeld ignores chestnut until the product string matches
+  MAX_ATTEMPTS = 3
+  RETRY_INTERVAL = 20.
+
+  def __init__(self):
+    self.thread: threading.Thread | None = None
+    self.attempts = 0
+    self.last_attempt = 0.
+    self.flashed = False
+
+  def flash(self) -> None:
+    ret = subprocess.run(["sudo", sys.executable, os.path.join(BASEDIR, "openpilot/system/hardware/chestnut/flash.py"), CHESTNUT_FW_VERSION],
+                         stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False)
+    cloudlog.event("chestnut flash done", returncode=ret.returncode, output=ret.stdout[-1000:], error=ret.returncode != 0)
+    self.flashed = ret.returncode == 0
+
+  def update(self, offroad: bool, usb_state: list[dict]) -> None:
+    mismatch = any((d["vendorId"], d["productId"]) in CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS and
+                   d["product"] != f"custom {CHESTNUT_FW_VERSION}-CLEAN" for d in usb_state)
+    if not mismatch:
+      self.flashed = False
+      return
+
+    if not offroad or self.flashed or self.attempts >= self.MAX_ATTEMPTS:
+      return
+    if self.thread is not None and self.thread.is_alive():
+      return
+    if time.monotonic() - self.last_attempt < self.RETRY_INTERVAL:
+      return
+
+    self.attempts += 1
+    self.last_attempt = time.monotonic()
+    cloudlog.warning(f"chestnut firmware out of date, flashing (attempt {self.attempts})")
+    self.thread = threading.Thread(target=self.flash, daemon=True)
+    self.thread.start()
+
+
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
                                              'network_metered', 'modem_temps', 'usb_state'])
@@ -106,10 +147,15 @@ def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
   count = 0
   prev_hw_state = None
+  prev_usb_topology = set()
 
   while not end_event.is_set():
-    # these are expensive calls. update every 10s
-    if (count % int(10. / DT_HW)) == 0:
+    usb_topology = get_usb_topology()
+    usb_changed = usb_topology != prev_usb_topology
+
+    # these are expensive calls. update every 10s or when USB devices change
+    if (count % int(10. / DT_HW)) == 0 or usb_changed:
+      prev_usb_topology = usb_topology
       try:
         network_type = HARDWARE.get_network_type()
         modem_temps = HARDWARE.get_modem_temperatures()
@@ -191,6 +237,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   thermal_config = HARDWARE.get_thermal_config()
 
   fan_controller = FanController(int(1./DT_HW))
+  chestnut = Chestnut()
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -251,6 +298,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
 
     set_usb_state(msg.deviceState, last_hw_state.usb_state)
+    chestnut.update(started_ts is None, last_hw_state.usb_state)
 
     # this subset is only used for offroad
     temp_sources = [
@@ -309,7 +357,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # - TIZI, or
     # - TICI and channel_type is "tici"
     build_metadata = get_build_metadata()
-    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
+    is_unsupported_combo = COMMA_HARDWARE and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
     startup_conditions["not_tici"] = not is_unsupported_combo
     onroad_conditions["not_tici"] = not is_unsupported_combo
     set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
@@ -465,7 +513,7 @@ def main():
     threading.Thread(target=hardware_thread, args=(end_event, hw_queue)),
   ]
 
-  if TICI:
+  if COMMA_HARDWARE:
     threads.append(threading.Thread(target=touch_thread, args=(end_event,)))
 
   for t in threads:
diff --git a/openpilot/system/hardware/power_monitoring.py b/openpilot/system/hardware/power_monitoring.py
index bd9c334d04..8dcd0fa6dc 100644
--- a/openpilot/system/hardware/power_monitoring.py
+++ b/openpilot/system/hardware/power_monitoring.py
@@ -106,18 +106,10 @@ class PowerMonitoring:
 
   # Max Time Offroad
   def max_time_offroad_exceeded(self, offroad_time):
-    """
-    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
-    :param offroad_time: Time spent offroad in seconds
-    :return: True if the max time offroad has been exceeded, False otherwise
-    """
-    try:
-      param = self.params.get("MaxTimeOffroad")
-      sp_max_time_val_s = param * 60 if param is not None and param >= 0 else MAX_TIME_OFFROAD_S
-    except Exception:
-      sp_max_time_val_s = MAX_TIME_OFFROAD_S
-
-    return 0 < sp_max_time_val_s <= offroad_time
+    param = self.params.get("MaxTimeOffroad")  # minutes, 0 = no limit
+    if param is not None and param >= 0:
+      return 0 < param * 60 <= offroad_time
+    return offroad_time > MAX_TIME_OFFROAD_S
 
   # See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
diff --git a/openpilot/system/hardware/tests/test_fan_controller.py b/openpilot/system/hardware/tests/test_fan_controller.py
index e1aceeb081..63f9967101 100644
--- a/openpilot/system/hardware/tests/test_fan_controller.py
+++ b/openpilot/system/hardware/tests/test_fan_controller.py
@@ -1,10 +1,11 @@
-import pytest
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.system.hardware.fan_controller import FanController
 
 ALL_CONTROLLERS = [FanController]
 
-class TestFanController:
+class TestFanController(OpenpilotTestCase):
   def wind_up(self, controller, ignition=True):
     for _ in range(1000):
       controller.update(100, ignition)
@@ -13,31 +14,31 @@ class TestFanController:
     for _ in range(1000):
       controller.update(10, ignition)
 
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  @parameterized.expand(ALL_CONTROLLERS)
   def test_hot_onroad(self, controller_class):
     controller = controller_class(2)
     self.wind_up(controller)
     assert controller.update(100, True) >= 70
 
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  @parameterized.expand(ALL_CONTROLLERS)
   def test_offroad_limits(self, controller_class):
     controller = controller_class(2)
     self.wind_up(controller)
     assert controller.update(100, False) <= 30
 
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  @parameterized.expand(ALL_CONTROLLERS)
   def test_no_fan_wear(self, controller_class):
     controller = controller_class(2)
     self.wind_down(controller)
     assert controller.update(10, False) == 0
 
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  @parameterized.expand(ALL_CONTROLLERS)
   def test_limited(self, controller_class):
     controller = controller_class(2)
     self.wind_up(controller, True)
     assert controller.update(100, True) == 100
 
-  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  @parameterized.expand(ALL_CONTROLLERS)
   def test_windup_speed(self, controller_class):
     controller = controller_class(2)
     self.wind_down(controller, True)
diff --git a/openpilot/system/hardware/tests/test_power_monitoring.py b/openpilot/system/hardware/tests/test_power_monitoring.py
index 12057ab837..6b254bbf57 100644
--- a/openpilot/system/hardware/tests/test_power_monitoring.py
+++ b/openpilot/system/hardware/tests/test_power_monitoring.py
@@ -1,5 +1,5 @@
-import pytest
-
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
   CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S
@@ -11,6 +11,10 @@ def mock_time_monotonic():
   ssb += 1.
   return ssb
 
+def set_mock_time(value):
+  global ssb
+  ssb = value
+
 TEST_DURATION_S = 50
 GOOD_VOLTAGE = 12 * 1e3
 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
@@ -22,13 +26,9 @@ def pm_patch(mocker, name, value, constant=False):
     mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value)
 
 
-@pytest.fixture(autouse=True)
-def mock_time(mocker):
-  mocker.patch("time.monotonic", mock_time_monotonic)
-
-
-class TestPowerMonitoring:
+class TestPowerMonitoring(OpenpilotTestCase):
   def setup_method(self):
+    self._fixture("mocker").patch("time.monotonic", mock_time_monotonic)
     self.params = Params()
 
   # Test to see that it doesn't do anything when pandaState is None
@@ -110,10 +110,9 @@ class TestPowerMonitoring:
     pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
     start_time = ssb
     ignition = False
-    while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
-      pm.calculate(GOOD_VOLTAGE, ignition)
-      if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
-        assert not pm.should_shutdown(ignition, True, start_time, False)
+    set_mock_time(start_time + MOCKED_MAX_OFFROAD_TIME - 1)
+    assert not pm.should_shutdown(ignition, True, start_time, False)
+    set_mock_time(start_time + MOCKED_MAX_OFFROAD_TIME)
     assert pm.should_shutdown(ignition, True, start_time, False)
 
   def test_car_voltage(self, mocker):
@@ -188,18 +187,16 @@ class TestPowerMonitoring:
     started_seen = True
     pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
 
-    while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
-      assert not pm.should_shutdown(ignition, in_car,
-                                          offroad_timestamp,
-                                          started_seen), \
-                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+    set_mock_time(offroad_timestamp + DELAY_SHUTDOWN_TIME_S - 1)
+    assert not pm.should_shutdown(ignition, in_car, offroad_timestamp, started_seen), \
+                     f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+    set_mock_time(offroad_timestamp + DELAY_SHUTDOWN_TIME_S)
     assert pm.should_shutdown(ignition, in_car,
                                        offroad_timestamp,
                                        started_seen), \
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
 
-  @pytest.mark.parametrize(
-    "max_time_offroad, offroad_time_min, expected_result",
+  @parameterized.expand(
     [
       # No max time set – fallback to default (30 hours)
       (None, 0, False),
diff --git a/openpilot/system/hardware/tici/agnos.json b/openpilot/system/hardware/tici/agnos.json
index ffee992f25..87cb197052 120000
--- a/openpilot/system/hardware/tici/agnos.json
+++ b/openpilot/system/hardware/tici/agnos.json
@@ -1 +1 @@
-../../../common/hardware/tici/agnos.json
\ No newline at end of file
+../comma/agnos.json
\ No newline at end of file
diff --git a/openpilot/system/loggerd/SConscript b/openpilot/system/loggerd/SConscript
index 7f6d4faf0c..6890c29655 100644
--- a/openpilot/system/loggerd/SConscript
+++ b/openpilot/system/loggerd/SConscript
@@ -4,8 +4,8 @@ libs = [common, messaging, visionipc] + ffmpeg_libs + ['pthread', 'm', 'zstd']
 frameworks = []
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
-if arch == "larch64":
-  src += ['encoder/v4l_encoder.cc']
+if arch == "comma_arm64":
+  src += ['clip_encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/v4l_decoder.cc']
 else:
   src += ['encoder/ffmpeg_encoder.cc']
   if arch == "Darwin":
@@ -17,6 +17,3 @@ libs.insert(0, logger_lib)
 env.Program('loggerd', ['loggerd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
 env.Program('encoderd', ['encoderd.cc'], LIBS=libs, FRAMEWORKS=frameworks)
 env.Program('bootlog.cc', LIBS=libs, FRAMEWORKS=frameworks)
-
-if GetOption('extras'):
-  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs)
diff --git a/openpilot/system/loggerd/clip_encoder.cc b/openpilot/system/loggerd/clip_encoder.cc
new file mode 100644
index 0000000000..7e8f3a9026
--- /dev/null
+++ b/openpilot/system/loggerd/clip_encoder.cc
@@ -0,0 +1,290 @@
+#include "system/loggerd/clip_encoder.h"
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+extern "C" {
+#include 
+#include 
+}
+
+#include "common/swaglog.h"
+#include "system/loggerd/encoder/v4l_decoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/loggerd.h"
+#include "system/loggerd/video_writer.h"
+
+namespace {
+
+constexpr double SEGMENT_DURATION = 60.0;
+constexpr int CLIP_FPS = 20;
+constexpr double PARALLEL_CLIP_MIN_DURATION = 2 * SEGMENT_DURATION;
+
+const EncoderInfo clip_encoder_info = {
+  .publish_name = "livestreamNarrowRoadEncodeData",
+  .record = false,
+  .fps = CLIP_FPS,
+  .get_settings = [](int) { return EncoderSettings::StreamEncoderSettings(); },
+  INIT_ENCODE_FUNCTIONS(LivestreamNarrowRoadEncode),
+};
+
+bool open_input(const std::string &path, AVFormatContext **ctx, int *stream_index) {
+  if (avformat_open_input(ctx, path.c_str(), nullptr, nullptr) < 0 ||
+      avformat_find_stream_info(*ctx, nullptr) < 0 ||
+      (*stream_index = av_find_best_stream(*ctx, AVMEDIA_TYPE_VIDEO, -1, -1, nullptr, 0)) < 0) {
+    LOGE("failed to open clip input %s", path.c_str());
+    avformat_close_input(ctx);
+    return false;
+  }
+  return true;
+}
+
+void remove_file(const std::string &path) {
+  std::error_code error;
+  std::filesystem::remove(path, error);
+}
+
+int encode_clip_worker(const std::vector &inputs, int width, int height,
+                       double start_time, double duration, int bitrate, int speedup,
+                       int64_t frame_offset, int64_t *encoded_frames,
+                       V4LEncoder::PacketCallback packet_callback) try {
+  EncoderInfo encoder_info = clip_encoder_info;
+  encoder_info.get_settings = [bitrate](int) {
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+                           .bitrate = bitrate, .gop_size = 5};
+  };
+  V4LDecoder decoder;
+  V4LEncoder::Options options = {
+    .packet_callback = std::move(packet_callback),
+    .input_format = V4L2_PIX_FMT_NV12_UBWC,
+    .input_done_callback = [&decoder](VisionBuf *buf) { decoder.releaseFrame(buf); },
+    .max_performance = true,
+  };
+  V4LEncoder encoder(encoder_info, width, height, std::move(options));
+  encoder.encoder_open();
+  if (!decoder.init(V4LDecoder::DEVICE, width, height, V4L2_PIX_FMT_HEVC, true, V4L2_PIX_FMT_NV12_UBWC)) return 1;
+
+  const int64_t first_frame = std::floor(start_time * CLIP_FPS);
+  const int64_t end_frame = std::ceil((start_time + duration) * CLIP_FPS);
+  int64_t input_frame = 0;
+  int64_t output_frame = 0;
+  int64_t received_frames = 0;
+  bool failed = false;
+  auto pump_decoder = [&](int timeout_ms) {
+    V4LDecodedFrame frame;
+    if (!decoder.pump(frame, timeout_ms)) return false;
+    if (!frame.buf) return true;
+    ++received_frames;
+    const int64_t source_frame = (int64_t)frame.token - 1;
+    if (source_frame < first_frame) {
+      decoder.releaseFrame(frame.buf);
+      return true;
+    }
+    if ((frame_offset + source_frame - first_frame) % speedup != 0) {
+      decoder.releaseFrame(frame.buf);
+      return true;
+    }
+
+    VisionIpcBufExtra extra = {};
+    extra.frame_id = output_frame;
+    extra.timestamp_sof = output_frame * 1000000000ULL / CLIP_FPS;
+    extra.timestamp_eof = extra.timestamp_sof;
+    if (encoder.encode_frame(frame.buf, &extra) < 0) {
+      decoder.releaseFrame(frame.buf);
+      return false;
+    }
+
+    ++output_frame;
+    return true;
+  };
+
+  for (size_t input_index = 0; input_index < inputs.size(); ++input_index) {
+    const std::string &input = inputs[input_index];
+    const int64_t segment_start_frame = input_frame;
+    AVFormatContext *ctx = nullptr;
+    int stream_index = -1;
+    if (!open_input(input, &ctx, &stream_index)) { failed = true; break; }
+    AVPacket packet = {};
+    while (input_frame < end_frame && av_read_frame(ctx, &packet) >= 0) {
+      if (packet.stream_index != stream_index) {
+        av_packet_unref(&packet);
+        continue;
+      }
+      if (packet.size <= 0 || (size_t)packet.size > decoder.maxPacketSize()) {
+        LOGE("decoder packet too large: %d > %zu", packet.size, decoder.maxPacketSize());
+        av_packet_unref(&packet);
+        failed = true;
+        break;
+      }
+
+      // Keep several compressed packets in flight so the firmware can sustain
+      // decode/encode overlap and does not downclock due to a shallow queue.
+      while (!decoder.queuePacket(&packet, input_frame + 1)) {
+        if (!pump_decoder(-1)) {
+          failed = true;
+          break;
+        }
+      }
+      av_packet_unref(&packet);
+      if (failed) break;
+
+      ++input_frame;
+    }
+    av_packet_unref(&packet);
+    avformat_close_input(&ctx);
+    // Only the final loggerd segment may be shorter than SEGMENT_DURATION. A
+    // short intermediate segment would silently close a gap in the source.
+    if (!failed && input_frame < end_frame && input_index + 1 < inputs.size() &&
+        input_frame - segment_start_frame < static_cast(SEGMENT_DURATION * CLIP_FPS)) {
+      failed = true;
+    }
+    if (failed || input_frame >= end_frame) break;
+  }
+
+  if (!failed) decoder.sendEOS();
+  for (int empty_polls = 0; !failed && received_frames < input_frame;) {
+    const int64_t before = received_frames;
+    failed = !pump_decoder(1000);
+    empty_polls = received_frames == before ? empty_polls + 1 : 0;
+    if (empty_polls == 5) failed = true;
+  }
+
+  encoder.encoder_close();
+  const int64_t source_frames = std::max(0, std::min(input_frame, end_frame) - first_frame);
+  const int64_t first_output_frame = (speedup - frame_offset % speedup) % speedup;
+  const int64_t expected_output_frames = first_output_frame < source_frames ?
+    1 + (source_frames - first_output_frame - 1) / speedup : 0;
+  if (failed || source_frames == 0 || output_frame != expected_output_frames) {
+    LOGE("clip failed: input=%lld/%lld decoded=%lld encoded=%lld/%lld",
+         (long long)input_frame, (long long)end_frame, (long long)received_frames,
+         (long long)output_frame, (long long)expected_output_frames);
+    return 1;
+  }
+  *encoded_frames = output_frame;
+  return 0;
+} catch (const std::exception &e) {
+  LOGE("clip worker failed: %s", e.what());
+  return 1;
+}
+
+struct SpoolPacket {
+  uint32_t size;
+  int64_t timestamp;
+  bool keyframe;
+};
+
+}  // namespace
+
+int encode_clip(const std::vector &inputs, const std::string &output,
+                double start_time, double duration, int bitrate, int speedup,
+                const std::string &metadata) {
+  if (inputs.empty() || !std::isfinite(start_time) || !std::isfinite(duration) ||
+      start_time < 0 || duration <= 0 || bitrate <= 0 || speedup <= 0) {
+    return 1;
+  }
+
+  // Inputs are consecutive loggerd segments. Skip whole files before the clip
+  // so a late start does not spend hardware time decoding discarded minutes.
+  const double available_duration = inputs.size() * SEGMENT_DURATION;
+  if (start_time >= available_duration || duration > available_duration - start_time) return 1;
+  const size_t skipped_segments = start_time / SEGMENT_DURATION;
+  const std::vector clip_inputs(inputs.begin() + skipped_segments, inputs.end());
+  const double local_start = start_time - skipped_segments * SEGMENT_DURATION;
+
+  AVFormatContext *ctx = nullptr;
+  int stream = -1;
+  if (!open_input(clip_inputs.front(), &ctx, &stream)) return 1;
+  AVCodecParameters *codec = ctx->streams[stream]->codecpar;
+  const int width = codec->width, height = codec->height;
+  const bool valid_codec = codec->codec_id == AV_CODEC_ID_HEVC && width > 0 && height > 0;
+  avformat_close_input(&ctx);
+  if (!valid_codec) return 1;
+
+  std::filesystem::path output_path(output);
+  const std::string output_dir = output_path.has_parent_path() ? output_path.parent_path() : ".";
+  auto writer = std::make_unique(output_dir.c_str(), output_path.filename().c_str(), true,
+                                              width, height, CLIP_FPS, cereal::EncodeIndex::Type::QCAMERA_H264);
+  if (!metadata.empty()) writer->set_metadata("ai.comma.clip.settings", metadata.c_str());
+  V4LEncoder::PacketCallback write_packet = [&writer](uint8_t *data, size_t size, int64_t timestamp,
+                                                      bool config, bool keyframe) {
+    writer->write(data, size, timestamp, config, keyframe);
+  };
+
+  if (clip_inputs.size() < 2 || duration < PARALLEL_CLIP_MIN_DURATION) {
+    int64_t encoded_frames = 0;
+    const bool success = encode_clip_worker(clip_inputs, width, height, local_start, duration,
+                                            bitrate, speedup, 0, &encoded_frames, write_packet) == 0;
+    if (!success) {
+      writer.reset();
+      remove_file(output);
+    }
+    return success ? 0 : 1;
+  }
+
+  const size_t split = std::clamp(std::llround((local_start + duration / 2) / SEGMENT_DURATION),
+                                           1, clip_inputs.size() - 1);
+  const double split_time = split * SEGMENT_DURATION;
+  const std::array, 2> shard_inputs = {
+    std::vector(clip_inputs.begin(), clip_inputs.begin() + split),
+    std::vector(clip_inputs.begin() + split, clip_inputs.end()),
+  };
+  const std::array shard_starts = {local_start, 0};
+  const std::array shard_durations = {
+    split_time - local_start, local_start + duration - split_time,
+  };
+  const std::string spool_path = output + ".encoderd-" + std::to_string(getpid()) + ".tmp";
+  FILE *spool = fopen(spool_path.c_str(), "w+b");
+  if (!spool) {
+    writer.reset();
+    remove_file(output);
+    return 1;
+  }
+  remove_file(spool_path);
+  bool spool_ok = true;
+  V4LEncoder::PacketCallback spool_packet = [&](uint8_t *data, size_t size, int64_t timestamp,
+                                                bool config, bool keyframe) {
+    if (config) return;
+    const SpoolPacket packet = {(uint32_t)size, timestamp, keyframe};
+    spool_ok &= fwrite(&packet, sizeof(packet), 1, spool) == 1 && fwrite(data, 1, size, spool) == size;
+  };
+  std::array results = {1, 1};
+  std::array encoded_frames = {};
+  const std::array frame_offsets = {
+    0, (int64_t)std::llround(split_time * CLIP_FPS) - (int64_t)std::floor(local_start * CLIP_FPS),
+  };
+  std::array workers;
+
+  for (size_t i = 0; i < workers.size(); ++i) {
+    workers[i] = std::thread([&, i]() {
+      results[i] = encode_clip_worker(shard_inputs[i], width, height, shard_starts[i], shard_durations[i],
+                                      bitrate, speedup, frame_offsets[i], &encoded_frames[i],
+                                      i == 0 ? write_packet : spool_packet);
+    });
+  }
+  for (std::thread &worker : workers) worker.join();
+
+  rewind(spool);
+  SpoolPacket packet;
+  std::vector data;
+  const int64_t timestamp_offset = encoded_frames[0] * 1000000 / CLIP_FPS;
+  while (spool_ok && fread(&packet, sizeof(packet), 1, spool) == 1) {
+    data.resize(packet.size);
+    spool_ok = fread(data.data(), 1, data.size(), spool) == data.size();
+    if (spool_ok) writer->write(data.data(), data.size(), packet.timestamp + timestamp_offset, false, packet.keyframe);
+  }
+  fclose(spool);
+  bool success = results[0] == 0 && results[1] == 0 && spool_ok;
+  if (!success) {
+    writer.reset();
+    remove_file(output);
+  }
+  return success ? 0 : 1;
+}
diff --git a/openpilot/system/loggerd/clip_encoder.h b/openpilot/system/loggerd/clip_encoder.h
new file mode 100644
index 0000000000..5bd01b0c6c
--- /dev/null
+++ b/openpilot/system/loggerd/clip_encoder.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include 
+#include 
+
+// inputs are consecutive 60-second loggerd HEVC segments; start_time is
+// relative to the beginning of the first input.
+int encode_clip(const std::vector &inputs, const std::string &output,
+                double start_time, double duration, int bitrate = 5'000'000,
+                int speedup = 1, const std::string &metadata = {});
diff --git a/openpilot/system/loggerd/deleter.py b/openpilot/system/loggerd/deleter.py
index d5c12474f8..51bac4ea23 100755
--- a/openpilot/system/loggerd/deleter.py
+++ b/openpilot/system/loggerd/deleter.py
@@ -47,6 +47,32 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> set[str]:
   return preserved
 
 
+def deleter_step() -> tuple[bool, str | None]:
+  out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
+  out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
+  out_of_space = out_of_percent or out_of_bytes
+  if not out_of_space:
+    return False, None
+
+  dirs = listdir_by_creation(Paths.log_root())
+  preserved_dirs = get_preserved_segments(dirs)
+
+  # remove the earliest directory we can
+  for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
+    delete_path = os.path.join(Paths.log_root(), delete_dir)
+
+    if any(name.endswith(".lock") for name in os.listdir(delete_path)):
+      continue
+
+    try:
+      cloudlog.info(f"deleting {delete_path}")
+      shutil.rmtree(delete_path)
+      return True, delete_path
+    except OSError:
+      cloudlog.exception(f"issue deleting {delete_path}")
+  return True, None
+
+
 def deleter_thread(exit_event: threading.Event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
diff --git a/openpilot/tools/replay/qcom_decoder.cc b/openpilot/system/loggerd/encoder/v4l_decoder.cc
similarity index 58%
rename from openpilot/tools/replay/qcom_decoder.cc
rename to openpilot/system/loggerd/encoder/v4l_decoder.cc
index b7f04a063b..6db41adb82 100644
--- a/openpilot/tools/replay/qcom_decoder.cc
+++ b/openpilot/system/loggerd/encoder/v4l_decoder.cc
@@ -1,13 +1,19 @@
-#include "qcom_decoder.h"
+#include "system/loggerd/encoder/v4l_decoder.h"
 
 #include 
+#include 
+#include 
 #include 
 #include 
+#include 
+#include 
 
 
 #include "common/swaglog.h"
 #include "common/util.h"
 
+constexpr int OFFLINE_CORE_PLACEMENT_RATE = 80 << 16;
+
 // echo "0xFFFF" > /sys/kernel/debug/msm_vidc/debug_level
 
 static void copyBuffer(VisionBuf *src_buf, VisionBuf *dst_buf) {
@@ -26,108 +32,131 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
   util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }
 
-MsmVidc::~MsmVidc() {
+V4LDecoder::~V4LDecoder() {
   if (fd > 0) {
     close(fd);
   }
 }
 
-bool MsmVidc::init(const char* dev, size_t width, size_t height, uint64_t codec) {
+bool V4LDecoder::init(const char* dev, size_t width, size_t height, uint64_t codec,
+                   bool direct_mode, uint32_t capture_fourcc) {
   LOG("Initializing msm_vidc device %s", dev);
   this->w = width;
   this->h = height;
-  this->fd = open(dev, O_RDWR, 0);
+  this->direct = direct_mode;
+  this->capture_format = capture_fourcc;
+  this->fd = open(dev, O_RDWR | O_NONBLOCK, 0);
   if (fd < 0) {
     LOGE("failed to open video device %s", dev);
     return false;
   }
   subscribeEvents();
   v4l2_buf_type out_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  setPlaneFormat(out_type, V4L2_PIX_FMT_HEVC); // Also allocates the output buffer
+  setPlaneFormat(out_type, codec); // Also allocates the output buffers
   setFPS(FPS);
+  if (direct) {
+    struct v4l2_control ctrls[] = {
+      // A finite real-time load lets the driver place decode and encode on separate cores.
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE, .value = OFFLINE_CORE_PLACEMENT_RATE },
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE },
+    };
+    for (auto ctrl : ctrls) {
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL offline decode failed");
+    }
+  }
   request_buffers(fd, out_type, OUTPUT_BUFFER_COUNT);
   util::safe_ioctl(fd, VIDIOC_STREAMON, &out_type, "VIDIOC_STREAMON OUTPUT failed");
   restartCapture();
-  setupPolling();
+  pfd = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0};
 
   this->initialized = true;
   return true;
 }
 
-VisionBuf* MsmVidc::decodeFrame(AVPacket *pkt, VisionBuf *buf) {
-  assert(initialized && (pkt != nullptr) && (buf != nullptr));
+VisionBuf* V4LDecoder::decodeFrame(AVPacket *pkt, VisionBuf *buf) {
+  assert(initialized && !direct && pkt != nullptr && buf != nullptr);
+  bool queued = false;
+  while (true) {
+    if (!queued) queued = queuePacket(pkt, 0);
+    V4LDecodedFrame frame;
+    if (!pump(frame, -1)) return nullptr;
+    if (!frame.buf) continue;
 
-  this->frame_ready = false;
-  this->current_output_buf = buf;
-  bool sent_packet = false;
+    VisionBuf *decoded = frame.buf;
+    copyBuffer(decoded, buf);
+    releaseFrame(decoded);
+    return buf;
+  }
+}
 
-  while (!this->frame_ready) {
-    if (!sent_packet) {
-      int buf_index = getBufferUnlocked();
-      if (buf_index >= 0) {
-        assert(buf_index < out_buf_cnt);
-        sendPacket(buf_index, pkt);
-        sent_packet = true;
-      }
-    }
+void V4LDecoder::releaseFrame(VisionBuf *buf) {
+  assert(buf >= cap_bufs && buf < cap_bufs + CAPTURE_BUFFER_COUNT);
+  queueCaptureBuffer(buf - cap_bufs);
+}
 
-    if (poll(pfd, nfds, -1) < 0) {
+bool V4LDecoder::queuePacket(const AVPacket *pkt, uint64_t token) {
+  int buf_index = getBufferUnlocked();
+  return buf_index >= 0 && sendPacket(buf_index, pkt, token);
+}
+
+bool V4LDecoder::pump(V4LDecodedFrame &frame, int timeout_ms) {
+  frame = {};
+  int rc;
+  while (true) {
+    rc = poll(&pfd, 1, timeout_ms);
+    if (rc < 0) {
+      if (errno == EINTR) continue;
       LOGE("poll() error: %d", errno);
-      return nullptr;
-    }
-
-    if (VisionBuf* result = processEvents()) {
-      return result;
+      return false;
     }
+    break;
   }
 
-  return buf;
+  if (rc == 0) return true;
+
+  int result;
+
+  // Port changes must be handled before capture DQ so no old-format surface is
+  // handed to a client after the driver has requested a capture flush.
+  while ((result = handleEvent()) > 0) {}
+  if (result < 0) return false;
+
+  while ((result = handleOutput()) > 0) {}
+  if (result < 0) return false;
+
+  result = handleCapture(&frame);
+  return result >= 0;
 }
 
-VisionBuf* MsmVidc::processEvents() {
-  for (int idx = 0; idx < nfds; idx++) {
-    short revents = pfd[idx].revents;
-    if (!revents) continue;
-
-    if (idx == ev[EV_VIDEO]) {
-      if (revents & (POLLIN | POLLRDNORM)) {
-        VisionBuf *result = handleCapture();
-        if (result == this->current_output_buf) {
-          this->frame_ready = true;
-        }
-      }
-      if (revents & (POLLOUT | POLLWRNORM)) {
-        handleOutput();
-      }
-      if (revents & POLLPRI) {
-        handleEvent();
-      }
-    } else {
-      LOGE("Unexpected event on fd %d", pfd[idx].fd);
-    }
-  }
-  return nullptr;
-}
-
-VisionBuf* MsmVidc::handleCapture() {
+int V4LDecoder::handleCapture(V4LDecodedFrame *frame) {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1] = {0};
   buf.type          = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
   buf.memory        = V4L2_MEMORY_USERPTR;
   buf.m.planes      = planes;
   buf.length        = 1;
-  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF CAPTURE failed");
-
-  if (this->reconfigure_pending || buf.m.planes[0].bytesused == 0) {
-    return nullptr;
+  int err = HANDLE_EINTR(ioctl(this->fd, VIDIOC_DQBUF, &buf));
+  if (err < 0 && errno == EAGAIN) return 0;
+  if (err < 0) {
+    LOGE("VIDIOC_DQBUF CAPTURE failed: %d", errno);
+    return -1;
   }
 
-  copyBuffer(&cap_bufs[buf.index], this->current_output_buf);
-  queueCaptureBuffer(buf.index);
-  return this->current_output_buf;
+  const bool has_payload = buf.m.planes[0].bytesused != 0;
+  const bool eos = (buf.flags & V4L2_QCOM_BUF_FLAG_EOS) != 0;
+
+  frame->buf = nullptr;
+  if (!reconfigure_pending && has_payload) {
+    frame->buf = &cap_bufs[buf.index];
+    frame->token = (uint64_t)buf.timestamp.tv_sec * 1000000ULL + buf.timestamp.tv_usec;
+  } else if (!reconfigure_pending && !eos) {
+    queueCaptureBuffer(buf.index);
+  }
+
+  return 1;
 }
 
-bool MsmVidc::subscribeEvents() {
+bool V4LDecoder::subscribeEvents() {
   for (uint32_t event : subscriptions) {
     struct v4l2_event_subscription sub = { .type = event};
     util::safe_ioctl(fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "VIDIOC_SUBSCRIBE_EVENT failed");
@@ -135,7 +164,7 @@ bool MsmVidc::subscribeEvents() {
   return true;
 }
 
-bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
+bool V4LDecoder::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
   struct v4l2_format fmt = {.type = type};
   struct v4l2_pix_format_mplane *pix = &fmt.fmt.pix_mp;
   *pix = {
@@ -146,20 +175,17 @@ bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
   util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt, "VIDIOC_S_FMT failed");
   if (type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE) {
     this->out_buf_size = pix->plane_fmt[0].sizeimage;
-    int ion_size = this->out_buf_size * OUTPUT_BUFFER_COUNT; // Output (input) buffers are ION buffer.
-    this->out_buf.allocate(ion_size); // mmap rw
     for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) {
-      this->out_buf_off[i] = i * this->out_buf_size;
-      this->out_buf_addr[i] = (char *)this->out_buf.addr + this->out_buf_off[i];
+      this->out_bufs[i].allocate(this->out_buf_size);
       this->out_buf_flag[i] = false;
     }
-    LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_buf.addr);
+    LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_bufs[0].addr);
   } else if (type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE) {
     request_buffers(this->fd, type, CAPTURE_BUFFER_COUNT);
     util::safe_ioctl(fd, VIDIOC_G_FMT, &fmt, "VIDIOC_G_FMT failed");
     const __u32 y_size    = pix->plane_fmt[0].sizeimage;
     const __u32 y_stride  = pix->plane_fmt[0].bytesperline;
-    for (int i = 0; i < CAPTURE_BUFFER_COUNT; i++) {
+    for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; i++) {
       size_t uv_offset = (size_t)y_stride * pix->height;
       size_t required = uv_offset + (y_stride * pix->height / 2); // enough for Y + UV. For linear NV12, UV plane starts at y_stride * height.
       size_t alloc_size = std::max(y_size, required);
@@ -172,7 +198,7 @@ bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
   return true;
 }
 
-bool MsmVidc::setFPS(uint32_t fps) {
+bool V4LDecoder::setFPS(uint32_t fps) {
   struct v4l2_streamparm streamparam = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
   };
@@ -181,7 +207,7 @@ bool MsmVidc::setFPS(uint32_t fps) {
   return true;
 }
 
-bool MsmVidc::restartCapture() {
+bool V4LDecoder::restartCapture() {
   // stop if already initialized
   enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
   if (this->initialized) {
@@ -191,23 +217,36 @@ bool MsmVidc::restartCapture() {
     util::safe_ioctl(this->fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
     for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
       this->cap_bufs[i].free();
-      this->cap_buf_flag[i] = false; // mark as not queued
       cap_bufs[i].~VisionBuf();
       new (&cap_bufs[i]) VisionBuf();
     }
   }
   // setup, start and queue capture buffers
   setDBP();
-  setPlaneFormat(type, V4L2_PIX_FMT_NV12);
+  setPlaneFormat(type, capture_format);
+  if (direct) {
+    struct v4l2_control ctrl = {
+      .id = V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE,
+      .value = OFFLINE_CORE_PLACEMENT_RATE,
+    };
+    util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL placement decode failed");
+  }
   util::safe_ioctl(this->fd, VIDIOC_STREAMON, &type, "VIDIOC_STREAMON CAPTURE failed");
   for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
     queueCaptureBuffer(i);
   }
+  if (direct) {
+    struct v4l2_control ctrl = {
+      .id = V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE,
+      .value = INT_MAX,
+    };
+    util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL turbo decode failed");
+  }
 
   return true;
 }
 
-bool MsmVidc::queueCaptureBuffer(int i) {
+bool V4LDecoder::queueCaptureBuffer(int i) {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1] = {0};
 
@@ -224,27 +263,28 @@ bool MsmVidc::queueCaptureBuffer(int i) {
   planes[0].bytesused     = this->cap_bufs[i].len;
   planes[0].data_offset   = 0;
   util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
-  this->cap_buf_flag[i] = true; // mark as queued
   return true;
 }
 
-bool MsmVidc::queueOutputBuffer(int i, size_t size) {
+bool V4LDecoder::queueOutputBuffer(int i, size_t size, uint64_t token) {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1] = {0};
 
   buf.type                = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
   buf.memory              = V4L2_MEMORY_USERPTR;
   buf.index               = i;
+  buf.flags               = V4L2_BUF_FLAG_TIMESTAMP_COPY;
+  buf.timestamp.tv_sec    = token / 1000000ULL;
+  buf.timestamp.tv_usec   = token % 1000000ULL;
   buf.m.planes            = planes;
   buf.length              = 1;
   // decoded frame plane
-  planes[0].m.userptr     = (unsigned long)this->out_buf_off[i]; // check this
+  planes[0].m.userptr     = (unsigned long)this->out_bufs[i].addr;
   planes[0].length        = this->out_buf_size;
-  planes[0].reserved[0]   = this->out_buf.fd; // ION fd
+  planes[0].reserved[0]   = this->out_bufs[i].fd; // ION fd
   planes[0].reserved[1]   = 0;
   planes[0].bytesused     = size;
   planes[0].data_offset   = 0;
-  assert((this->out_buf_off[i] & 0xfff) == 0);          // must be 4 KiB aligned
   assert(this->out_buf_size % 4096 == 0);               // ditto for size
 
   util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
@@ -252,7 +292,7 @@ bool MsmVidc::queueOutputBuffer(int i, size_t size) {
   return true;
 }
 
-bool MsmVidc::setDBP() {
+bool V4LDecoder::setDBP() {
   struct v4l2_ext_control control[2] = {0};
   struct v4l2_ext_controls controls = {0};
   control[0].id           = V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE;
@@ -266,27 +306,19 @@ bool MsmVidc::setDBP() {
   return true;
 }
 
-bool MsmVidc::setupPolling() {
-  // Initialize poll array
-  pfd[EV_VIDEO] = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0};
-  ev[EV_VIDEO] = EV_VIDEO;
-  nfds = 1;
-  return true;
-}
-
-bool MsmVidc::sendPacket(int buf_index, AVPacket *pkt) {
-  assert(buf_index >= 0 && buf_index < out_buf_cnt);
+bool V4LDecoder::sendPacket(int buf_index, const AVPacket *pkt, uint64_t token) {
+  assert(buf_index >= 0 && buf_index < OUTPUT_BUFFER_COUNT);
   assert(pkt != nullptr && pkt->data != nullptr && pkt->size > 0);
+  assert((size_t)pkt->size <= (size_t)this->out_buf_size);
   // Prepare output buffer
-  memset(this->out_buf_addr[buf_index], 0, this->out_buf_size);
-  uint8_t * data = (uint8_t *)this->out_buf_addr[buf_index];
+  uint8_t * data = (uint8_t *)this->out_bufs[buf_index].addr;
   memcpy(data, pkt->data, pkt->size);
-  queueOutputBuffer(buf_index, pkt->size);
+  queueOutputBuffer(buf_index, pkt->size, token);
   return true;
 }
 
-int MsmVidc::getBufferUnlocked() {
-  for (int i = 0; i < this->out_buf_cnt; i++) {
+int V4LDecoder::getBufferUnlocked() {
+  for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) {
     if (!out_buf_flag[i]) {
       return i;
     }
@@ -295,22 +327,32 @@ int MsmVidc::getBufferUnlocked() {
 }
 
 
-bool MsmVidc::handleOutput() {
+int V4LDecoder::handleOutput() {
   struct v4l2_buffer buf = {0};
   struct v4l2_plane planes[1];
   buf.type      = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
   buf.memory    = V4L2_MEMORY_USERPTR;
   buf.m.planes  = planes;
   buf.length    = 1;
-  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF OUTPUT failed");
+  int err = HANDLE_EINTR(ioctl(this->fd, VIDIOC_DQBUF, &buf));
+  if (err < 0 && errno == EAGAIN) return 0;
+  if (err < 0) {
+    LOGE("VIDIOC_DQBUF OUTPUT failed: %d", errno);
+    return -1;
+  }
   this->out_buf_flag[buf.index] = false; // mark as not queued
-  return true;
+  return 1;
 }
 
-bool MsmVidc::handleEvent() {
+int V4LDecoder::handleEvent() {
   // dequeue event
   struct v4l2_event event = {0};
-  util::safe_ioctl(this->fd, VIDIOC_DQEVENT, &event, "VIDIOC_DQEVENT failed");
+  int err = HANDLE_EINTR(ioctl(this->fd, VIDIOC_DQEVENT, &event));
+  if (err < 0 && (errno == EAGAIN || errno == ENOENT)) return 0;
+  if (err < 0) {
+    LOGE("VIDIOC_DQEVENT failed: %d", errno);
+    return -1;
+  }
   switch (event.type) {
     case V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT: {
       unsigned int *ptr     = (unsigned int *)event.u.data;
@@ -342,5 +384,10 @@ bool MsmVidc::handleEvent() {
     default:
       break;
   }
-  return true;
+  return 1;
+}
+
+void V4LDecoder::sendEOS() {
+  struct v4l2_decoder_cmd command = { .cmd = V4L2_DEC_CMD_STOP };
+  util::safe_ioctl(fd, VIDIOC_DECODER_CMD, &command, "VIDIOC_DECODER_CMD STOP failed");
 }
diff --git a/openpilot/system/loggerd/encoder/v4l_decoder.h b/openpilot/system/loggerd/encoder/v4l_decoder.h
new file mode 100644
index 0000000000..c7a96803ed
--- /dev/null
+++ b/openpilot/system/loggerd/encoder/v4l_decoder.h
@@ -0,0 +1,105 @@
+#pragma once
+
+#include 
+#include 
+
+#include "msgq/visionipc/visionbuf.h"
+
+extern "C" {
+  #include 
+  #include 
+}
+
+#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
+#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
+#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
+#ifndef V4L2_CID_MPEG_MSM_VIDC_BASE
+#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT
+#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE
+#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
+#endif
+#ifndef V4L2_PIX_FMT_NV12_UBWC
+#define V4L2_PIX_FMT_NV12_UBWC v4l2_fourcc('Q', '1', '2', '8')
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY
+#define V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY (V4L2_CID_MPEG_MSM_VIDC_BASE + 52)
+#define V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE 0
+#define V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE 1
+#endif
+#ifndef V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE
+#define V4L2_CID_MPEG_VIDC_VIDEO_OPERATING_RATE (V4L2_CID_MPEG_MSM_VIDC_BASE + 53)
+#endif
+#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
+#define V4L2_QCOM_CMD_FLUSH (4)
+#ifndef V4L2_QCOM_BUF_FLAG_EOS
+#define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
+#endif
+
+#define OUTPUT_BUFFER_COUNT 	8
+#define CAPTURE_BUFFER_COUNT 	16
+#define FPS 									20
+
+struct V4LDecodedFrame {
+  VisionBuf *buf = nullptr;
+  uint64_t token = 0;
+};
+
+class V4LDecoder {
+public:
+  static constexpr const char *DEVICE = "/dev/video32";
+
+  V4LDecoder() = default;
+  ~V4LDecoder();
+
+  bool init(const char* dev, size_t width, size_t height, uint64_t codec,
+            bool direct_mode = false, uint32_t capture_fourcc = V4L2_PIX_FMT_NV12);
+  VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
+  // queuePacket() and pump() are single-threaded. releaseFrame() may be called
+  // from a consumer thread after a direct capture surface is no longer needed.
+  bool queuePacket(const AVPacket *pkt, uint64_t token);
+  bool pump(V4LDecodedFrame &frame, int timeout_ms);
+  void releaseFrame(VisionBuf *buf);
+  void sendEOS();
+  size_t maxPacketSize() const { return out_buf_size; }
+
+  AVFormatContext* avctx = nullptr;
+  int fd = 0;
+
+private:
+  bool initialized = false;
+  bool reconfigure_pending = false;
+  bool direct = false;
+  uint32_t capture_format = V4L2_PIX_FMT_NV12;
+
+  VisionBuf out_bufs[OUTPUT_BUFFER_COUNT];    // Distinct dma-buf per in-flight packet
+  VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT];   // Capture (output) buffers
+
+  size_t w = 0, h = 0;
+  int out_buf_size = 0;
+
+  bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
+
+  const int subscriptions[2] = {
+    V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
+    V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
+  };
+
+  struct pollfd pfd = {};
+
+  bool subscribeEvents();
+  bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
+  bool setFPS(uint32_t fps);
+  bool restartCapture();
+  bool queueCaptureBuffer(int i);
+  bool queueOutputBuffer(int i, size_t size, uint64_t token);
+  bool setDBP();
+  bool sendPacket(int buf_index, const AVPacket* pkt, uint64_t token);
+  int getBufferUnlocked();
+  int handleCapture(V4LDecodedFrame *frame);
+  int handleOutput();
+  int handleEvent();
+};
diff --git a/openpilot/system/loggerd/encoder/v4l_encoder.cc b/openpilot/system/loggerd/encoder/v4l_encoder.cc
index 1b4d976b93..0d7e744568 100644
--- a/openpilot/system/loggerd/encoder/v4l_encoder.cc
+++ b/openpilot/system/loggerd/encoder/v4l_encoder.cc
@@ -2,6 +2,7 @@
 #include 
 #include 
 #include 
+#include 
 
 #include "system/loggerd/encoder/v4l_encoder.h"
 #include "common/util.h"
@@ -77,9 +78,10 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
   uint32_t idx = -1;
   bool exit = false;
 
-  // POLLIN is capture, POLLOUT is frame
+  // POLLIN is capture, POLLOUT is frame. Qualcomm's reference client also
+  // requests the corresponding normal-data bits.
   struct pollfd pfd;
-  pfd.events = POLLIN | POLLOUT;
+  pfd.events = POLLIN | POLLRDNORM | POLLOUT | POLLWRNORM;
   pfd.fd = e->fd;
 
   // save the header
@@ -104,7 +106,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
     }
 
     int frame_id = -1;
-    if (pfd.revents & POLLIN) {
+    if (pfd.revents & (POLLIN | POLLRDNORM)) {
       unsigned int bytesused, flags, index;
       struct timeval timestamp;
       dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, &index, &bytesused, &flags, ×tamp);
@@ -118,12 +120,17 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
       } else if (flags & V4L2_QCOM_BUF_FLAG_CODECCONFIG) {
         // save header
         header = kj::heapArray(buf, bytesused);
+        if (e->packet_callback) e->packet_callback(header.begin(), header.size(), ts, true, false);
       } else {
         VisionIpcBufExtra extra = e->extras.pop();
         assert(extra.timestamp_eof/1000 == ts); // stay in sync
         frame_id = extra.frame_id;
         ++idx;
-        e->publisher_publish(e->segment_num, idx, extra, flags, header, kj::arrayPtr(buf, bytesused));
+        if (e->packet_callback) {
+          e->packet_callback(buf, bytesused, ts, false, flags & V4L2_BUF_FLAG_KEYFRAME);
+        } else {
+          e->publisher_publish(e->segment_num, idx, extra, flags, header, kj::arrayPtr(buf, bytesused));
+        }
       }
 
       if (env_debug_encoder) {
@@ -135,16 +142,22 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
       queue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, index, &e->buf_out[index]);
     }
 
-    if (pfd.revents & POLLOUT) {
+    if (pfd.revents & (POLLOUT | POLLWRNORM)) {
       unsigned int index;
       dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, &index);
+      VisionBuf *input_buf = e->input_bufs[index].exchange(nullptr);
+      if (input_buf && e->input_done_callback) e->input_done_callback(input_buf);
       e->free_buf_in.push(index);
     }
   }
 }
 
 V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
-    : VideoEncoder(encoder_info, in_width, in_height) {
+    : V4LEncoder(encoder_info, in_width, in_height, Options{}) {}
+
+V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height, Options options)
+    : VideoEncoder(encoder_info, in_width, in_height), packet_callback(std::move(options.packet_callback)),
+      input_done_callback(std::move(options.input_done_callback)) {
   fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK));
   assert(fd >= 0);
 
@@ -193,7 +206,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       .pix_mp = {
         .width = (unsigned int)in_width,
         .height = (unsigned int)in_height,
-        .pixelformat = V4L2_PIX_FMT_NV12,
+        .pixelformat = options.input_format,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_470_SYSTEM_BG,
       }
@@ -220,6 +233,13 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   }
+  if (options.max_performance) {
+    struct v4l2_control ctrl = {
+      .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY,
+      .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_ENABLE,
+    };
+    util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL offline encode failed");
+  }
 
   if (is_h265) {
     struct v4l2_control ctrls[] = {
@@ -231,12 +251,30 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   } else {
+    if (encoder_info.is_live) {
+      struct v4l2_control ctrls[] = {
+        { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_3_1},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
+        { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
+      };
+      for (auto ctrl : ctrls) {
+        util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
+      }
+    } else {
+      struct v4l2_control ctrls[] = {
+        { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
+        { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
+        { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
+      };
+      for (auto ctrl : ctrls) {
+        util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
+      }
+    }
+
     struct v4l2_control ctrls[] = {
-      { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
-      { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
-      { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
-      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
+      { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = V4L2_MPEG_VIDEO_H264_LOOP_FILTER_MODE_ENABLED},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
@@ -281,6 +319,7 @@ int V4LEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
 
   // reserve buffer
   int buffer_in = free_buf_in.pop();
+  input_bufs[buffer_in].store(buf);
 
   // push buffer
   extras.push(*extra);
diff --git a/openpilot/system/loggerd/encoder/v4l_encoder.h b/openpilot/system/loggerd/encoder/v4l_encoder.h
index b1a84e654f..c8399e1225 100644
--- a/openpilot/system/loggerd/encoder/v4l_encoder.h
+++ b/openpilot/system/loggerd/encoder/v4l_encoder.h
@@ -1,14 +1,27 @@
 #pragma once
 
+#include 
+#include 
+
 #include "common/queue.h"
 #include "system/loggerd/encoder/encoder.h"
 
-#define BUF_IN_COUNT 7
+#define BUF_IN_COUNT 9
 #define BUF_OUT_COUNT 6
 
 class V4LEncoder : public VideoEncoder {
 public:
+  using PacketCallback = std::function;
+  using InputDoneCallback = std::function;
+  struct Options {
+    PacketCallback packet_callback;
+    uint32_t input_format = V4L2_PIX_FMT_NV12;
+    InputDoneCallback input_done_callback;
+    bool max_performance = false;
+  };
+
   V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height, Options options);
   ~V4LEncoder();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
@@ -23,12 +36,14 @@ private:
   int segment_num = -1;
   int counter = 0;
   int current_bitrate = -1;
-
   SafeQueue extras;
+  PacketCallback packet_callback;
+  InputDoneCallback input_done_callback;
 
   static void dequeue_handler(V4LEncoder *e);
   std::thread dequeue_handler_thread;
 
   VisionBuf buf_out[BUF_OUT_COUNT];
+  std::atomic input_bufs[BUF_IN_COUNT] = {};
   SafeQueue free_buf_in;
 };
diff --git a/openpilot/system/loggerd/encoderd.cc b/openpilot/system/loggerd/encoderd.cc
index 11db07671d..55f0777fbb 100644
--- a/openpilot/system/loggerd/encoderd.cc
+++ b/openpilot/system/loggerd/encoderd.cc
@@ -1,9 +1,16 @@
 #include 
+#ifdef __COMMA_HARDWARE__
+#include 
+#include 
+#endif
 
+#ifdef __COMMA_HARDWARE__
+#include "system/loggerd/clip_encoder.h"
+#endif
 #include "system/loggerd/loggerd.h"
 #include "system/loggerd/encoder/jpeg_encoder.h"
 
-#ifdef __TICI__
+#ifdef __COMMA_HARDWARE__
 #include "system/loggerd/encoder/v4l_encoder.h"
 #define Encoder V4LEncoder
 #else
@@ -171,6 +178,37 @@ void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
 }
 
 int main(int argc, char* argv[]) {
+#ifdef __COMMA_HARDWARE__
+  if (argc > 1 && std::string(argv[1]) == "--clip") {
+    if (argc < 6) {
+      fprintf(stderr, "usage: encoderd --clip OUTPUT START DURATION [--bitrate BPS] [--speedup N] "
+                      "[--metadata JSON] SEGMENT [SEGMENT ...]\n");
+      return 2;
+    }
+    try {
+      int bitrate = 5'000'000;
+      int speedup = 1;
+      std::string metadata;
+      int input_arg = 5;
+      while (input_arg < argc && std::string(argv[input_arg]).rfind("--", 0) == 0) {
+        const std::string option = argv[input_arg++];
+        if (option == "--") break;
+        if (input_arg == argc) throw std::invalid_argument("missing clip option value");
+        if (option == "--bitrate") bitrate = std::stoi(argv[input_arg++]);
+        else if (option == "--speedup") speedup = std::stoi(argv[input_arg++]);
+        else if (option == "--metadata") metadata = argv[input_arg++];
+        else throw std::invalid_argument("unknown clip option: " + option);
+      }
+      if (input_arg == argc) throw std::invalid_argument("missing clip input");
+      std::vector inputs(argv + input_arg, argv + argc);
+      return encode_clip(inputs, argv[2], std::stod(argv[3]), std::stod(argv[4]),
+                         bitrate, speedup, metadata);
+    } catch (const std::exception &e) {
+      fprintf(stderr, "clip encoding failed: %s\n", e.what());
+      return 1;
+    }
+  }
+#endif
   if (!Hardware::PC()) {
     int ret;
     ret = util::set_realtime_priority(52);
diff --git a/openpilot/system/loggerd/loggerd.cc b/openpilot/system/loggerd/loggerd.cc
index 3755929619..af4a5c0cde 100644
--- a/openpilot/system/loggerd/loggerd.cc
+++ b/openpilot/system/loggerd/loggerd.cc
@@ -31,7 +31,7 @@ void logger_rotate(LoggerdState *s) {
 
 void rotate_if_needed(LoggerdState *s) {
   // all encoders ready, trigger rotation
-  bool all_ready = s->ready_to_rotate == s->max_waiting;
+  bool all_ready = s->max_waiting > 0 && s->ready_to_rotate == s->max_waiting;
 
   // fallback logic to prevent extremely long segments in the case of camera, encoder, etc. malfunctions
   bool timed_out = false;
@@ -125,6 +125,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   if (!re.seen_first_packet) {
     re.seen_first_packet = true;
     re.encoderd_segment_offset = idx.getSegmentNum();
+    ++s->max_waiting;  // only count encoders that publish so a disabled/missing camera doesn't stall rotation
     LOGD("%s: has encoderd offset %d", name.c_str(), re.encoderd_segment_offset);
   }
   int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;
@@ -246,7 +247,7 @@ void loggerd_thread() {
         .counter = 0,
         .freq = it.decimation,
         .encoder = encoder,
-        .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"),
+        .preserve_segment = it.name == "userBookmark",
         .record_audio = record_audio,
       };
     }
@@ -262,7 +263,6 @@ void loggerd_thread() {
   for (const auto &cam : cameras_logged) {
     for (const auto &encoder_info : cam.encoder_infos) {
       encoder_infos_dict[encoder_info.publish_name] = encoder_info;
-      s.max_waiting++;
     }
   }
 
diff --git a/openpilot/system/loggerd/loggerd.h b/openpilot/system/loggerd/loggerd.h
index 110dbe4fd2..beabd7d791 100644
--- a/openpilot/system/loggerd/loggerd.h
+++ b/openpilot/system/loggerd/loggerd.h
@@ -5,6 +5,7 @@
 
 #include "openpilot/cereal/messaging/messaging.h"
 #include "openpilot/cereal/services.h"
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_client.h"
 #include "common/hardware/hw.h"
 #include "common/params.h"
@@ -25,6 +26,22 @@ const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BO
 const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
 const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
 
+inline int livestream_width() {
+  switch (Hardware::get_device_type()) {
+    case cereal::InitData::DeviceType::TIZI: return 1152;
+    case cereal::InitData::DeviceType::MICI: return 1280;
+    default: return -1;
+  }
+}
+
+inline int livestream_height() {
+  switch (Hardware::get_device_type()) {
+    case cereal::InitData::DeviceType::TIZI:
+    case cereal::InitData::DeviceType::MICI: return 720;
+    default: return -1;
+  }
+}
+
 constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
 constexpr char PRESERVE_ATTR_VALUE = '1';
 
@@ -79,11 +96,11 @@ public:
 };
 
 const EncoderInfo main_road_encoder_info = {
-  .publish_name = "roadEncodeData",
+  .publish_name = "narrowRoadEncodeData",
   .thumbnail_name = "thumbnail",
   .filename = "fcamera.hevc",
   .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
-  INIT_ENCODE_FUNCTIONS(RoadEncode),
+  INIT_ENCODE_FUNCTIONS(NarrowRoadEncode),
 };
 
 const EncoderInfo main_wide_road_encoder_info = {
@@ -93,52 +110,58 @@ const EncoderInfo main_wide_road_encoder_info = {
   INIT_ENCODE_FUNCTIONS(WideRoadEncode),
 };
 
-const EncoderInfo main_driver_encoder_info = {
-  .publish_name = "driverEncodeData",
+const EncoderInfo main_cabin_encoder_info = {
+  .publish_name = "cabinEncodeData",
   .filename = "dcamera.hevc",
   .record = Params().getBool("RecordFront"),
   .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
-  INIT_ENCODE_FUNCTIONS(DriverEncode),
+  INIT_ENCODE_FUNCTIONS(CabinEncode),
 };
 
 const EncoderInfo stream_road_encoder_info = {
-  .publish_name = "livestreamRoadEncodeData",
+  .publish_name = "livestreamNarrowRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
   .is_live = true,
+  .frame_width = livestream_width(),
+  .frame_height = livestream_height(),
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+  INIT_ENCODE_FUNCTIONS(LivestreamNarrowRoadEncode),
 };
 
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
   .is_live = true,
+  .frame_width = livestream_width(),
+  .frame_height = livestream_height(),
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
 
-const EncoderInfo stream_driver_encoder_info = {
-  .publish_name = "livestreamDriverEncodeData",
+const EncoderInfo stream_cabin_encoder_info = {
+  .publish_name = "livestreamCabinEncodeData",
   .record = false,
   .is_live = true,
+  .frame_width = livestream_width(),
+  .frame_height = livestream_height(),
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+  INIT_ENCODE_FUNCTIONS(LivestreamCabinEncode),
 };
 
 const EncoderInfo qcam_encoder_info = {
-  .publish_name = "qRoadEncodeData",
+  .publish_name = "qNarrowRoadEncodeData",
   .filename = "qcamera.ts",
   .include_audio = Params().getBool("RecordAudio"),
   .frame_width = 526,
   .frame_height = 330,
   .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(QRoadEncode),
+  INIT_ENCODE_FUNCTIONS(QNarrowRoadEncode),
 };
 
-const LogCameraInfo road_camera_info{
-  .thread_name = "road_cam_encoder",
-  .stream_type = VISION_STREAM_ROAD,
+const LogCameraInfo narrow_road_camera_info{
+  .thread_name = "narrow_road_cam_encoder",
+  .stream_type = VISION_STREAM_NARROW_ROAD,
   .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
 };
 
@@ -148,15 +171,15 @@ const LogCameraInfo wide_road_camera_info{
   .encoder_infos = {main_wide_road_encoder_info}
 };
 
-const LogCameraInfo driver_camera_info{
-  .thread_name = "driver_cam_encoder",
-  .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {main_driver_encoder_info}
+const LogCameraInfo cabin_camera_info{
+  .thread_name = "cabin_cam_encoder",
+  .stream_type = VISION_STREAM_CABIN,
+  .encoder_infos = {main_cabin_encoder_info}
 };
 
 const LogCameraInfo stream_road_camera_info{
-  .thread_name = "road_cam_encoder",
-  .stream_type = VISION_STREAM_ROAD,
+  .thread_name = "narrow_road_cam_encoder",
+  .stream_type = VISION_STREAM_NARROW_ROAD,
   .encoder_infos = {stream_road_encoder_info},
 };
 
@@ -166,11 +189,11 @@ const LogCameraInfo stream_wide_road_camera_info{
   .encoder_infos = {stream_wide_road_encoder_info},
 };
 
-const LogCameraInfo stream_driver_camera_info{
-  .thread_name = "driver_cam_encoder",
-  .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info},
+const LogCameraInfo stream_cabin_camera_info{
+  .thread_name = "cabin_cam_encoder",
+  .stream_type = VISION_STREAM_CABIN,
+  .encoder_infos = {stream_cabin_encoder_info},
 };
 
-const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
-const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
+const LogCameraInfo cameras_logged[] = {narrow_road_camera_info, wide_road_camera_info, cabin_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_cabin_camera_info};
diff --git a/openpilot/system/loggerd/tests/loggerd_tests_common.py b/openpilot/system/loggerd/tests/loggerd_tests_common.py
index 55f5fbb816..689d2c27c0 100644
--- a/openpilot/system/loggerd/tests/loggerd_tests_common.py
+++ b/openpilot/system/loggerd/tests/loggerd_tests_common.py
@@ -3,6 +3,7 @@ import random
 from pathlib import Path
 
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
 from openpilot.common.params import Params
@@ -53,7 +54,7 @@ class MockApiIgnore:
   def get_token(self):
     return "fake-token"
 
-class UploaderTestCase:
+class UploaderTestCase(OpenpilotTestCase):
   f_type = "UNKNOWN"
 
   root: Path
diff --git a/openpilot/system/loggerd/tests/test_deleter.py b/openpilot/system/loggerd/tests/test_deleter.py
index 8f18c8ceee..6fe1b22579 100644
--- a/openpilot/system/loggerd/tests/test_deleter.py
+++ b/openpilot/system/loggerd/tests/test_deleter.py
@@ -1,66 +1,39 @@
-import time
-import threading
 from collections import namedtuple
 from pathlib import Path
 from collections.abc import Sequence
 
 import openpilot.system.loggerd.deleter as deleter
-from openpilot.common.timeout import Timeout, TimeoutException
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
 
 
 class TestDeleter(UploaderTestCase):
+  # Deletion behavior is independent of file size; use smaller files to keep these tests fast.
+  def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .001, lock: bool = False,
+                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
+    return super().make_file_with_data(f_dir, fn, size_mb, lock, upload_xattr, preserve_xattr)
+
   def fake_statvfs(self, d):
     return self.fake_stats
 
   def setup_method(self):
     self.f_type = "fcamera.hevc"
-    super().setup_method()
+    super().openpilot_setup_method()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
     deleter.os.statvfs = self.fake_statvfs  # ty: ignore[invalid-assignment]  # test double
 
-  def start_thread(self):
-    self.end_event = threading.Event()
-    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
-    self.del_thread.daemon = True
-    self.del_thread.start()
-
-  def join_thread(self):
-    self.end_event.set()
-    self.del_thread.join()
-
   def test_delete(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
+    assert deleter.deleter_step() == (True, str(f_path.parent))
+    assert not f_path.exists()
 
-    self.start_thread()
-
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while f_path.exists():
-          time.sleep(0.01)
-    finally:
-      self.join_thread()
-
-  def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None:
+  def assertDeleteOrder(self, f_paths: Sequence[Path]) -> None:
     deleted_order = []
-
-    self.start_thread()
-    try:
-      with Timeout(timeout, "Timeout waiting for files to be deleted"):
-        while True:
-          for f in f_paths:
-            if not f.exists() and f not in deleted_order:
-              deleted_order.append(f)
-          if len(deleted_order) == len(f_paths):
-            break
-          time.sleep(0.01)
-    except TimeoutException:
-      print("Not deleted:", [f for f in f_paths if f not in deleted_order])
-      raise
-    finally:
-      self.join_thread()
+    for _ in f_paths:
+      out_of_space, deleted_path = deleter.deleter_step()
+      assert out_of_space and deleted_path is not None
+      deleted_order.append(next(f for f in f_paths if f.parent == Path(deleted_path)))
 
     assert deleted_order == f_paths, "Files not deleted in expected order"
 
@@ -97,21 +70,11 @@ class TestDeleter(UploaderTestCase):
     available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
     self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
 
-    self.start_thread()
-    start_time = time.monotonic()
-    while f_path.exists() and time.monotonic() - start_time < 2:
-      time.sleep(0.01)
-    self.join_thread()
-
+    assert deleter.deleter_step() == (False, None)
     assert f_path.exists(), "File deleted with available space"
 
   def test_no_delete_with_lock_file(self):
     f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
 
-    self.start_thread()
-    start_time = time.monotonic()
-    while f_path.exists() and time.monotonic() - start_time < 2:
-      time.sleep(0.01)
-    self.join_thread()
-
+    assert deleter.deleter_step() == (True, None)
     assert f_path.exists(), "File deleted when locked"
diff --git a/openpilot/system/loggerd/tests/test_encoder.py b/openpilot/system/loggerd/tests/test_encoder.py
old mode 100644
new mode 100755
index 05bc211cbe..10cd586f35
--- a/openpilot/system/loggerd/tests/test_encoder.py
+++ b/openpilot/system/loggerd/tests/test_encoder.py
@@ -1,16 +1,19 @@
+#!/usr/bin/env python3
+
 import math
 import os
-import pytest
 import shutil
 import subprocess
 import time
+import unittest
 from pathlib import Path
 
 from tqdm import trange
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.common.hardware.hw import Paths
@@ -19,8 +22,8 @@ SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
 def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
 CAMERAS = [
-  ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
-  ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
+  ("fcamera.hevc", 20, hevc_size, "narrowRoadEncodeIdx"),
+  ("dcamera.hevc", 20, hevc_size, "cabinEncodeIdx"),
   ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
   ("qcamera.ts", 20, lambda x: 130000, None),
 ]
@@ -29,8 +32,8 @@ CAMERAS = [
 FILE_SIZE_TOLERANCE = 0.7
 
 
-@pytest.mark.tici # TODO: all of loggerd should work on PC
-class TestEncoder:
+class TestEncoder(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def setup_method(self):
     self._clear_logs()
@@ -83,7 +86,7 @@ class TestEncoder:
         # TODO: this ffprobe call is really slow
         # get width and check frame count
         cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
-        if TICI:
+        if COMMA_HARDWARE:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 
         expected_frames = fps * SEGMENT_LENGTH
@@ -127,7 +130,7 @@ class TestEncoder:
 
       assert 1 == len(set(first_frames))
 
-      if TICI:
+      if COMMA_HARDWARE:
         expected_frames = fps * SEGMENT_LENGTH
         assert min(counts) == expected_frames
       shutil.rmtree(f"{route_prefix_path}--{i}")
@@ -144,3 +147,7 @@ class TestEncoder:
       managed_processes['encoderd'].stop()
       managed_processes['camerad'].stop()
       managed_processes['sensord'].stop()
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/system/loggerd/tests/test_logger.cc b/openpilot/system/loggerd/tests/test_logger.cc
deleted file mode 100644
index 61509c256c..0000000000
--- a/openpilot/system/loggerd/tests/test_logger.cc
+++ /dev/null
@@ -1,75 +0,0 @@
-#include "catch2/catch.hpp"
-#include "system/loggerd/logger.h"
-
-typedef cereal::Sentinel::SentinelType SentinelType;
-
-void verify_segment(const std::string &route_path, int segment, int max_segment, int required_event_cnt) {
-  const std::string segment_path = route_path + "--" + std::to_string(segment);
-  SentinelType begin_sentinel = segment == 0 ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT;
-  SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT;
-
-  REQUIRE(!util::file_exists(segment_path + "/rlog.lock"));
-  for (const char *fn : {"/rlog.zst", "/qlog.zst"}) {
-    const std::string log_file = segment_path + fn;
-    std::string log = util::read_file(log_file);
-    REQUIRE(!log.empty());
-    std::string decompressed_log = zstd_decompress(log);
-    int event_cnt = 0, i = 0;
-    kj::ArrayPtr words((capnp::word *)decompressed_log.data(), decompressed_log.size() / sizeof(capnp::word));
-    while (words.size() > 0) {
-      try {
-        capnp::FlatArrayMessageReader reader(words);
-        auto event = reader.getRoot();
-        words = kj::arrayPtr(reader.getEnd(), words.end());
-        if (i == 0) {
-          REQUIRE(event.which() == cereal::Event::INIT_DATA);
-        } else if (i == 1) {
-          REQUIRE(event.which() == cereal::Event::SENTINEL);
-          REQUIRE(event.getSentinel().getType() == begin_sentinel);
-          REQUIRE(event.getSentinel().getSignal() == 0);
-        } else if (words.size() > 0) {
-          REQUIRE(event.which() == cereal::Event::CLOCKS);
-          ++event_cnt;
-        } else {
-          // the last event must be SENTINEL
-          REQUIRE(event.which() == cereal::Event::SENTINEL);
-          REQUIRE(event.getSentinel().getType() == end_sentinel);
-          REQUIRE(event.getSentinel().getSignal() == (end_sentinel == SentinelType::END_OF_ROUTE ? 1 : 0));
-        }
-        ++i;
-      } catch (const kj::Exception &ex) {
-        INFO("failed parse " << i << " exception :" << ex.getDescription());
-        REQUIRE(0);
-        break;
-      }
-    }
-    REQUIRE(event_cnt == required_event_cnt);
-  }
-}
-
-void write_msg(LoggerState *logger) {
-  MessageBuilder msg;
-  msg.initEvent().initClocks();
-  logger->write(msg.toBytes(), true);
-}
-
-TEST_CASE("logger") {
-  const int segment_cnt = 100;
-  const std::string log_root = "/tmp/test_logger";
-  REQUIRE(system(("rm " + log_root + " -rf").c_str()) == 0);
-  std::string route_name;
-  {
-    LoggerState logger(log_root);
-    route_name = logger.routeName();
-    for (int i = 0; i < segment_cnt; ++i) {
-      REQUIRE(logger.next());
-      REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock"));
-      REQUIRE(logger.segment() == i);
-      write_msg(&logger);
-    }
-    logger.setExitSignal(1);
-  }
-  for (int i = 0; i < segment_cnt; ++i) {
-    verify_segment(log_root + "/" + route_name, i, segment_cnt, 1);
-  }
-}
diff --git a/openpilot/system/loggerd/tests/test_loggerd.py b/openpilot/system/loggerd/tests/test_loggerd.py
index 3678ca95be..de91cae1db 100644
--- a/openpilot/system/loggerd/tests/test_loggerd.py
+++ b/openpilot/system/loggerd/tests/test_loggerd.py
@@ -8,8 +8,9 @@ import time
 from collections.abc import Collection
 from collections import defaultdict
 from pathlib import Path
-import pytest
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from openpilot.cereal.services import SERVICE_LIST
@@ -17,14 +18,15 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.common.hardware.hw import Paths
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -32,7 +34,7 @@ CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
                    and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
-class TestLoggerd:
+class TestLoggerd(OpenpilotTestCase):
   def _get_latest_log_dir(self):
     log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime)
     return log_dirs[-1]
@@ -110,12 +112,12 @@ class TestLoggerd:
     w, h = 320, 240
     frame_spec = (w, h, w * h * 3 // 2, w, w * h)
     streams = [
-      (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
-      (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_NARROW_ROAD, frame_spec, "narrowRoadCameraState"),
+      (VisionStreamType.VISION_STREAM_CABIN, frame_spec, "cabinCameraState"),
       (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
     ]
 
-    sm = messaging.SubMaster(["roadEncodeData"])
+    sm = messaging.SubMaster(["narrowRoadEncodeData"])
     pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
@@ -126,7 +128,7 @@ class TestLoggerd:
     os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
     managed_processes["loggerd"].start()
     managed_processes["encoderd"].start()
-    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+    assert pm.wait_for_readers_to_update("narrowRoadCameraState", timeout=5)
 
     fps = 20
     for n in range(1, int(num_segs * segment_length * fps) + 1):
@@ -193,7 +195,6 @@ class TestLoggerd:
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
     Params().put("RecordFront", True, block=True)
 
@@ -234,7 +235,7 @@ class TestLoggerd:
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    if TICI:
+    if COMMA_HARDWARE:
       for fn in ["console-ramoops", "pmsg-ramoops-0"]:
         path = Path(os.path.join("/sys/fs/pstore/", fn))
         if path.is_file():
@@ -308,25 +309,23 @@ class TestLoggerd:
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
   def test_not_preserving_nonbookmarked_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
 
-  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
-  @pytest.mark.parametrize("record_front", [True, False])
+  @parameterized.expand([True, False])
   def test_record_front(self, record_front):
     params = Params()
     params.put_bool("RecordFront", record_front, block=True)
 
     self._publish_camera_and_audio_messages()
 
-    dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
-    assert dcamera_hevc_exists == record_front
+    cabin_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+    assert cabin_hevc_exists == record_front
 
-  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
-  @pytest.mark.parametrize("record_audio", [True, False])
+  @parameterized.expand([True, False])
   def test_record_audio(self, record_audio):
     params = Params()
     params.put_bool("RecordAudio", record_audio, block=True)
diff --git a/openpilot/system/loggerd/tests/test_runner.cc b/openpilot/system/loggerd/tests/test_runner.cc
deleted file mode 100644
index 62bf7476a1..0000000000
--- a/openpilot/system/loggerd/tests/test_runner.cc
+++ /dev/null
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
diff --git a/openpilot/system/loggerd/tests/test_uploader.py b/openpilot/system/loggerd/tests/test_uploader.py
index 3af78e2c37..b83b3569e2 100644
--- a/openpilot/system/loggerd/tests/test_uploader.py
+++ b/openpilot/system/loggerd/tests/test_uploader.py
@@ -1,5 +1,4 @@
 import os
-import time
 import threading
 import logging
 import json
@@ -7,7 +6,7 @@ from pathlib import Path
 from openpilot.common.hardware.hw import Paths
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+from openpilot.system.loggerd.uploader import clear_locks, main, Uploader, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
@@ -15,29 +14,38 @@ from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 class FakeLogHandler(logging.Handler):
   def __init__(self):
     logging.Handler.__init__(self)
+    self.condition = threading.Condition()
     self.reset()
 
   def reset(self):
-    self.upload_order = []
-    self.upload_ignored = []
+    with self.condition:
+      self.upload_order = []
+      self.upload_ignored = []
 
   def emit(self, record):
     try:
       j = json.loads(record.getMessage())
-      if j["event"] == "upload_success":
-        self.upload_order.append(j["key"])
-      if j["event"] == "upload_ignored":
-        self.upload_ignored.append(j["key"])
+      with self.condition:
+        if j["event"] == "upload_success":
+          self.upload_order.append(j["key"])
+        if j["event"] == "upload_ignored":
+          self.upload_ignored.append(j["key"])
+        self.condition.notify_all()
     except Exception:
       pass
 
+  def wait_for_uploads(self, count: int, ignored: bool = False):
+    uploads = self.upload_ignored if ignored else self.upload_order
+    with self.condition:
+      assert self.condition.wait_for(lambda: len(uploads) >= count, timeout=1), "Uploader did not process all files"
+
 log_handler = FakeLogHandler()
 cloudlog.addHandler(log_handler)
 
 
 class TestUploader(UploaderTestCase):
   def setup_method(self):
-    super().setup_method()
+    super().openpilot_setup_method()
     log_handler.reset()
 
   def start_thread(self):
@@ -70,14 +78,12 @@ class TestUploader(UploaderTestCase):
 
   def test_upload(self):
     self.gen_files(lock=False)
+    exp_order = self.gen_order([self.seg_num], [])
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order))
     self.join_thread()
 
-    exp_order = self.gen_order([self.seg_num], [])
-
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
     assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
     assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
@@ -88,14 +94,12 @@ class TestUploader(UploaderTestCase):
 
   def test_upload_with_wrong_xattr(self):
     self.gen_files(lock=False, xattr=b'0')
+    exp_order = self.gen_order([self.seg_num], [])
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order))
     self.join_thread()
 
-    exp_order = self.gen_order([self.seg_num], [])
-
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
     assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload"
     assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice"
@@ -107,14 +111,12 @@ class TestUploader(UploaderTestCase):
   def test_upload_ignored(self):
     self.set_ignore()
     self.gen_files(lock=False)
+    exp_order = self.gen_order([self.seg_num], [])
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order), ignored=True)
     self.join_thread()
 
-    exp_order = self.gen_order([self.seg_num], [])
-
     assert len(log_handler.upload_order) == 0, "Some files were not ignored"
     assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore"
     assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice"
@@ -136,8 +138,7 @@ class TestUploader(UploaderTestCase):
     exp_order = self.gen_order(seg1_nums, seg2_nums, boot=False)
 
     self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
+    log_handler.wait_for_uploads(len(exp_order))
     self.join_thread()
 
     assert len(log_handler.upload_ignored) == 0, "Some files were ignored"
@@ -149,34 +150,30 @@ class TestUploader(UploaderTestCase):
     assert log_handler.upload_order == exp_order, "Files uploaded in wrong order"
 
   def test_no_upload_with_lock_file(self):
-    self.start_thread()
-
-    time.sleep(0.25)
     f_paths = self.gen_files(lock=True, boot=False)
-
-    # allow enough time that files should have been uploaded if they would be uploaded
-    time.sleep(1)
-    self.join_thread()
+    uploader = Uploader("0000000000000000", Paths.log_root())
 
     for f_path in f_paths:
       fn = f_path.with_suffix(f_path.suffix.replace(".zst", ""))
-      uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
-      assert not uploaded, "File upload when locked"
+      assert all(candidate[2] != str(fn) for candidate in uploader.list_upload_files(metered=False)), "Locked file selected for upload"
 
   def test_no_upload_with_xattr(self):
-    self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+    f_paths = self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+    uploader = Uploader("0000000000000000", Paths.log_root())
+    upload_candidates = {candidate[2] for candidate in uploader.list_upload_files(metered=False)}
+    assert upload_candidates.isdisjoint(map(str, f_paths)), "Uploaded file selected again"
 
-    self.start_thread()
-    # allow enough time that files could upload twice if there is a bug in the logic
-    time.sleep(1)
-    self.join_thread()
-
-    assert len(log_handler.upload_order) == 0, "File uploaded again"
-
-  def test_clear_locks_on_startup(self):
+  def test_clear_locks_on_startup(self, mocker):
     f_paths = self.gen_files(lock=True, boot=False)
+    locks_cleared = threading.Event()
+
+    def clear_locks_and_signal(root):
+      clear_locks(root)
+      locks_cleared.set()
+
+    mocker.patch("openpilot.system.loggerd.uploader.clear_locks", side_effect=clear_locks_and_signal)
     self.start_thread()
-    time.sleep(0.25)
+    assert locks_cleared.wait(timeout=1), "Uploader did not clear locks on startup"
     self.join_thread()
 
     for f_path in f_paths:
diff --git a/openpilot/system/loggerd/tests/test_zstd_writer.cc b/openpilot/system/loggerd/tests/test_zstd_writer.cc
deleted file mode 100644
index 479e866a14..0000000000
--- a/openpilot/system/loggerd/tests/test_zstd_writer.cc
+++ /dev/null
@@ -1,44 +0,0 @@
-#include 
-
-#include 
-#include 
-#include 
-
-#include "common/util.h"
-#include "system/loggerd/logger.h"
-#include "system/loggerd/zstd_writer.h"
-
-TEST_CASE("ZstdFileWriter writes and compresses data correctly in loops", "[ZstdFileWriter]") {
-  const std::string filename = "test_zstd_file.zst";
-  const int iterations = 100;
-  const size_t dataSize = 1024;
-
-  std::string totalTestData;
-
-  // Step 1: Write compressed data to file in a loop
-  {
-    ZstdFileWriter writer(filename, LOG_COMPRESSION_LEVEL);
-    // Write various data sizes including edge cases
-    std::vector testSizes = {dataSize, 1, 0, dataSize * 2};  // Normal, minimal, empty, large
-    for (int i = 0; i < iterations; ++i) {
-      size_t currentSize = testSizes[i % testSizes.size()];
-      std::string testData = util::random_string(currentSize);
-      totalTestData.append(testData);
-
-      writer.write((void *)testData.c_str(), testData.size());
-    }
-  }
-
-  // Step 2: Decompress the file and verify the data
-  auto compressedContent = util::read_file(filename);
-  REQUIRE(compressedContent.size() > 0);
-  REQUIRE(compressedContent.size() < totalTestData.size());
-  std::string decompressedData = zstd_decompress(compressedContent);
-
-  // Step 3: Verify that the decompressed data matches the original accumulated data
-  REQUIRE(decompressedData.size() == totalTestData.size());
-  REQUIRE(std::memcmp(decompressedData.data(), totalTestData.c_str(), totalTestData.size()) == 0);
-
-  // Clean up the test file
-  std::remove(filename.c_str());
-}
diff --git a/openpilot/system/loggerd/video_writer.cc b/openpilot/system/loggerd/video_writer.cc
index 1b47a8fceb..70f0199299 100644
--- a/openpilot/system/loggerd/video_writer.cc
+++ b/openpilot/system/loggerd/video_writer.cc
@@ -49,6 +49,11 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
   }
 }
 
+void VideoWriter::set_metadata(const char *key, const char *value) {
+  assert(remuxing && !header_written);
+  av_dict_set(&ofmt_ctx->metadata, key, value, 0);
+}
+
 void VideoWriter::initialize_audio(int sample_rate) {
   assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams
   const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC);
@@ -106,7 +111,10 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
       int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
       assert(err >= 0);
       // if there is an audio stream, it must be initialized before this point
-      err = avformat_write_header(ofmt_ctx, NULL);
+      AVDictionary *options = nullptr;
+      if (ofmt_ctx->metadata) av_dict_set(&options, "movflags", "+faststart+use_metadata_tags", 0);
+      err = avformat_write_header(ofmt_ctx, &options);
+      av_dict_free(&options);
       assert(err >= 0);
       header_written = true;
     } else {
diff --git a/openpilot/system/loggerd/video_writer.h b/openpilot/system/loggerd/video_writer.h
index fdec606058..1120d94a78 100644
--- a/openpilot/system/loggerd/video_writer.h
+++ b/openpilot/system/loggerd/video_writer.h
@@ -13,6 +13,7 @@ extern "C" {
 class VideoWriter {
 public:
   VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
+  void set_metadata(const char *key, const char *value);
   void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
   void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
 
diff --git a/openpilot/system/manager/build.py b/openpilot/system/manager/build.py
index 75a7dc63eb..c5fdd6d92a 100755
--- a/openpilot/system/manager/build.py
+++ b/openpilot/system/manager/build.py
@@ -50,6 +50,8 @@ def build() -> None:
     if scons.returncode == 0:
       break
 
+  os.sync()
+
   if scons.returncode != 0:
     # Build failed log errors
     error_s = b"\n".join(compile_output).decode('utf8', 'replace')
diff --git a/openpilot/system/manager/process.py b/openpilot/system/manager/process.py
index 7f7eabd7be..43ea3f7306 100644
--- a/openpilot/system/manager/process.py
+++ b/openpilot/system/manager/process.py
@@ -68,16 +68,11 @@ class ManagerProcess(ABC):
   enabled = True
   name = ""
   shutting_down = False
-  restart_if_crash = False
 
   @abstractmethod
   def start(self) -> None:
     pass
 
-  def restart(self) -> None:
-    self.stop(sig=signal.SIGKILL)
-    self.start()
-
   def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
     if self.proc is None:
       return None
@@ -162,14 +157,13 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False):
     self.name = name
     self.module = module
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
     self.launcher = launcher
-    self.restart_if_crash = restart_if_crash
 
   def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
@@ -228,7 +222,7 @@ class DaemonProcess(ManagerProcess):
     pass
 
 
-def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params: Params, CP: car.CarParams,
                    not_run: list[str] | None=None) -> list[ManagerProcess]:
   if not_run is None:
     not_run = []
@@ -236,9 +230,6 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   running = []
   for p in procs:
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
-      if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
-        cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
-        p.restart()
       running.append(p)
     else:
       p.stop(block=False)
diff --git a/openpilot/system/manager/process_config.py b/openpilot/system/manager/process_config.py
index 08e1aabef3..c9e939c432 100644
--- a/openpilot/system/manager/process_config.py
+++ b/openpilot/system/manager/process_config.py
@@ -5,7 +5,7 @@ import platform
 from opendbc.car.structs import car
 from openpilot.cereal import custom
 from openpilot.common.params import Params
-from openpilot.common.hardware import PC, TICI
+from openpilot.common.hardware import PC, COMMA_HARDWARE
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 from openpilot.common.hardware.hw import Paths
 
@@ -132,7 +132,7 @@ procs = [
   PythonProcess("dmonitoringmodeld", "openpilot.selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "openpilot.system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "openpilot.selfdrive.ui.ui", always_run, restart_if_crash=True),
+  PythonProcess("ui", "openpilot.selfdrive.ui.ui", always_run),
   PythonProcess("soundd", "openpilot.selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "openpilot.selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "openpilot/selfdrive/pandad", ["./pandad"], always_run, enabled=False),
@@ -144,23 +144,22 @@ procs = [
   PythonProcess("card", "openpilot.selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "openpilot.system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "openpilot.selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
-  PythonProcess("qcomgpsd", "openpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
+  PythonProcess("qcomgpsd", "openpilot.system.qcomgpsd.qcomgpsd", qcomgps, enabled=COMMA_HARDWARE),
   PythonProcess("pandad", "openpilot.selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "openpilot.selfdrive.locationd.paramsd", only_onroad),
   PythonProcess("lagd", "openpilot.selfdrive.locationd.lagd", only_onroad),
-  PythonProcess("ubloxd", "openpilot.system.ubloxd.ubloxd", ublox, enabled=TICI),
-  PythonProcess("pigeond", "openpilot.system.ubloxd.pigeond", ublox, enabled=TICI),
+  PythonProcess("ubloxd", "openpilot.system.ubloxd.ubloxd", ublox, enabled=COMMA_HARDWARE),
+  PythonProcess("pigeond", "openpilot.system.ubloxd.pigeond", ublox, enabled=COMMA_HARDWARE),
   PythonProcess("plannerd", "openpilot.selfdrive.controls.plannerd", not_long_maneuver),
   PythonProcess("maneuversd", "openpilot.tools.longitudinal_maneuvers.maneuversd", long_maneuver),
   PythonProcess("lateral_maneuversd", "openpilot.tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "openpilot.selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "openpilot.system.hardware.hardwared", always_run),
-  PythonProcess("modem", "openpilot.common.hardware.tici.modem", always_run, enabled=TICI),
+  PythonProcess("modem", "openpilot.common.hardware.comma.modem", always_run, enabled=COMMA_HARDWARE),
   PythonProcess("tombstoned", "openpilot.system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "openpilot.system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "openpilot.system.loggerd.uploader", uploader_ready),
   PythonProcess("statsd", "openpilot.sunnypilot.system.statsd", always_run),
-  PythonProcess("feedbackd", "openpilot.selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
diff --git a/openpilot/system/manager/test/test_manager.py b/openpilot/system/manager/test/test_manager.py
old mode 100644
new mode 100755
index a3808bf29f..54bdaec6fe
--- a/openpilot/system/manager/test/test_manager.py
+++ b/openpilot/system/manager/test/test_manager.py
@@ -1,9 +1,12 @@
+#!/usr/bin/env python3
+
 import os
-import pytest
+import unittest
 import signal
 import time
 
 from opendbc.car.structs import car
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
@@ -16,7 +19,7 @@ MAX_STARTUP_TIME = 3
 BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
-class TestManager:
+class TestManager(OpenpilotTestCase):
   def setup_method(self):
     HARDWARE.set_power_save(False)
 
@@ -47,7 +50,7 @@ class TestManager:
     assert params.get("OpenpilotEnabledToggle")
     assert params.get("RouteCount") == 0
 
-  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
+  @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """
       Ensure all processes exit cleanly when stopped.
@@ -75,3 +78,7 @@ class TestManager:
         if p.sigkill:
           exit_codes = [-signal.SIGKILL]
         assert exit_code in exit_codes, f"{p.name} died with {exit_code}"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/system/micd.py b/openpilot/system/micd.py
index a3a93c8c1a..7167aad137 100755
--- a/openpilot/system/micd.py
+++ b/openpilot/system/micd.py
@@ -15,6 +15,14 @@ SAMPLE_RATE = 16000
 SAMPLE_BUFFER = 800  # 50ms
 
 
+def patch_sounddevice(sd):
+  # TODO: remove once sounddevice uses np.reshape internally.
+  def sounddevice_array(buffer, channels, dtype):
+    return np.frombuffer(buffer, dtype=dtype).reshape(-1, channels)
+
+  sd._array = sounddevice_array
+
+
 @cache
 def get_a_weighting_filter():
   # Calculate the A-weighting filter
@@ -104,6 +112,7 @@ class Mic:
   def micd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
+    patch_sounddevice(sd)
 
     with self.get_stream(sd) as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
diff --git a/openpilot/system/qcomgpsd/nmeaport.py b/openpilot/system/qcomgpsd/nmeaport.py
index db1fe5552d..e270e23a3a 100644
--- a/openpilot/system/qcomgpsd/nmeaport.py
+++ b/openpilot/system/qcomgpsd/nmeaport.py
@@ -121,7 +121,7 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
 
 def main() -> NoReturn:
   from openpilot.common.gpio import gpio_init, gpio_set
-  from openpilot.common.hardware.tici.pins import GPIO
+  from openpilot.common.hardware.comma.pins import GPIO
   from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
 
   try:
diff --git a/openpilot/system/qcomgpsd/qcomgpsd.py b/openpilot/system/qcomgpsd/qcomgpsd.py
index 4e52154419..6261b18d56 100755
--- a/openpilot/system/qcomgpsd/qcomgpsd.py
+++ b/openpilot/system/qcomgpsd/qcomgpsd.py
@@ -15,7 +15,7 @@ import openpilot.cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
 from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
diff --git a/openpilot/system/sensord/tests/test_sensord.py b/openpilot/system/sensord/tests/test_sensord.py
old mode 100644
new mode 100755
index dc96886e4a..ddbef7895b
--- a/openpilot/system/sensord/tests/test_sensord.py
+++ b/openpilot/system/sensord/tests/test_sensord.py
@@ -1,10 +1,13 @@
+#!/usr/bin/env python3
+
 import os
 import subprocess
-import pytest
 import time
+import unittest
 import numpy as np
 from collections import namedtuple, defaultdict
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
@@ -54,8 +57,8 @@ def iter_measurements(events):
     for measurement in msgs:
       yield measurement, getattr(measurement, measurement.which())
 
-@pytest.mark.tici
-class TestSensord:
+class TestSensord(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
   @classmethod
   def setup_class(cls):
     # enable LSM self test
@@ -183,3 +186,7 @@ class TestSensord:
     time.sleep(1)
     state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/system/tests/test_logmessaged.py b/openpilot/system/tests/test_logmessaged.py
index e2637fb0e6..247bfd8a42 100644
--- a/openpilot/system/tests/test_logmessaged.py
+++ b/openpilot/system/tests/test_logmessaged.py
@@ -2,13 +2,14 @@ import glob
 import os
 import time
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog, ipchandler
 
 
-class TestLogmessaged:
+class TestLogmessaged(OpenpilotTestCase):
   def setup_method(self):
     # clear the IPC buffer in case some other tests used cloudlog and filled it
     ipchandler.close()
@@ -52,4 +53,3 @@ class TestLogmessaged:
 
     logsize = sum([os.path.getsize(f) for f in self._get_log_files()])
     assert (n*len(msg)) < logsize < (n*(len(msg)+1024))
-
diff --git a/openpilot/system/timed.py b/openpilot/system/timed.py
index 0413f645e3..6e5200d10e 100755
--- a/openpilot/system/timed.py
+++ b/openpilot/system/timed.py
@@ -12,7 +12,7 @@ from openpilot.common.gps import get_gps_location_service
 
 
 def set_time(new_time):
-  diff = datetime.datetime.now() - new_time
+  diff = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - new_time
   if abs(diff) < datetime.timedelta(seconds=10):
     cloudlog.debug(f"Time diff too small: {diff}")
     return
@@ -47,7 +47,7 @@ def main() -> NoReturn:
     pm.send('clocks', msg)
 
     gps = sm[gps_location_service]
-    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000.)
+    gps_time = datetime.datetime.fromtimestamp(gps.unixTimestampMillis / 1000., datetime.UTC).replace(tzinfo=None)
     if not sm.updated[gps_location_service] or (time.monotonic() - sm.logMonoTime[gps_location_service] / 1e9) > 2.0:
       continue
     if not gps.hasFix:
diff --git a/openpilot/system/ubloxd/pigeond.py b/openpilot/system/ubloxd/pigeond.py
index 9891285465..3da9350241 100755
--- a/openpilot/system/ubloxd/pigeond.py
+++ b/openpilot/system/ubloxd/pigeond.py
@@ -8,13 +8,14 @@ import urllib.parse
 from datetime import datetime, UTC
 
 from openpilot.cereal import messaging
+from openpilot.common.api import Api
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.serial import Serial
 from openpilot.common.swaglog import cloudlog
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.common.gpio import gpio_init, gpio_set
-from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
 
 UBLOX_TTY = "/dev/ttyHS0"
 
@@ -41,15 +42,24 @@ def add_ubx_checksum(msg: bytes) -> bytes:
     B = (B + A) % 256
   return msg + bytes([A, B])
 
-def get_assistnow_messages(token: str) -> list[bytes]:
-  # make request
-  # TODO: implement adding the last known location
-  r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
-    'token': token,
-    'gnss': 'gps,glo',
-    'datatype': 'eph,alm,aux',
-  }, safe=':,'), timeout=5)
-  assert r.status_code == 200, "Got invalid status code"
+def get_assistnow_messages() -> list[bytes]:
+  params = Params()
+  if token := params.get('AssistNowToken'):
+    cloudlog.warning("Downloading AssistNow data directly from u-blox")
+    # TODO: implement adding the last known location
+    r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
+      'token': token,
+      'gnss': 'gps,glo',
+      'datatype': 'eph,alm,aux',
+    }, safe=':,'), timeout=5)
+  elif dongle_id := params.get('DongleId'):
+    cloudlog.warning("Downloading AssistNow data from comma's AGPS proxy")
+    api = Api(dongle_id)
+    r = api.get(f"v1/{dongle_id}/assist", access_token=api.get_token(), timeout=5)
+  else:
+    raise RuntimeError("Neither AssistNowToken nor DongleId is configured")
+
+  r.raise_for_status()
   dat = r.content
 
   # split up messages
@@ -230,15 +240,13 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
         ))
         pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
 
-      # try getting AssistNow if we have a token
-      token = Params().get('AssistNowToken')
-      if token is not None:
-        try:
-          for msg in get_assistnow_messages(token):
-            pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
-          cloudlog.warning("AssistNow messages sent")
-        except Exception:
-          cloudlog.warning("failed to get AssistNow messages")
+      # A configured u-blox token takes precedence over comma's AGPS proxy.
+      try:
+        for msg in get_assistnow_messages():
+          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
+        cloudlog.warning("AssistNow messages sent")
+      except Exception:
+        cloudlog.warning("failed to get AssistNow messages")
 
       cloudlog.warning("Pigeon GPS on!")
       break
@@ -302,7 +310,7 @@ def run_receiving(duration: int = 0):
 
 
 def main():
-  assert TICI, "unsupported hardware for pigeond"
+  assert COMMA_HARDWARE, "unsupported hardware for pigeond"
   run_receiving()
 
 if __name__ == "__main__":
diff --git a/openpilot/system/ubloxd/tests/test_pigeond.py b/openpilot/system/ubloxd/tests/test_pigeond.py
index b894ed718b..0d2f5b00e7 100644
--- a/openpilot/system/ubloxd/tests/test_pigeond.py
+++ b/openpilot/system/ubloxd/tests/test_pigeond.py
@@ -1,17 +1,17 @@
-import pytest
 import time
 
+from openpilot.common.test import OpenpilotTestCase
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.comma.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS
-@pytest.mark.tici
-class TestPigeond:
+class TestPigeond(OpenpilotTestCase):
+  COMMA_HARDWARE_TEST = True
 
   def teardown_method(self):
     managed_processes['pigeond'].stop()
diff --git a/openpilot/system/ui/lib/application.py b/openpilot/system/ui/lib/application.py
index 58fcc15a22..0db4878d94 100644
--- a/openpilot/system/ui/lib/application.py
+++ b/openpilot/system/ui/lib/application.py
@@ -19,7 +19,7 @@ from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE, PC
-from openpilot.system.ui.lib.multilang import multilang
+from openpilot.system.ui.lib.multilang import FONT_FALLBACK_LANGUAGES, TRANSLATIONS_DIR, multilang
 from openpilot.common.realtime import Ratekeeper
 
 from openpilot.system.ui.sunnypilot.lib.application import GuiApplicationExt
@@ -94,26 +94,34 @@ FONT_SCALE = 1.242 if BIG_UI else 1.16
 
 ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
 FONT_DIR = ASSETS_DIR.joinpath("fonts")
+EXTRA_FONT_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
+NOTO_FONTS = {
+  "ja": "NotoSansCJKjp-Regular.otf",
+  "ko": "NotoSansCJKkr-Regular.otf",
+  "th": "NotoSansThai-Regular.ttf",
+  "zh-CHS": "NotoSansCJKsc-Regular.otf",
+  "zh-CHT": "NotoSansCJKtc-Regular.otf",
+}
 
 
 class FontWeight(StrEnum):
-  NORMAL = "Inter-Regular.fnt" if BIG_UI else "Inter-Medium.fnt"
-  MEDIUM = "Inter-Medium.fnt"
-  BOLD = "Inter-Bold.fnt"
-  SEMI_BOLD = "Inter-SemiBold.fnt"
-  UNIFONT = "unifont.fnt"
-  AUDIOWIDE = "Audiowide-Regular.fnt"
+  NORMAL = "Inter-Regular.ttf" if BIG_UI else "Inter-Medium.ttf"
+  MEDIUM = "Inter-Medium.ttf"
+  BOLD = "Inter-Bold.ttf"
+  SEMI_BOLD = "Inter-SemiBold.ttf"
+  UNIFONT = "unifont.otf"
+  AUDIOWIDE = "Audiowide-Regular.ttf"
 
   # Small UI fonts
-  DISPLAY_REGULAR = "Inter-Regular.fnt"
-  ROMAN = "Inter-Regular.fnt"
-  DISPLAY = "Inter-Bold.fnt"
+  DISPLAY_REGULAR = "Inter-Regular.ttf"
+  ROMAN = "Inter-Regular.ttf"
+  DISPLAY = "Inter-Bold.ttf"
 
 
 def font_fallback(font: rl.Font) -> rl.Font:
-  """Fall back to unifont for languages that require it."""
-  if multilang.requires_unifont():
-    return gui_app.font(FontWeight.UNIFONT)
+  """Use a Noto fallback for languages not covered by Inter."""
+  if multilang.requires_font_fallback():
+    return gui_app.fallback_font()
   return font
 
 
@@ -201,6 +209,7 @@ class GuiApplication(GuiApplicationExt):
     self._set_log_callback()
 
     self._fonts: dict[FontWeight, rl.Font] = {}
+    self._fallback_fonts: dict[str, rl.Font] = {}
     self._width = width if width is not None else GuiApplication._default_width()
     self._height = height if height is not None else GuiApplication._default_height()
 
@@ -558,6 +567,9 @@ class GuiApplication(GuiApplicationExt):
     for font in self._fonts.values():
       rl.unload_font(font)
     self._fonts = {}
+    for font in self._fallback_fonts.values():
+      rl.unload_font(font)
+    self._fallback_fonts = {}
 
     if self._render_texture is not None:
       rl.unload_render_texture(self._render_texture)
@@ -683,6 +695,21 @@ class GuiApplication(GuiApplicationExt):
   def font(self, font_weight: FontWeight = FontWeight.NORMAL) -> rl.Font:
     return self._fonts[font_weight]
 
+  def fallback_font(self) -> rl.Font:
+    language = multilang.language
+    if language not in self._fallback_fonts:
+      chars = set(map(chr, range(32, 127))) | set(EXTRA_FONT_CHARS)
+      chars.update(TRANSLATIONS_DIR.joinpath(f"app_{language}.po").read_text(encoding="utf-8"))
+      codepoints = sorted(map(ord, chars))
+      codepoint_buffer = rl.ffi.new("int[]", codepoints)
+      with as_file(FONT_DIR) as fspath:
+        font = rl.load_font_ex((fspath / NOTO_FONTS[language]).as_posix(), 48,
+                               rl.ffi.cast("int *", codepoint_buffer), len(codepoints))
+      rl.gen_texture_mipmaps(font.texture)
+      rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_TRILINEAR)
+      self._fallback_fonts[language] = font
+    return self._fallback_fonts[language]
+
   @property
   def width(self):
     return self._width
@@ -692,14 +719,26 @@ class GuiApplication(GuiApplicationExt):
     return self._height
 
   def _load_fonts(self):
+    base_chars = set(map(chr, range(32, 127))) | set(EXTRA_FONT_CHARS)
+    unifont_chars = set(base_chars)
+    for language, code in multilang.languages.items():
+      unifont_chars.update(language)
+      if code not in FONT_FALLBACK_LANGUAGES:
+        base_chars.update(TRANSLATIONS_DIR.joinpath(f"app_{code}.po").read_text(encoding="utf-8"))
+
     for font_weight_file in FontWeight:
       with as_file(FONT_DIR) as fspath:
-        fnt_path = fspath / font_weight_file
-        font = rl.load_font(fnt_path.as_posix())
+        unifont = font_weight_file == FontWeight.UNIFONT
+        codepoints = sorted(map(ord, unifont_chars if unifont else base_chars))
+        codepoint_buffer = rl.ffi.new("int[]", codepoints)
+        font = rl.load_font_ex((fspath / font_weight_file).as_posix(), 16 if unifont else 200,
+                               rl.ffi.cast("int *", codepoint_buffer), len(codepoints))
         if font_weight_file != FontWeight.UNIFONT:
           rl.gen_texture_mipmaps(font.texture)
           rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_TRILINEAR)
         self._fonts[font_weight_file] = font
+    if multilang.requires_font_fallback():
+      self.fallback_font()
     rl.gui_set_font(self._fonts[FontWeight.NORMAL])
 
   def _set_styles(self):
diff --git a/openpilot/system/ui/lib/emoji.py b/openpilot/system/ui/lib/emoji.py
deleted file mode 100644
index ad4c272c8d..0000000000
--- a/openpilot/system/ui/lib/emoji.py
+++ /dev/null
@@ -1,55 +0,0 @@
-import io
-import re
-import functools
-from importlib.resources import as_file
-
-from PIL import Image, ImageDraw, ImageFont
-import pyray as rl
-
-from openpilot.system.ui.lib.application import FONT_DIR
-
-_cache: dict[str, rl.Texture] = {}
-
-EMOJI_REGEX = re.compile(
-"""[\U0001F600-\U0001F64F
-\U0001F300-\U0001F5FF
-\U0001F680-\U0001F6FF
-\U0001F1E0-\U0001F1FF
-\U00002700-\U000027BF
-\U0001F900-\U0001F9FF
-\U00002600-\U000026FF
-\U00002300-\U000023FF
-\U00002B00-\U00002BFF
-\U0001FA70-\U0001FAFF
-\U0001F700-\U0001F77F
-\u2640-\u2642
-\u2600-\u2B55
-\u200d
-\u23cf
-\u23e9
-\u231a
-\ufe0f
-\u3030
-]+""".replace("\n", ""),
-  flags=re.UNICODE
-)
-
-@functools.cache
-def _load_emoji_font() -> ImageFont.FreeTypeFont:
-  with as_file(FONT_DIR.joinpath("NotoColorEmoji.ttf")) as font_path:
-    return ImageFont.truetype(io.BytesIO(font_path.read_bytes()), 109)
-
-def find_emoji(text):
-  return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)]
-
-def emoji_tex(emoji):
-  if emoji not in _cache:
-    img = Image.new("RGBA", (128, 128), (0, 0, 0, 0))
-    draw = ImageDraw.Draw(img)
-    draw.text((0, 0), emoji, font=_load_emoji_font(), embedded_color=True)
-    with io.BytesIO() as buffer:
-      img.save(buffer, format="PNG")
-      l = buffer.tell()
-      buffer.seek(0)
-      _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l))
-  return _cache[emoji]
diff --git a/openpilot/system/ui/lib/multilang.py b/openpilot/system/ui/lib/multilang.py
index 8d79ec3eea..85e2621275 100644
--- a/openpilot/system/ui/lib/multilang.py
+++ b/openpilot/system/ui/lib/multilang.py
@@ -2,20 +2,24 @@ from importlib.resources import files
 import json
 import os
 import re
+from typing import TYPE_CHECKING
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 
-try:
+if TYPE_CHECKING:
   from openpilot.common.params import Params
-except ImportError:
-  Params = None
+else:
+  try:
+    from openpilot.common.params import Params
+  except (ImportError, OSError):
+    Params = None
 
 SYSTEM_UI_DIR = os.path.join(BASEDIR, "openpilot/system", "ui")
 UI_DIR = files("openpilot.selfdrive.ui")
 TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
 LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
 
-UNIFONT_LANGUAGES = [
+FONT_FALLBACK_LANGUAGES = [
   "th",
   "zh-CHT",
   "zh-CHS",
@@ -161,9 +165,8 @@ class Multilang:
   def language(self) -> str:
     return self._language
 
-  def requires_unifont(self) -> bool:
-    """Certain languages require unifont to render their glyphs."""
-    return self._language in UNIFONT_LANGUAGES
+  def requires_font_fallback(self) -> bool:
+    return self._language in FONT_FALLBACK_LANGUAGES
 
   def setup(self):
     try:
diff --git a/openpilot/system/ui/lib/scroll_panel2.py b/openpilot/system/ui/lib/scroll_panel2.py
index b6193672c4..19faaa542d 100644
--- a/openpilot/system/ui/lib/scroll_panel2.py
+++ b/openpilot/system/ui/lib/scroll_panel2.py
@@ -5,7 +5,7 @@ from collections.abc import Callable
 from enum import Enum
 from typing import cast
 from openpilot.system.ui.lib.application import gui_app, MouseEvent
-from openpilot.common.hardware import TICI
+from openpilot.common.hardware import COMMA_HARDWARE
 from collections import deque
 
 MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
@@ -52,7 +52,7 @@ class GuiScrollPanel2:
     self._initial_click_event: MouseEvent | None = None
     self._previous_mouse_event: MouseEvent | None = None
     self._velocity = 0.0  # pixels per second
-    self._velocity_buffer: deque[float] = deque(maxlen=12 if TICI else 6)
+    self._velocity_buffer: deque[float] = deque(maxlen=12 if COMMA_HARDWARE else 6)
     self._enabled: bool | Callable[[], bool] = True
 
   def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
diff --git a/openpilot/system/ui/lib/tests/test_handle_state_change.py b/openpilot/system/ui/lib/tests/test_handle_state_change.py
index 69aae6fdf3..a7a33834cd 100644
--- a/openpilot/system/ui/lib/tests/test_handle_state_change.py
+++ b/openpilot/system/ui/lib/tests/test_handle_state_change.py
@@ -3,15 +3,16 @@
 Tests the state machine in isolation by constructing a WifiManager with mocked
 DBus, then calling _handle_state_change directly with NM state transitions.
 """
-import pytest
+import unittest
 from jeepney.low_level import MessageType
-from pytest_mock import MockerFixture
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import Mocker, OpenpilotTestCase
 from openpilot.system.ui.lib.networkmanager import NMDeviceState, NMDeviceStateReason
 from openpilot.system.ui.lib.wifi_manager import WifiManager, WifiState, ConnectStatus
 
 
-def _make_wm(mocker: MockerFixture, connections=None):
+def _make_wm(mocker: Mocker, connections=None):
   """Create a WifiManager with only the fields _handle_state_change touches."""
   mocker.patch.object(WifiManager, '_initialize')
   wm = WifiManager.__new__(WifiManager)
@@ -50,7 +51,7 @@ def fire_wpa_connect(wm: WifiManager) -> None:
 # Basic transitions
 # ---------------------------------------------------------------------------
 
-class TestDisconnected:
+class TestDisconnected(OpenpilotTestCase):
   def test_generic_disconnect_clears_state(self, mocker):
     wm = _make_wm(mocker)
     wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
@@ -92,7 +93,7 @@ class TestDisconnected:
     assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
 
 
-class TestDeactivating:
+class TestDeactivating(OpenpilotTestCase):
   def test_deactivating_noop_for_non_connection_removed(self, mocker):
     """DEACTIVATING with non-CONNECTION_REMOVED reason is a no-op."""
     wm = _make_wm(mocker)
@@ -103,10 +104,10 @@ class TestDeactivating:
     assert wm._wifi_state.ssid == "Net"
     assert wm._wifi_state.status == ConnectStatus.CONNECTED
 
-  @pytest.mark.parametrize("status, expected_clears", [
+  @parameterized.expand([
     (ConnectStatus.CONNECTED, True),
     (ConnectStatus.CONNECTING, False),
-  ])
+  ], names=("status", "expected_clears"))
   def test_deactivating_connection_removed(self, mocker, status, expected_clears):
     """DEACTIVATING(CONNECTION_REMOVED) clears CONNECTED but preserves CONNECTING.
 
@@ -130,7 +131,7 @@ class TestDeactivating:
       assert wm._wifi_state.status == ConnectStatus.CONNECTING
 
 
-class TestPrepareConfig:
+class TestPrepareConfig(OpenpilotTestCase):
   def test_user_initiated_skips_dbus_lookup(self, mocker):
     """User called _set_connecting('B') — PREPARE must not overwrite via DBus.
 
@@ -148,7 +149,7 @@ class TestPrepareConfig:
     assert wm._wifi_state.status == ConnectStatus.CONNECTING
     wm._get_active_wifi_connection.assert_not_called()
 
-  @pytest.mark.parametrize("state", [NMDeviceState.PREPARE, NMDeviceState.CONFIG])
+  @parameterized.expand([NMDeviceState.PREPARE, NMDeviceState.CONFIG], names=("state",))
   def test_auto_connect_looks_up_ssid(self, mocker, state):
     """Auto-connection (ssid=None): PREPARE and CONFIG must look up ssid from NM."""
     wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
@@ -179,7 +180,7 @@ class TestPrepareConfig:
     assert wm._wifi_state.status == ConnectStatus.CONNECTING
 
 
-class TestNeedAuth:
+class TestNeedAuth(OpenpilotTestCase):
   def test_wrong_password_fires_callback(self, mocker):
     """NEED_AUTH+SUPPLICANT_DISCONNECT from CONFIG = real wrong password."""
     wm = _make_wm(mocker)
@@ -272,16 +273,16 @@ class TestNeedAuth:
     assert len(wm._callback_queue) == 0
 
 
-class TestPassthroughStates:
+class TestPassthroughStates(OpenpilotTestCase):
   """NEED_AUTH (generic), IP_CONFIG, IP_CHECK, SECONDARIES, FAILED (generic) are no-ops."""
 
-  @pytest.mark.parametrize("state", [
+  @parameterized.expand([
     NMDeviceState.NEED_AUTH,
     NMDeviceState.IP_CONFIG,
     NMDeviceState.IP_CHECK,
     NMDeviceState.SECONDARIES,
     NMDeviceState.FAILED,
-  ])
+  ], names=("state",))
   def test_passthrough_is_noop(self, mocker, state):
     wm = _make_wm(mocker)
     wm._set_connecting("Net")
@@ -293,7 +294,7 @@ class TestPassthroughStates:
     assert len(wm._callback_queue) == 0
 
 
-class TestActivated:
+class TestActivated(OpenpilotTestCase):
   def test_sets_connected(self, mocker):
     """ACTIVATED sets status to CONNECTED and fires callback."""
     wm = _make_wm(mocker, connections={"MyNet": "/path/mynet"})
@@ -344,7 +345,7 @@ class TestActivated:
 # guard) shrink these race windows significantly. The epoch counter closes the
 # remaining gaps.
 
-class TestThreadRaces:
+class TestThreadRaces(OpenpilotTestCase):
   def test_prepare_race_user_tap_during_dbus(self, mocker):
     """User taps B while PREPARE's DBus call is in flight for auto-connect.
 
@@ -416,7 +417,7 @@ class TestThreadRaces:
 # Full sequences (NM signal order from real devices)
 # ---------------------------------------------------------------------------
 
-class TestFullSequences:
+class TestFullSequences(OpenpilotTestCase):
   def test_normal_connect(self, mocker):
     """User connects to saved network: full happy path.
 
@@ -771,7 +772,7 @@ class TestFullSequences:
     wm.process_callbacks()
     cb.assert_called_once_with("Hotspot")
 
-  @pytest.mark.xfail(reason="TODO: FAILED(SSID_NOT_FOUND) should emit error for UI")
+  @unittest.expectedFailure  # "TODO: FAILED(SSID_NOT_FOUND) should emit error for UI"
   def test_ssid_not_found(self, mocker):
     """Network drops off while connected — hotspot turned off.
 
@@ -843,7 +844,7 @@ class TestFullSequences:
 # Verified on device: when ActivateConnection returns UnknownConnection error,
 # NM emits no state signals. The worker error path is the only recovery point.
 
-class TestWorkerErrorRecovery:
+class TestWorkerErrorRecovery(OpenpilotTestCase):
   """Worker threads re-sync with NM via _init_wifi_state on DBus errors,
   preserving actual NM state instead of blindly clearing to DISCONNECTED."""
 
diff --git a/openpilot/system/ui/lib/text_measure.py b/openpilot/system/ui/lib/text_measure.py
index dee4b419ff..60945b7f05 100644
--- a/openpilot/system/ui/lib/text_measure.py
+++ b/openpilot/system/ui/lib/text_measure.py
@@ -1,6 +1,5 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import FONT_SCALE, font_fallback
-from openpilot.system.ui.lib.emoji import find_emoji
 
 _cache: dict[int, rl.Vector2] = {}
 
@@ -13,24 +12,7 @@ def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: float
   if key in _cache:
     return _cache[key]
 
-  # Measure normal characters without emojis, then add standard width for each found emoji
-  emoji = find_emoji(text)
-  if emoji:
-    non_emoji_text = ""
-    last_index = 0
-    for start, end, _ in emoji:
-      non_emoji_text += text[last_index:start]
-      last_index = end
-    non_emoji_text += text[last_index:]
-  else:
-    non_emoji_text = text
-
-  result = rl.measure_text_ex(font, non_emoji_text, font_size * FONT_SCALE, spacing)  # noqa: TID251
-  if emoji:
-    result.x += len(emoji) * font_size * FONT_SCALE
-    # If just emoji assume a single line height
-    if result.y == 0:
-      result.y = font_size * FONT_SCALE
+  result = rl.measure_text_ex(font, text, font_size * FONT_SCALE, spacing)  # noqa: TID251
 
   _cache[key] = result
   return result
diff --git a/openpilot/system/ui/lib/wifi_manager.py b/openpilot/system/ui/lib/wifi_manager.py
index dedb341cd0..5e774a84d7 100644
--- a/openpilot/system/ui/lib/wifi_manager.py
+++ b/openpilot/system/ui/lib/wifi_manager.py
@@ -6,7 +6,7 @@ import subprocess
 from collections.abc import Callable
 from dataclasses import dataclass, replace
 from enum import IntEnum
-from typing import Any
+from typing import TYPE_CHECKING, Any
 
 from jeepney import DBusAddress, new_method_call
 from jeepney.bus_messages import MatchRule, message_bus
@@ -26,10 +26,13 @@ from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_80
                                                     NM_DEVICE_TYPE_WIFI, NM_ACTIVE_CONNECTION_IFACE,
                                                     NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
 
-try:
+if TYPE_CHECKING:
   from openpilot.common.params import Params
-except Exception:
-  Params = None
+else:
+  try:
+    from openpilot.common.params import Params
+  except (ImportError, OSError):
+    Params = None
 
 TETHERING_IP_ADDRESS = "192.168.43.1"
 DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
@@ -512,8 +515,11 @@ class WifiManager:
   def _get_adapter(self, adapter_type: int) -> str | None:
     # Return the first NetworkManager device path matching adapter_type
     try:
-      device_paths = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
-      for device_path in device_paths:
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices'))
+      if reply.header.message_type == MessageType.error:
+        # NetworkManager is not available, body holds an error string instead of device paths
+        return None
+      for device_path in reply.body[0]:
         dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
         dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
         if dev_type == adapter_type:
diff --git a/openpilot/system/ui/mici_setup.py b/openpilot/system/ui/mici_setup.py
index e446697cfe..efec377dd5 100755
--- a/openpilot/system/ui/mici_setup.py
+++ b/openpilot/system/ui/mici_setup.py
@@ -13,7 +13,7 @@ import pyray as rl
 
 from openpilot.cereal import log
 from openpilot.common.filter_simple import BounceFilter
-from openpilot.common.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.time_helpers import system_time_valid
@@ -570,7 +570,7 @@ class Setup(Widget):
 def main():
   config_realtime_process(0, 51)
   # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
-  if TICI:
+  if COMMA_HARDWARE:
     try:
       set_core_affinity([5])
     except OSError:
diff --git a/openpilot/system/ui/mici_updater.py b/openpilot/system/ui/mici_updater.py
index a072354cf0..d9009b8259 100755
--- a/openpilot/system/ui/mici_updater.py
+++ b/openpilot/system/ui/mici_updater.py
@@ -5,7 +5,7 @@ import threading
 import pyray as rl
 
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
-from openpilot.common.hardware import HARDWARE, TICI
+from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets.nav_widget import NavWidget
@@ -152,7 +152,7 @@ class Updater(Scroller):
 def main():
   config_realtime_process(0, 51)
   # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
-  if TICI:
+  if COMMA_HARDWARE:
     try:
       set_core_affinity([5])
     except OSError:
diff --git a/openpilot/system/ui/tici_setup.py b/openpilot/system/ui/tici_setup.py
index 2b2c1c39f8..36f47ccf1b 100755
--- a/openpilot/system/ui/tici_setup.py
+++ b/openpilot/system/ui/tici_setup.py
@@ -107,13 +107,20 @@ class Setup(Widget):
     self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
                                                       text_color=rl.Color(255, 89, 79, 255),
                                                       text_padding=60)
-    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
-                                                     + "⚠️ It has not been tested by comma.\n\n"
-                                                     + "⚠️ It may not comply with relevant safety standards.\n\n"
-                                                     + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
-                                                     + "If you'd like to proceed, use https://flash.comma.ai "
-                                                     + "to restore your device to a factory state later.",
-                                                     68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=60)
+    self._yellow_warning_icon = gui_app.texture("icons/yellow_warning.png", int(68 * FONT_SCALE), int(68 * FONT_SCALE))
+    self._custom_software_warning_body_labels = [
+      Label(text, 68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+            text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+            text_padding=60, icon=self._yellow_warning_icon if has_icon else None)
+      for text, has_icon in [
+        ("Use caution when installing third-party software.", False),
+        ("It has not been tested by comma.", True),
+        ("It may not comply with relevant safety standards.", True),
+        ("It may cause damage to your device and/or vehicle.", True),
+        ("If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later.", False)
+      ]
+    ]
+
     self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
 
     self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM, text_padding=20)
@@ -295,7 +302,7 @@ class Setup(Widget):
     self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
 
   def render_custom_software_warning(self, rect: rl.Rectangle):
-    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1550)
     offset = self._custom_software_warning_body_scroll_panel.update(rect, warn_rect)
 
     button_width = (rect.width - MARGIN * 3) / 2
@@ -304,7 +311,12 @@ class Setup(Widget):
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE * FONT_SCALE))
     y_offset = rect.y + offset
     self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
-    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 400, rect.width - 50, BODY_FONT_SIZE * FONT_SCALE * 3))
+
+    y = y_offset + 300
+    for label in self._custom_software_warning_body_labels:
+      label.render(rl.Rectangle(rect.x + 50,  y, rect.width - 50, BODY_FONT_SIZE))
+      y += 160
+
     rl.end_scissor_mode()
 
     self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
diff --git a/openpilot/system/ui/widgets/__init__.py b/openpilot/system/ui/widgets/__init__.py
index f8cb04d8a7..4e13920d60 100644
--- a/openpilot/system/ui/widgets/__init__.py
+++ b/openpilot/system/ui/widgets/__init__.py
@@ -8,14 +8,15 @@ from collections.abc import Callable
 from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
 
 class DeviceLike(Protocol):
-  awake: bool
+  @property
+  def awake(self) -> bool: ...
 
 
 def _get_device() -> DeviceLike:
   try:
     from openpilot.selfdrive.ui.ui_state import device
     return device
-  except ImportError:
+  except (ImportError, OSError):
     class Device:
       awake = True
     return Device()
diff --git a/openpilot/system/ui/widgets/label.py b/openpilot/system/ui/widgets/label.py
index fdaf6f3148..a3e827321c 100644
--- a/openpilot/system/ui/widgets/label.py
+++ b/openpilot/system/ui/widgets/label.py
@@ -8,7 +8,6 @@ from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEX
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
-from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex
 from openpilot.system.ui.lib.wrap_text import wrap_text
 
 ICON_PADDING = 15
@@ -103,7 +102,7 @@ def gui_text_box(
     rl.gui_set_font(gui_app.font(FontWeight.NORMAL))
 
 
-# Non-interactive text area. Can render emojis and an optional specified icon.
+# Non-interactive text area. Can render an optional specified icon.
 class Label(Widget):
   def __init__(self,
                text: str | Callable[[], str],
@@ -145,7 +144,6 @@ class Label(Widget):
     self._update_text(self._text)
 
   def _update_text(self, text):
-    self._emojis = []
     self._text_size = []
     text = _resolve_value(text)
 
@@ -175,7 +173,6 @@ class Label(Widget):
       self._text_wrapped = wrap_text(self._font, text, self._font_size, round(self._rect.width - (self._text_padding * 2)))
 
     for t in self._text_wrapped:
-      self._emojis.append(find_emoji(t))
       self._text_size.append(measure_text_cached(self._font, t, self._font_size))
 
   def _render(self, _):
@@ -209,7 +206,7 @@ class Label(Widget):
         icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
       rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE)
 
-    for text, text_size, emojis in zip(self._text_wrapped, self._text_size, self._emojis, strict=True):
+    for text, text_size in zip(self._text_wrapped, self._text_size, strict=True):
       line_pos = rl.Vector2(text_pos.x, text_pos.y)
       if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
         line_pos.x += self._text_padding
@@ -218,18 +215,7 @@ class Label(Widget):
       elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
         line_pos.x += self._rect.width - text_size.x - self._text_padding
 
-      prev_index = 0
-      for start, end, emoji in emojis:
-        text_before = text[prev_index:start]
-        width_before = measure_text_cached(self._font, text_before, self._font_size)
-        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, 0, self._text_color)
-        line_pos.x += width_before.x
-
-        tex = emoji_tex(emoji)
-        rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height * FONT_SCALE, self._text_color)
-        line_pos.x += self._font_size * FONT_SCALE
-        prev_index = end
-      rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color)
+      rl.draw_text_ex(self._font, text, line_pos, self._font_size, 0, self._text_color)
       text_pos.y += (text_size.y or self._font_size * FONT_SCALE) * self._line_scale
 
 
@@ -238,7 +224,6 @@ class UnifiedLabel(Widget):
   Unified label widget that combines functionality from gui_label, gui_text_box, and Label.
 
   Supports:
-  - Emoji rendering
   - Text wrapping
   - Automatic eliding (single-line or multiline)
   - Proper multiline vertical alignment
@@ -303,7 +288,6 @@ class UnifiedLabel(Widget):
     self._cached_text: str | None = None
     self._cached_wrapped_lines: list[str] = []
     self._cached_line_sizes: list[rl.Vector2] = []
-    self._cached_line_emojis: list[list[tuple[int, int, str]]] = []
     self._cached_total_height: float | None = None
     self._cached_width: int = -1
 
@@ -430,13 +414,10 @@ class UnifiedLabel(Widget):
     if self._scroll:
       self._cached_wrapped_lines = self._cached_wrapped_lines[:1]  # Only first line for scrolling
 
-    # Process each line: measure and find emojis
+    # Process each line: measure
     self._cached_line_sizes = []
-    self._cached_line_emojis = []
 
     for line in self._cached_wrapped_lines:
-      emojis = find_emoji(line)
-      self._cached_line_emojis.append(emojis)
       # Empty lines should still have height (use font size as line height)
       if not line:
         size = rl.Vector2(0, self._font_size * FONT_SCALE)
@@ -525,14 +506,12 @@ class UnifiedLabel(Widget):
     # Calculate which lines fit in the available height
     visible_lines: list[str] = []
     visible_sizes: list[rl.Vector2] = []
-    visible_emojis: list[list[tuple[int, int, str]]] = []
 
     current_height = 0.0
     broke_early = False
-    for line, size, emojis in zip(
+    for line, size in zip(
       self._cached_wrapped_lines,
       self._cached_line_sizes,
-      self._cached_line_emojis,
       strict=True):
 
       # Calculate height needed for this line
@@ -553,7 +532,6 @@ class UnifiedLabel(Widget):
 
       visible_lines.append(line)
       visible_sizes.append(size)
-      visible_emojis.append(emojis)
 
       current_height += line_height_needed
 
@@ -597,7 +575,7 @@ class UnifiedLabel(Widget):
 
     # Render each line
     current_y = start_y
-    for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
+    for idx, (line, size) in enumerate(zip(visible_lines, visible_sizes, strict=True)):
       if self._needs_scroll:
         if self._scroll_state == ScrollState.STARTING:
           if self._scroll_pause_t is None:
@@ -616,12 +594,12 @@ class UnifiedLabel(Widget):
       else:
         self.reset_scroll()
 
-      self._render_line(line, size, emojis, current_y)
+      self._render_line(line, size, current_y)
 
       # Draw 2nd instance for scrolling
       if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
         text2_scroll_offset = size.x + self._rect.width / 3
-        self._render_line(line, size, emojis, current_y, text2_scroll_offset)
+        self._render_line(line, size, current_y, text2_scroll_offset)
 
       # Move to next line (if not last line)
       if idx < len(visible_lines) - 1:
@@ -660,7 +638,7 @@ class UnifiedLabel(Widget):
     shimmer = math.exp(-0.5 * d * d / (sigma * sigma))
     return self.SHIMMER_LOW_OPACITY + (1.0 - self.SHIMMER_LOW_OPACITY) * shimmer
 
-  def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
+  def _render_line(self, line, size, current_y, x_offset=0.0):
     # Calculate horizontal position
     if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
       line_x = self._rect.x + self._text_padding
@@ -675,33 +653,11 @@ class UnifiedLabel(Widget):
     if self._shimmer:
       self._render_line_shimmer(line, line_x, current_y)
     else:
-      # Render line with emojis
-      self._render_line_normal(line, emojis, line_x, current_y)
+      self._render_line_normal(line, line_x, current_y)
 
-  def _render_line_normal(self, line, emojis, line_x, current_y):
+  def _render_line_normal(self, line, line_x, current_y):
     line_pos = rl.Vector2(line_x, current_y)
-    prev_index = 0
-
-    for start, end, emoji in emojis:
-      # Draw text before emoji
-      text_before = line[prev_index:start]
-      if text_before:
-        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
-        width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
-        line_pos.x += width_before.x
-
-      # Draw emoji
-      tex = emoji_tex(emoji)
-      emoji_scale = self._font_size / tex.height * FONT_SCALE
-      rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
-      # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
-      line_pos.x += self._font_size * FONT_SCALE
-      prev_index = end
-
-    # Draw remaining text after last emoji
-    text_after = line[prev_index:]
-    if text_after:
-      rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+    rl.draw_text_ex(self._font, line, line_pos, self._font_size, self._spacing_pixels, self._text_color)
 
   def _render_line_shimmer(self, line, line_x, current_y):
     # Shimmer range based on widest line so sweep is even across all lines
diff --git a/openpilot/system/ui/widgets/list_view.py b/openpilot/system/ui/widgets/list_view.py
index 08c65208a4..61c77b7600 100644
--- a/openpilot/system/ui/widgets/list_view.py
+++ b/openpilot/system/ui/widgets/list_view.py
@@ -1,3 +1,4 @@
+import math
 import os
 import pyray as rl
 from collections.abc import Callable, Sequence
@@ -104,7 +105,9 @@ class ButtonAction(ItemAction):
     value_text = self.value
     if value_text:
       text_width = measure_text_cached(self._font, value_text, ITEM_TEXT_FONT_SIZE).x
-      return text_width + BUTTON_WIDTH + TEXT_PADDING
+      # round up so the width survives float32 storage in rl.Rectangle, otherwise the
+      # value label can come out a fraction of a pixel too narrow and get elided
+      return math.ceil(text_width) + BUTTON_WIDTH + TEXT_PADDING
     else:
       return BUTTON_WIDTH
 
diff --git a/openpilot/system/updated/common.py b/openpilot/system/updated/common.py
deleted file mode 100644
index 6bb745f6b0..0000000000
--- a/openpilot/system/updated/common.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import os
-import pathlib
-
-
-def get_consistent_flag(path: str) -> bool:
-  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
-  return consistent_file.is_file()
-
-def set_consistent_flag(path: str, consistent: bool) -> None:
-  os.sync()
-  consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent"))
-  if consistent:
-    consistent_file.touch()
-  elif not consistent:
-    consistent_file.unlink(missing_ok=True)
-  os.sync()
diff --git a/openpilot/system/updated/updated.py b/openpilot/system/updated/updated.py
index 99696292f1..dd2f71f30d 100755
--- a/openpilot/system/updated/updated.py
+++ b/openpilot/system/updated/updated.py
@@ -193,7 +193,7 @@ def finalize_update() -> None:
 
 
 def handle_agnos_update() -> None:
-  from openpilot.common.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from openpilot.common.hardware.comma.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
   updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
@@ -209,7 +209,7 @@ def handle_agnos_update() -> None:
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
   set_offroad_alert("Offroad_NeosUpdate", True)
 
-  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/tici/agnos.json")
+  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)
diff --git a/openpilot/system/webrtc/device/video.py b/openpilot/system/webrtc/device/video.py
index c300f76485..cb85dff73e 100644
--- a/openpilot/system/webrtc/device/video.py
+++ b/openpilot/system/webrtc/device/video.py
@@ -32,9 +32,9 @@ class EncodedVideoFrame:
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
-    "driver": "livestreamDriverEncodeData",
+    "driver": "livestreamCabinEncodeData",
     "wideRoad": "livestreamWideRoadEncodeData",
-    "road": "livestreamRoadEncodeData",
+    "road": "livestreamNarrowRoadEncodeData",
   }
 
   def __init__(self, camera_type: str, video_enabled: bool = True):
diff --git a/openpilot/system/webrtc/helpers.py b/openpilot/system/webrtc/helpers.py
index 776b64573e..de45e1c6c9 100644
--- a/openpilot/system/webrtc/helpers.py
+++ b/openpilot/system/webrtc/helpers.py
@@ -8,7 +8,7 @@ WEBRTCD_PORT = 5001
 @dataclass
 class StreamRequestBody:
   sdp: str
-  init_camera: str
+  cameras: list[str]
   enabled: bool
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
diff --git a/openpilot/system/webrtc/tests/test_stream_session.py b/openpilot/system/webrtc/tests/test_stream_session.py
index 1f7bd5747a..d64cf6aed6 100644
--- a/openpilot/system/webrtc/tests/test_stream_session.py
+++ b/openpilot/system/webrtc/tests/test_stream_session.py
@@ -3,6 +3,7 @@ import json
 import time
 
 import capnp
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging, log
 from teleoprtc.tracks import VIDEO_CLOCK_RATE
 
@@ -10,7 +11,7 @@ from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIn
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
 
 
-class TestStreamSession:
+class TestStreamSession(OpenpilotTestCase):
   def setup_method(self):
     self.loop = asyncio.new_event_loop()
 
@@ -64,7 +65,7 @@ class TestStreamSession:
       mocked_pubmaster.reset_mock()
 
   def test_livestream_track(self, mocker):
-    fake_msg = messaging.new_message("livestreamDriverEncodeData")
+    fake_msg = messaging.new_message("livestreamCabinEncodeData")
 
     config = {"receive.return_value": fake_msg.to_bytes()}
     mocker.patch("msgq.SubSocket", spec=True, **config)
diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
index 7901f9847f..8e022eda1c 100755
--- a/openpilot/system/webrtc/webrtcd.py
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -23,6 +23,7 @@ from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
 from openpilot.cereal import messaging, log
 
+SESSION_TIMEOUT_SECONDS = 300
 
 # socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
 # return the source interfaces IP which is the default interface of the device
@@ -220,7 +221,7 @@ class LivestreamBitrateController(AsyncTaskRunner):
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, body: StreamRequestBody, debug_mode: bool = False):
+  def __init__(self, body: StreamRequestBody):
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc.builder import WebRTCAnswerBuilder
 
@@ -229,10 +230,15 @@ class StreamSession:
     builder = WebRTCAnswerBuilder(body.sdp, bind_address=_default_route_ip())
 
     self.enabled = body.enabled
-    self.video_track = LiveStreamVideoStreamTrack(body.init_camera, self.enabled)
-    builder.add_video_stream(body.init_camera, self.video_track)
+    self.video_tracks = []
+    for camera in body.cameras:
+      track = LiveStreamVideoStreamTrack(camera, self.enabled)
+      self.video_tracks.append(track)
+      builder.add_video_stream(camera, track)
     self.stream = builder.stream()
 
+    self.is_body = "testJoystick" in body.bridge_services_in
+
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = body.bridge_services_in
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
@@ -248,8 +254,8 @@ class StreamSession:
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
     self.logger.info(
-      "New stream session (%s), init camera %s, video enabled %s, incoming services %s, outgoing services %s",
-      self.identifier, body.init_camera, body.enabled, body.bridge_services_in, body.bridge_services_out,
+      "New stream session (%s), video cameras %s, video enabled %s, incoming services %s, outgoing services %s",
+      self.identifier, [t.id for t in self.video_tracks], body.enabled, body.bridge_services_in, body.bridge_services_out,
     )
 
   def start(self):
@@ -274,14 +280,17 @@ class StreamSession:
 
         match msg_type:
           case "livestreamCameraSwitch":
-            self.video_track.switch_camera(payload["data"]["camera"])
+            # only needed for 1 track stream
+            if len(self.video_tracks) == 1:
+              self.video_tracks[0].switch_camera(payload["data"]["camera"])
           case "livestreamSettings":
             if self.bitrate_controller is not None:
               self.bitrate_controller.set_quality(payload["data"]["quality"])
           case "livestreamVideoEnable":
             enabled = payload["data"]["enabled"]
             self.enabled = enabled
-            self.video_track.enable(enabled)
+            for track in self.video_tracks:
+              track.enable(enabled)
             if self.outgoing_bridge is not None:
               self.outgoing_bridge.enable(enabled)
             if self.bitrate_controller is not None:
@@ -294,16 +303,29 @@ class StreamSession:
             }})
             self.stream.get_messaging_channel().send(pong)
           case "enableTimingSei":
-            if hasattr(self.video_track, 'timing_sei_enabled'):
-              self.video_track.timing_sei_enabled = bool(payload["data"]["enabled"])
+            for track in self.video_tracks:
+              track.timing_sei_enabled = bool(payload["data"]["enabled"])
           case _:
-            if payload.get("type") not in self.incoming_bridge_services:
+            if msg_type not in self.incoming_bridge_services:
               return
             if self.incoming_bridge is not None:
               self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
+  async def run_normal_session(self):
+    try:
+      await asyncio.wait_for(self.stream.wait_for_disconnection(), timeout=SESSION_TIMEOUT_SECONDS)
+    except TimeoutError:
+      self.logger.warning("Stream session (%s) timed out after %d s", self.identifier, SESSION_TIMEOUT_SECONDS)
+      try:
+        self.stream.get_messaging_channel().send(json.dumps({"type": "disconnect", "data": "Session timed out"}))
+      except Exception:
+        pass
+
+  async def run_body_session(self):
+    await self.stream.wait_for_disconnection()
+
   async def run(self):
     try:
       self.params.put("LivestreamRequestKeyframe", True)
@@ -320,7 +342,10 @@ class StreamSession:
         self.bitrate_controller.start()
 
       self.logger.info("Stream session (%s) connected", self.identifier)
-      await self.stream.wait_for_disconnection()
+      if self.is_body:
+        await self.run_body_session()
+      else:
+        await self.run_normal_session()
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
@@ -337,17 +362,16 @@ class StreamSession:
         await self.bitrate_controller.stop()
       if self.outgoing_bridge is not None:
         await self.outgoing_bridge.stop()
-      if self.video_track is not None:
-        self.video_track.stop()
-        self.video_track = None
+      for track in self.video_tracks:
+        track.stop()
+      self.video_tracks.clear()
       await self.stream.stop()
 
 
 class ServerState:
-  def __init__(self, debug: bool):
+  def __init__(self):
     self.streams: dict[str, StreamSession] = {}
     self.stream_lock = asyncio.Lock()
-    self.debug = debug
     self.teardown: asyncio.TimerHandle | None = None
 
 
@@ -372,7 +396,7 @@ def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
 
 
 async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
-  stream_dict, debug_mode = state.streams, state.debug
+  stream_dict = state.streams
   body = StreamRequestBody(**json.loads(raw_body))
 
   async with state.stream_lock:
@@ -391,7 +415,7 @@ async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, b
       await s.stop()
       stream_dict.pop(sid, None)
 
-    session = StreamSession(body, debug_mode)
+    session = StreamSession(body)
     stream_dict[session.identifier] = session
     try:
       answer = await asyncio.wait_for(session.get_answer(), timeout=30)
@@ -539,23 +563,23 @@ async def _shutdown(server: WebrtcdHTTPServer, state: ServerState, loop: asyncio
   loop.stop()
 
 
-def prewarm_stream_session_imports(debug_mode: bool = False) -> None:
+def prewarm_stream_session_imports() -> None:
   from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
   from teleoprtc.builder import WebRTCAnswerBuilder
   assert LiveStreamVideoStreamTrack
   assert WebRTCAnswerBuilder
 
 
-def webrtcd_thread(host: str, port: int, debug: bool):
-  logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
+def webrtcd_thread(host: str, port: int):
+  logging.basicConfig(level=logging.INFO, handlers=[logging.StreamHandler()])
   prewarm_start = time.monotonic()
-  prewarm_stream_session_imports(debug)
+  prewarm_stream_session_imports()
   prewarm_end = time.monotonic()
   logging.getLogger("webrtcd").info(f"webrtc prewarm finished in {(prewarm_end - prewarm_start) * 1000} ms")
 
   loop = asyncio.new_event_loop()
   asyncio.set_event_loop(loop)
-  state = ServerState(debug)
+  state = ServerState()
 
   server = WebrtcdHTTPServer((host, port), WebrtcdHandler)
   server.state = state
@@ -589,10 +613,9 @@ def main():
   parser = argparse.ArgumentParser(description="WebRTC daemon")
   parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
   parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
-  parser.add_argument("--debug", action="store_true", help="Enable debug mode")
   args = parser.parse_args()
 
-  webrtcd_thread(args.host, args.port, args.debug)
+  webrtcd_thread(args.host, args.port)
 
 
 if __name__=="__main__":
diff --git a/openpilot/test_native.py b/openpilot/test_native.py
new file mode 100644
index 0000000000..eed549f4e4
--- /dev/null
+++ b/openpilot/test_native.py
@@ -0,0 +1,22 @@
+import os
+import subprocess
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
+
+
+NATIVE_TESTS = (
+  "openpilot/common/tests/test_swaglog",
+  "openpilot/selfdrive/pandad/tests/test_pandad_canprotocol",
+  "openpilot/tools/cabana/tests/test_dbc_core",
+)
+
+
+class TestNative(OpenpilotTestCase):
+  @parameterized.expand(NATIVE_TESTS)
+  def test_native(self, executable):
+    path = os.path.join(BASEDIR, executable)
+    if not os.path.exists(path):
+      self.skipTest(f"optional native test was not built: {executable}")
+    subprocess.run([path], check=True)
diff --git a/openpilot/tools/cabana/README.md b/openpilot/tools/cabana/README.md
index b30c29640e..fbdfbb40e5 100644
--- a/openpilot/tools/cabana/README.md
+++ b/openpilot/tools/cabana/README.md
@@ -15,7 +15,7 @@ Options:
   --auto                         Auto load the route from the best available source (no video):
                                  internal, openpilotci, comma_api, car_segments, testing_closet
   --qcam                         load qcamera
-  --ecam                         load wide road camera
+  --wide-road                         load wide road camera
   --msgq                         read can messages from msgq
   --panda                        read can messages from panda
   --panda-serial   read can messages from panda with given serial
@@ -55,7 +55,7 @@ Replace "5beb9b58bd12b691/0000010a--a51155e496" with your desired route identifi
 To run Cabana with multiple cameras, use the following command:
 
 ```shell
-cabana "5beb9b58bd12b691/0000010a--a51155e496" --dcam --ecam
+cabana "5beb9b58bd12b691/0000010a--a51155e496" --cabin --wide-road
 ```
 
 ### Streaming CAN Messages from a comma Device
diff --git a/openpilot/tools/cabana/SConscript b/openpilot/tools/cabana/SConscript
index fcaa3b7930..387129709e 100644
--- a/openpilot/tools/cabana/SConscript
+++ b/openpilot/tools/cabana/SConscript
@@ -73,7 +73,7 @@ cabana_env = qt_env.Clone()
 cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'usb-1.0'] + base_libs
+cabana_libs = [cereal, messaging, visionipc, replay_lib] + ffmpeg_libs + ['usb-1.0'] + base_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -110,14 +110,11 @@ cabana_lib = cabana_env.Library("cabana_lib", cabana_srcs + [bootstrap_icons_src
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
-  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
-
   # This target deliberately uses the base environment and links no Qt libraries.
   # It prevents Qt dependencies from creeping back into the DBC core.
   dbc_core_test_env = env.Clone()
   dbc_core_test_env['CXXFLAGS'] += [opendbc_path]
   dbc_core_test_objects = [
-    dbc_core_test_env.Object('tests/dbc_core_test_runner', 'tests/test_runner.cc'),
     dbc_core_test_env.Object('tests/dbc_core_tests', 'tests/test_cabana.cc'),
     dbc_core_test_env.Object('tests/dbc_core_model', 'dbc/dbc.cc'),
     dbc_core_test_env.Object('tests/dbc_core_file', 'dbc/dbcfile.cc'),
diff --git a/openpilot/tools/cabana/cabana.cc b/openpilot/tools/cabana/cabana.cc
index d8e21815dc..8b21143faf 100644
--- a/openpilot/tools/cabana/cabana.cc
+++ b/openpilot/tools/cabana/cabana.cc
@@ -19,8 +19,8 @@ struct CabanaArgs {
   bool demo = false;
   bool auto_source = false;
   bool qcam = false;
-  bool ecam = false;
-  bool dcam = false;
+  bool wide_road = false;
+  bool cabin = false;
   bool msgq = false;
   bool panda = false;
   bool no_vipc = false;
@@ -44,8 +44,8 @@ void printUsage(const char *argv0) {
           "  --auto                    Auto load the route from the best available source (no video):\n"
           "                            internal, openpilotci, comma_api, car_segments, testing_closet\n"
           "  --qcam                    load qcamera\n"
-          "  --ecam                    load wide road camera\n"
-          "  --dcam                    load driver camera\n"
+          "  --wide-road               load wide road camera (alias: --ecam)\n"
+          "  --cabin                   load cabin camera (alias: --dcam)\n"
           "  --msgq                    read can messages from the msgq\n"
           "  --panda                   read can messages from panda\n"
           "  --panda-serial    read can messages from panda with given serial\n"
@@ -83,10 +83,10 @@ int parseArgs(int argc, char *argv[], CabanaArgs &args, bool &ok) {
       args.auto_source = true;
     } else if (std::strcmp(a, "--qcam") == 0) {
       args.qcam = true;
-    } else if (std::strcmp(a, "--ecam") == 0) {
-      args.ecam = true;
-    } else if (std::strcmp(a, "--dcam") == 0) {
-      args.dcam = true;
+    } else if (std::strcmp(a, "--wide-road") == 0 || std::strcmp(a, "--ecam") == 0) {
+      args.wide_road = true;
+    } else if (std::strcmp(a, "--cabin") == 0 || std::strcmp(a, "--dcam") == 0) {
+      args.cabin = true;
     } else if (std::strcmp(a, "--msgq") == 0) {
       args.msgq = true;
     } else if (std::strcmp(a, "--panda") == 0) {
@@ -162,9 +162,9 @@ int main(int argc, char *argv[]) {
 #endif
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
-    if (args.ecam) replay_flags |= REPLAY_FLAG_ECAM;
+    if (args.wide_road) replay_flags |= REPLAY_FLAG_WIDE_ROAD;
     if (args.qcam) replay_flags |= REPLAY_FLAG_QCAMERA;
-    if (args.dcam) replay_flags |= REPLAY_FLAG_DCAM;
+    if (args.cabin) replay_flags |= REPLAY_FLAG_CABIN_CAMERA;
     if (args.no_vipc) replay_flags |= REPLAY_FLAG_NO_VIPC;
 
     QString route;
diff --git a/openpilot/tools/cabana/cameraview.cc b/openpilot/tools/cabana/cameraview.cc
index a8df373dc4..9bd6b9be19 100644
--- a/openpilot/tools/cabana/cameraview.cc
+++ b/openpilot/tools/cabana/cameraview.cc
@@ -57,8 +57,8 @@ void CameraWidget::paintEvent(QPaintEvent *event) {
   QRect video_rect((width() - w) / 2, (height() - h) / 2, w, h);
 
   p.setRenderHint(QPainter::SmoothPixmapTransform);
-  if (active_stream_type == VISION_STREAM_DRIVER) {
-    // mirror driver camera horizontally
+  if (active_stream_type == VISION_STREAM_CABIN) {
+    // mirror cabin camera horizontally
     const qreal cx = video_rect.x() + video_rect.width() / 2.0;
     p.translate(cx, 0);
     p.scale(-1, 1);
diff --git a/openpilot/tools/cabana/cameraview.h b/openpilot/tools/cabana/cameraview.h
index 40d3776005..3b55dd9ed9 100644
--- a/openpilot/tools/cabana/cameraview.h
+++ b/openpilot/tools/cabana/cameraview.h
@@ -10,6 +10,7 @@
 #include 
 #include 
 
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_client.h"
 
 class CameraWidget : public QWidget {
diff --git a/openpilot/tools/cabana/signalview.h b/openpilot/tools/cabana/signalview.h
index 2e44e55cbf..bccfbab0cc 100644
--- a/openpilot/tools/cabana/signalview.h
+++ b/openpilot/tools/cabana/signalview.h
@@ -129,11 +129,11 @@ private:
       // update widget geometries in QTreeView::rowsInserted
       QTreeView::rowsInserted(parent, start, end);
     }
-    void setModel(QAbstractItemModel *model) override {
-      QTreeView::setModel(model);
+    void setModel(QAbstractItemModel *m) override {
+      QTreeView::setModel(m);
       // Bypass the slow call to QTreeView::dataChanged.
-      QObject::disconnect(model, &QAbstractItemModel::dataChanged, this, nullptr);
-      QObject::connect(model, &QAbstractItemModel::dataChanged, this,
+      QObject::disconnect(m, &QAbstractItemModel::dataChanged, this, nullptr);
+      QObject::connect(m, &QAbstractItemModel::dataChanged, this,
                        [this](const QModelIndex &tl, const QModelIndex &br, const auto &roles) { QAbstractItemView::dataChanged(tl, br, roles); });
     }
     void leaveEvent(QEvent *event) override {
diff --git a/openpilot/tools/cabana/streams/devicestream.cc b/openpilot/tools/cabana/streams/devicestream.cc
index 91e890316e..3bd51c079d 100644
--- a/openpilot/tools/cabana/streams/devicestream.cc
+++ b/openpilot/tools/cabana/streams/devicestream.cc
@@ -53,7 +53,7 @@ void DeviceStream::start() {
   if (!zmq_address.isEmpty()) {
     stopBridge();
     const std::string path = (std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) /
-                              "../../openpilot/cereal/messaging/bridge").lexically_normal().string();
+                              "../../cereal/messaging/bridge").lexically_normal().string();
     const std::string addr = zmq_address.toStdString();
     const char *can_filter = "/\"can/\"";
 
diff --git a/openpilot/tools/cabana/streams/replaystream.cc b/openpilot/tools/cabana/streams/replaystream.cc
index dbd44b54e3..6d54369aef 100644
--- a/openpilot/tools/cabana/streams/replaystream.cc
+++ b/openpilot/tools/cabana/streams/replaystream.cc
@@ -46,7 +46,7 @@ void ReplayStream::mergeSegments() {
 }
 
 bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
-  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+  replay.reset(new Replay(route, {"can", "narrowRoadEncodeIdx", "cabinEncodeIdx", "wideRoadEncodeIdx", "carParams"},
                           {}, nullptr, replay_flags, data_dir, auto_source));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
@@ -163,8 +163,8 @@ AbstractStream *OpenReplayWidget::open() {
   } else {
     auto replay_stream = std::make_unique(qApp);
     uint32_t flags = REPLAY_FLAG_NONE;
-    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_DCAM;
-    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
+    if (cameras[1]->isChecked()) flags |= REPLAY_FLAG_CABIN_CAMERA;
+    if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_WIDE_ROAD;
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
     if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
diff --git a/openpilot/tools/cabana/tests/test_cabana.cc b/openpilot/tools/cabana/tests/test_cabana.cc
index c66f57d593..53be1b0afa 100644
--- a/openpilot/tools/cabana/tests/test_cabana.cc
+++ b/openpilot/tools/cabana/tests/test_cabana.cc
@@ -1,20 +1,14 @@
 
-#undef INFO
 #include 
 #include 
 
-#include "catch2/catch.hpp"
+#include "common/tests/native_test.h"
 #include "tools/cabana/dbc/dbcfile.h"
 #include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/core/settings.h"
-
-#ifdef QT_CORE_LIB
-#include 
-#endif
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
-TEST_CASE("DBCFile::generateDBC") {
+void test_generate_dbc() {
   std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
@@ -35,7 +29,7 @@ TEST_CASE("DBCFile::generateDBC") {
   }
 }
 
-TEST_CASE("DBCFile::generateDBC - comment order") {
+void test_comment_order() {
   // Ensure that message comments are followed by signal comments and in the correct order
   std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
@@ -52,7 +46,7 @@ CM_ SG_ 162 signal_2 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("DBCFile::generateDBC -- preserve original header") {
+void test_preserve_original_header() {
   std::string content = R"(VERSION "1.0"
 
 NS_ :
@@ -72,7 +66,7 @@ CM_ SG_ 160 signal_1 "signal comment";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("DBCFile::generateDBC - escaped quotes") {
+void test_escaped_quotes() {
   std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
@@ -83,7 +77,7 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(dbc.generateDBC() == content);
 }
 
-TEST_CASE("parse_dbc") {
+void test_parse_dbc() {
   std::string content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
@@ -149,7 +143,7 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(msg->sigs[0]->comment == "signal comment with \"escaped quotes\"");
 }
 
-TEST_CASE("parse_opendbc") {
+void test_parse_opendbc() {
   std::vector errors;
   for (const auto &entry : std::filesystem::directory_iterator(OPENDBC_FILE_PATH)) {
     if (!entry.is_regular_file() || entry.path().extension() != ".dbc") continue;
@@ -161,11 +155,11 @@ TEST_CASE("parse_opendbc") {
   }
   std::ostringstream details;
   for (const auto &error : errors) details << error << '\n';
-  INFO(details.str());
+  if (!errors.empty()) std::cerr << details.str();
   REQUIRE(errors.empty());
 }
 
-TEST_CASE("DBCManager core callbacks") {
+void test_dbc_manager() {
   DBCManager manager;
   int files_changed = 0;
   int signals_added = 0;
@@ -192,34 +186,16 @@ TEST_CASE("DBCManager core callbacks") {
   REQUIRE(manager.msg({.source = 0, .address = 160})->sig("speed") != nullptr);
 }
 
-TEST_CASE("Cabana settings core defaults") {
-  CabanaSettingsState state;
-  REQUIRE(state.fps == 10);
-  REQUIRE(state.chart_range == 180);
-  REQUIRE(state.drag_direction == CabanaSettingsState::MsbFirst);
-  REQUIRE(state.recent_files.empty());
+void test_cabana_core() {
+  test_generate_dbc();
+  test_comment_order();
+  test_preserve_original_header();
+  test_escaped_quotes();
+  test_parse_dbc();
+  test_parse_opendbc();
+  test_dbc_manager();
 }
 
-#ifdef QT_CORE_LIB
-TEST_CASE("CabanaColor preserves QColor transformations") {
-  const std::vector colors = {
-    QColor(102, 86, 169, 64), QColor(0, 187, 255, 128), QColor(255, 0, 0, 128), QColor(45, 120, 75, 255),
-  };
-  for (const auto &qt_color : colors) {
-    CabanaColor color(qt_color.red(), qt_color.green(), qt_color.blue(), qt_color.alpha());
-    for (int factor : {75, 100, 135, 150, 200}) {
-      const auto lighter = color.lighter(factor);
-      const auto qt_lighter = qt_color.lighter(factor);
-      CHECK(std::abs(lighter.red() - qt_lighter.red()) <= 1);
-      CHECK(std::abs(lighter.green() - qt_lighter.green()) <= 1);
-      CHECK(std::abs(lighter.blue() - qt_lighter.blue()) <= 1);
-
-      const auto darker = color.darker(factor);
-      const auto qt_darker = qt_color.darker(factor);
-      CHECK(std::abs(darker.red() - qt_darker.red()) <= 1);
-      CHECK(std::abs(darker.green() - qt_darker.green()) <= 1);
-      CHECK(std::abs(darker.blue() - qt_darker.blue()) <= 1);
-    }
-  }
+int main() {
+  return run_native_test(test_cabana_core);
 }
-#endif
diff --git a/openpilot/tools/cabana/tests/test_runner.cc b/openpilot/tools/cabana/tests/test_runner.cc
deleted file mode 100644
index a76c8e16b9..0000000000
--- a/openpilot/tools/cabana/tests/test_runner.cc
+++ /dev/null
@@ -1,7 +0,0 @@
-#define CATCH_CONFIG_RUNNER
-#include "catch2/catch.hpp"
-
-int main(int argc, char **argv) {
-  const int res = Catch::Session().run(argc, argv);
-  return (res < 0xff ? res : 0xff);
-}
diff --git a/openpilot/tools/cabana/tools/routeinfo.cc b/openpilot/tools/cabana/tools/routeinfo.cc
index 77a0e065cd..dc272e3d12 100644
--- a/openpilot/tools/cabana/tools/routeinfo.cc
+++ b/openpilot/tools/cabana/tools/routeinfo.cc
@@ -14,7 +14,7 @@ RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) {
   table->setEditTriggers(QAbstractItemView::NoEditTriggers);
   table->setSelectionBehavior(QAbstractItemView::SelectRows);
   table->setSelectionMode(QAbstractItemView::SingleSelection);
-  table->setHorizontalHeaderLabels({"", "rlog", "fcam", "ecam", "dcam", "qlog", "qcam"});
+  table->setHorizontalHeaderLabels({"", "rlog", "narrow road", "wide road", "driver", "qlog", "qcam"});
   table->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
   table->verticalHeader()->setVisible(false);
   table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -23,9 +23,9 @@ RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) {
   for (const auto &[seg_num, seg] : replay->route().segments()) {
     table->setItem(row, 0, new QTableWidgetItem(QString::number(seg_num)));
     table->setItem(row, 1, new QTableWidgetItem(seg.rlog.empty() ? "--" : "Yes"));
-    table->setItem(row, 2, new QTableWidgetItem(seg.road_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 2, new QTableWidgetItem(seg.narrow_road_cam.empty() ? "--" : "Yes"));
     table->setItem(row, 3, new QTableWidgetItem(seg.wide_road_cam.empty() ? "--" : "Yes"));
-    table->setItem(row, 4, new QTableWidgetItem(seg.driver_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 4, new QTableWidgetItem(seg.cabin_cam.empty() ? "--" : "Yes"));
     table->setItem(row, 5, new QTableWidgetItem(seg.qlog.empty() ? "--" : "Yes"));
     table->setItem(row, 6, new QTableWidgetItem(seg.qcamera.empty() ? "--" : "Yes"));
     ++row;
diff --git a/openpilot/tools/cabana/videowidget.cc b/openpilot/tools/cabana/videowidget.cc
index 67b89cb080..bd61573658 100644
--- a/openpilot/tools/cabana/videowidget.cc
+++ b/openpilot/tools/cabana/videowidget.cc
@@ -148,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
   camera_tab->setAutoHide(true);
   camera_tab->setExpanding(false);
 
-  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD));
+  l->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_NARROW_ROAD));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
 
diff --git a/openpilot/tools/camerastream/compressed_vipc.py b/openpilot/tools/camerastream/compressed_vipc.py
index 56ed12889f..e85c88d40c 100755
--- a/openpilot/tools/camerastream/compressed_vipc.py
+++ b/openpilot/tools/camerastream/compressed_vipc.py
@@ -8,7 +8,8 @@ from collections import deque
 
 
 import openpilot.cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.tools.camerastream.ffmpeg_decoder import Decoder, FFmpegError
 
 V4L2_BUF_FLAG_KEYFRAME = 8
@@ -18,8 +19,8 @@ V4L2_BUF_FLAG_KEYFRAME = 8
 # then run this "./compressed_vipc.py "
 
 ENCODE_SOCKETS = {
-  VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
-  VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
+  VisionStreamType.VISION_STREAM_NARROW_ROAD: "narrowRoadEncodeData",
+  VisionStreamType.VISION_STREAM_CABIN: "cabinEncodeData",
   VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
 }
 
@@ -145,8 +146,8 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   vision_streams = [
-    VisionStreamType.VISION_STREAM_ROAD,
-    VisionStreamType.VISION_STREAM_DRIVER,
+    VisionStreamType.VISION_STREAM_NARROW_ROAD,
+    VisionStreamType.VISION_STREAM_CABIN,
     VisionStreamType.VISION_STREAM_WIDE_ROAD,
   ]
 
diff --git a/openpilot/tools/clip/run.py b/openpilot/tools/clip/run.py
index 594383f7fd..81145e2259 100755
--- a/openpilot/tools/clip/run.py
+++ b/openpilot/tools/clip/run.py
@@ -22,7 +22,8 @@ from openpilot.tools.lib.framereader import FrameReader, ffprobe
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.utils import Timer
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 
 FRAMERATE = 20
 DEMO_ROUTE, DEMO_START, DEMO_END = '5beb9b58bd12b691/0000010a--a51155e496', 90, 105
@@ -319,7 +320,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
       wide_frame_queue = FrameQueue(ecamera_paths, start, end, fps=FRAMERATE)
 
     vipc = VisionIpcServer("camerad")
-    vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
+    vipc.create_buffers(VisionStreamType.VISION_STREAM_NARROW_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
     if wide_frame_queue:
       vipc.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 4, wide_frame_queue.frame_w, wide_frame_queue.frame_h)
     vipc.start_listener()
@@ -338,7 +339,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
         if frame_idx >= len(message_chunks):
           break
         _, frame_bytes = frame_queue.get()
-        vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
+        vipc.send(VisionStreamType.VISION_STREAM_NARROW_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
         if wide_frame_queue:
           _, wide_bytes = wide_frame_queue.get()
           vipc.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, wide_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
diff --git a/openpilot/tools/jotpluggler/SConscript b/openpilot/tools/jotpluggler/SConscript
index d5ebaffb98..bfe6e90742 100644
--- a/openpilot/tools/jotpluggler/SConscript
+++ b/openpilot/tools/jotpluggler/SConscript
@@ -102,7 +102,7 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
 )
 
 libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a")] + \
-        ffmpeg_libs + ["bz2", "zstd", "m", "pthread", "usb-1.0"]
+        ffmpeg_libs + ["zstd", "m", "pthread", "usb-1.0"]
 if arch == "Darwin":
   jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
 else:
diff --git a/openpilot/tools/jotpluggler/app.h b/openpilot/tools/jotpluggler/app.h
index b7754f51b2..9a6777ee90 100644
--- a/openpilot/tools/jotpluggler/app.h
+++ b/openpilot/tools/jotpluggler/app.h
@@ -87,7 +87,7 @@ enum class PaneKind : uint8_t {
 
 enum class CameraViewKind : uint8_t {
   Road,
-  Driver,
+  Cabin,
   WideRoad,
   QRoad,
 };
@@ -322,7 +322,7 @@ struct RouteData {
   std::vector roots;
   std::vector can_messages;
   CameraFeedIndex road_camera;
-  CameraFeedIndex driver_camera;
+  CameraFeedIndex cabin_camera;
   CameraFeedIndex wide_road_camera;
   CameraFeedIndex qroad_camera;
   std::vector thumbnails;
diff --git a/openpilot/tools/jotpluggler/common.h b/openpilot/tools/jotpluggler/common.h
index 5c68b0ed22..7149bbe54d 100644
--- a/openpilot/tools/jotpluggler/common.h
+++ b/openpilot/tools/jotpluggler/common.h
@@ -23,7 +23,7 @@ struct SpecialItemSpec {
 
 inline constexpr std::array kCameraViewSpecs = {{
   {CameraViewKind::Road,     "Road Camera",      "road",   "road",      "camera_road",      &RouteData::road_camera},
-  {CameraViewKind::Driver,   "Driver Camera",    "driver", "driver",    "camera_driver",    &RouteData::driver_camera},
+  {CameraViewKind::Cabin,    "Cabin Camera",     "driver", "driver",    "camera_driver",    &RouteData::cabin_camera},
   {CameraViewKind::WideRoad, "Wide Road Camera", "wide",   "wide_road", "camera_wide_road", &RouteData::wide_road_camera},
   {CameraViewKind::QRoad,    "qRoad Camera",     "qroad",  "qroad",     "camera_qroad",     &RouteData::qroad_camera},
 }};
diff --git a/openpilot/tools/jotpluggler/generate_event_extractors.py b/openpilot/tools/jotpluggler/generate_event_extractors.py
index be9bd49003..a424ebc237 100644
--- a/openpilot/tools/jotpluggler/generate_event_extractors.py
+++ b/openpilot/tools/jotpluggler/generate_event_extractors.py
@@ -62,6 +62,8 @@ class Generator:
   def __init__(self, event_schema):
     self.event_schema = event_schema
     self.fixed_paths = []
+    self.event_base_slots = {}
+    self.static_enums = []
     self.tmp_index = 0
     self.lines = []
     self.emits_memo = {}
@@ -103,9 +105,13 @@ class Generator:
         self.emit(indent, f"append_dynamic_scalar_point({path_expr}, tm, {double_expr}, series);")
       else:
         slot = self.add_fixed_path(path)
-        if kind == "Enum":
-          self.emit_enum_capture(indent, cxx_string(path), enum_names(schema))
-        self.emit(indent, f"append_fixed_scalar_point(&series->fixed_series[{slot}], tm, {double_expr});")
+        names = enum_names(schema) if kind == "Enum" else []
+        if names:
+          enum_index = len(self.static_enums)
+          self.static_enums.append(names)
+          self.emit(indent, f"append_fixed_enum_point({slot}, {enum_index}, tm, {double_expr}, series);")
+        else:
+          self.emit(indent, f"append_fixed_scalar_point(&series->fixed_series[{slot}], tm, {double_expr});")
       return
 
     if type_kind == "struct":
@@ -144,9 +150,13 @@ class Generator:
       self.emit(indent, f"if ({' && '.join(conditions)}) {{")
       indent += 2
 
-    value_var = self.tmp("value")
-    self.emit(indent, f"const auto {value_var} = {get_call};")
-    self.emit_node(indent, type_kind, type_proto, value_schema, value_var, field_path, field_path_expr, dynamic_path)
+    # Scalar getters are only consumed once. Emitting them directly avoids
+    # thousands of single-use locals in the generated extractor.
+    value_expr = get_call
+    if kind is None:
+      value_expr = self.tmp("value")
+      self.emit(indent, f"const auto {value_expr} = {get_call};")
+    self.emit_node(indent, type_kind, type_proto, value_schema, value_expr, field_path, field_path_expr, dynamic_path)
 
     if conditions:
       indent -= 2
@@ -247,31 +257,43 @@ class Generator:
     self.emit(indent + 2, "}")
     self.emit(indent, "}")
     self.emit(indent, "if (skip_raw_can) {")
-    self.emit(indent + 2, "return true;")
+    self.emit(indent + 2, "return;")
     self.emit(indent, "}")
 
-  def emit_event_case(self, field_name):
+  def emit_event_reader(self, field_name):
     field = self.event_schema.fields[field_name]
     proto = field.proto
     type_kind = field_type(field)
     type_proto = field_type_proto(field)
     kind = scalar_kind(type_proto)
     schema = field.schema if kind == "Enum" or type_kind in NESTED_TYPE_KINDS else None
-    self.emit(4, f"case static_cast({proto.discriminantValue}): {{")
     valid_slot = self.add_fixed_path(f"/{field_name}/valid")
-    mono_slot = self.add_fixed_path(f"/{field_name}/logMonoTime")
-    seconds_slot = self.add_fixed_path(f"/{field_name}/t")
-    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{valid_slot}], tm, event.getValid() ? 1.0 : 0.0);")
-    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{mono_slot}], tm, static_cast(event.getLogMonoTime()));")
-    self.emit(6, f"append_fixed_scalar_point(&series->fixed_series[{seconds_slot}], tm, tm);")
-    if field_name in {"can", "sendcan"}:
-      self.emit_can_special(6, field_name)
-    if self.node_emits(type_kind, type_proto, schema):
+    self.add_fixed_path(f"/{field_name}/logMonoTime")
+    self.add_fixed_path(f"/{field_name}/t")
+    self.event_base_slots[proto.discriminantValue] = valid_slot
+
+    emits_payload = self.node_emits(type_kind, type_proto, schema)
+    if field_name not in {"can", "sendcan"} and not emits_payload:
+      return None
+
+    reader_name = f"append_event_{proto.discriminantValue}"
+    needs_can = field_name in {"can", "sendcan"}
+    header_index = len(self.lines)
+    self.emit(0, "")
+    if needs_can:
+      self.emit_can_special(2, field_name)
+    if emits_payload:
       payload = self.tmp("payload")
-      self.emit(6, f"const auto {payload} = event.{accessor('get', field_name)}();")
-      self.emit_node(6, type_kind, type_proto, schema, payload, f"/{field_name}", None, False)
-    self.emit(6, "return true;")
-    self.emit(4, "}")
+      self.emit(2, f"const auto {payload} = event.{accessor('get', field_name)}();")
+      self.emit_node(2, type_kind, type_proto, schema, payload, f"/{field_name}", None, False)
+    self.emit(0, "}")
+    self.emit(0, "")
+    if needs_can:
+      signature = "const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double tm, SeriesAccumulator *series"
+    else:
+      signature = "const cereal::Event::Reader &event, double tm, SeriesAccumulator *series"
+    self.lines[header_index] = f"__attribute__((noinline)) void {reader_name}({signature}) {{"
+    return reader_name, needs_can
 
   def generate(self):
     self.lines = []
@@ -298,11 +320,66 @@ class Generator:
     self.emit(2, "}")
     self.emit(0, "}")
     self.emit(0, "")
+    self.emit(0, "__attribute__((noinline)) void append_fixed_enum_point(size_t series_slot, size_t enum_index, double tm, double value, SeriesAccumulator *series);")  # noqa: E501
+    self.emit(0, "")
+
+    self.emit(0, "// Keep each event payload behind its own optimizer boundary. Combining the")
+    self.emit(0, "// whole schema into one function creates much more code and runs slower.")
+    event_readers = {}
+    for field_name in self.event_schema.union_fields:
+      event_readers[field_name] = self.emit_event_reader(field_name)
+
+    self.emit(0, "static const std::initializer_list static_event_enum_names[] = {")
+    for names in self.static_enums:
+      names_expr = "{" + ", ".join(cxx_string(name) for name in names) + "}"
+      self.emit(2, f"{names_expr},")
+    self.emit(0, "};")
+    self.emit(0, "")
+    self.emit(0, "__attribute__((noinline)) void append_fixed_enum_point(size_t series_slot, size_t enum_index, double tm, double value, SeriesAccumulator *series) {")  # noqa: E501
+    self.emit(2, "RouteSeries *fixed_series = &series->fixed_series[series_slot];")
+    self.emit(2, "capture_static_enum_info(fixed_series->path, static_event_enum_names[enum_index], series);")
+    self.emit(2, "fixed_series->times.push_back(tm);")
+    self.emit(2, "fixed_series->values.push_back(value);")
+    self.emit(0, "}")
+    self.emit(0, "")
+
     self.emit(0, "bool append_event_static_reader(cereal::Event::Which which, const cereal::Event::Reader &event, const dbc::Database *can_dbc, bool skip_raw_can, double time_offset, SeriesAccumulator *series) {")  # noqa: E501
-    self.emit(2, "const double tm = static_cast(event.getLogMonoTime()) / 1.0e9 - time_offset;")
+    self.emit(2, "const auto log_mono_time = event.getLogMonoTime();")
+    self.emit(2, "const double tm = static_cast(log_mono_time) / 1.0e9 - time_offset;")
+
+    invalid_slot = "static_cast(-1)"
+    max_discriminant = max(self.event_base_slots)
+    base_slots = [self.event_base_slots.get(i, invalid_slot) for i in range(max_discriminant + 1)]
+    self.emit(2, "static constexpr size_t event_base_slots[] = {")
+    for slot in base_slots:
+      self.emit(4, f"{slot},")
+    self.emit(2, "};")
+    self.emit(2, "const size_t event_index = static_cast(which);")
+    self.emit(2, "if (event_index >= sizeof(event_base_slots) / sizeof(event_base_slots[0])) {")
+    self.emit(4, "return false;")
+    self.emit(2, "}")
+    self.emit(2, "const size_t base_slot = event_base_slots[event_index];")
+    self.emit(2, f"if (base_slot == {invalid_slot}) {{")
+    self.emit(4, "return false;")
+    self.emit(2, "}")
+    self.emit(2, "RouteSeries *base_series = &series->fixed_series[base_slot];")
+    self.emit(2, "base_series[0].times.push_back(tm);")
+    self.emit(2, "base_series[0].values.push_back(event.getValid() ? 1.0 : 0.0);")
+    self.emit(2, "base_series[1].times.push_back(tm);")
+    self.emit(2, "base_series[1].values.push_back(static_cast(log_mono_time));")
+    self.emit(2, "base_series[2].times.push_back(tm);")
+    self.emit(2, "base_series[2].values.push_back(tm);")
     self.emit(2, "switch (which) {")
     for field_name in self.event_schema.union_fields:
-      self.emit_event_case(field_name)
+      field = self.event_schema.fields[field_name]
+      self.emit(4, f"case static_cast({field.proto.discriminantValue}):")
+      reader = event_readers[field_name]
+      if reader is not None:
+        if reader[1]:
+          self.emit(6, f"{reader[0]}(event, can_dbc, skip_raw_can, tm, series);")
+        else:
+          self.emit(6, f"{reader[0]}(event, tm, series);")
+      self.emit(6, "return true;")
     self.emit(4, "default:")
     self.emit(6, "return false;")
     self.emit(2, "}")
diff --git a/openpilot/tools/jotpluggler/layouts/camera-timings.json b/openpilot/tools/jotpluggler/layouts/camera-timings.json
index 64decf15d3..643a7bc43a 100644
--- a/openpilot/tools/jotpluggler/layouts/camera-timings.json
+++ b/openpilot/tools/jotpluggler/layouts/camera-timings.json
@@ -1 +1 @@
-{"current_tab_index":0,"tabs":[{"name":"SOF / EOF (encodeIdx)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverEncodeIdx/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/roadEncodeIdx/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverEncodeIdx/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/roadEncodeIdx/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampEof","color":"#17becf","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}},{"name":"model timings","root":{"split":"vertical","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.016865,"bottom":0.015143},"curves":[{"name":"/modelV2/modelExecutionTime","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]}]}},{"name":"sensor info","root":{"split":"vertical","sizes":[1.0],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/driverCameraState/sensor","color":"#bcbd22"},{"name":"/roadCameraState/sensor","color":"#1f77b4"},{"name":"/wideRoadCameraState/sensor","color":"#d62728"}]}]}},{"name":"SOF / EOF (cameraState)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverCameraState/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/roadCameraState/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/driverCameraState/timestampEof","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0},{"name":"/roadCameraState/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}}]}
+{"current_tab_index":0,"tabs":[{"name":"SOF / EOF (encodeIdx)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinEncodeIdx/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadEncodeIdx/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinEncodeIdx/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadEncodeIdx/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadEncodeIdx/timestampEof","color":"#17becf","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}},{"name":"model timings","root":{"split":"vertical","sizes":[0.5,0.5],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.016865,"bottom":0.015143},"curves":[{"name":"/modelV2/modelExecutionTime","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/modelV2/frameDropPerc","color":"#f14cc1"}]}]}},{"name":"sensor info","root":{"split":"vertical","sizes":[1.0],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":0.1,"bottom":-0.1},"curves":[{"name":"/cabinCameraState/sensor","color":"#bcbd22"},{"name":"/narrowRoadCameraState/sensor","color":"#1f77b4"},{"name":"/wideRoadCameraState/sensor","color":"#d62728"}]}]}},{"name":"SOF / EOF (cameraState)","root":{"split":"vertical","sizes":[0.500885,0.499115],"children":[{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinCameraState/timestampSof","color":"#1f77b4","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadCameraState/timestampSof","color":"#d62728","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampSof","color":"#1ac938","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}},{"title":"...","range":{"left":0.0,"right":630.006367,"top":65000000.0,"bottom":35000000.0},"curves":[{"name":"/cabinCameraState/timestampEof","color":"#ff7f0e","transform":"derivative","derivative_dt":1.0},{"name":"/narrowRoadCameraState/timestampEof","color":"#f14cc1","transform":"derivative","derivative_dt":1.0},{"name":"/wideRoadCameraState/timestampEof","color":"#9467bd","transform":"derivative","derivative_dt":1.0}],"y_limits":{"min":35000000.0,"max":65000000.0}}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/cameras-and-map.json b/openpilot/tools/jotpluggler/layouts/cameras-and-map.json
index 68c590f7bc..7e120fcd5c 100644
--- a/openpilot/tools/jotpluggler/layouts/cameras-and-map.json
+++ b/openpilot/tools/jotpluggler/layouts/cameras-and-map.json
@@ -1 +1 @@
-{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"curves": [], "kind": "map", "title": "Map"}, {"camera_view": "road", "curves": [], "kind": "camera", "title": "Road Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}, {"children": [{"camera_view": "wide_road", "curves": [], "kind": "camera", "title": "Wide Road Camera"}, {"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}], "sizes": [0.5, 0.5], "split": "vertical"}}]}
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"curves": [], "kind": "map", "title": "Map"}, {"camera_view": "road", "curves": [], "kind": "camera", "title": "Road Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}, {"children": [{"camera_view": "wide_road", "curves": [], "kind": "camera", "title": "Wide Road Camera"}, {"camera_view": "driver", "curves": [], "kind": "camera", "title": "Cabin Camera"}], "sizes": [0.5, 0.5], "split": "horizontal"}], "sizes": [0.5, 0.5], "split": "vertical"}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json b/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json
index 07a5c2fd6e..3197f40ad8 100644
--- a/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json
+++ b/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json
@@ -1 +1 @@
-{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Driver Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}
+{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Cabin Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/locationd_debug.json b/openpilot/tools/jotpluggler/layouts/locationd_debug.json
index 0541427bc1..53112f31d6 100644
--- a/openpilot/tools/jotpluggler/layouts/locationd_debug.json
+++ b/openpilot/tools/jotpluggler/layouts/locationd_debug.json
@@ -1 +1 @@
-{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166588,0.167062,0.166113,0.166588,0.167062,0.166588],"children":[{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/livePose/inputsOK","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":14.542814,"bottom":-5.586039},"curves":[{"name":"/accelerometer/acceleration/v/0","color":"#f14cc1"},{"name":"/accelerometer/acceleration/v/1","color":"#9467bd"},{"name":"/accelerometer/acceleration/v/2","color":"#17becf"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":0.988911,"bottom":-0.745939},"curves":[{"name":"/gyroscope/gyroUncalibrated/v/0","color":"#d62728"},{"name":"/gyroscope/gyroUncalibrated/v/1","color":"#1ac938"},{"name":"/gyroscope/gyroUncalibrated/v/2","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/accelerometer/__valid","color":"#17becf"},{"name":"/gyroscope/__valid","color":"#bcbd22"},{"name":"/carState/__valid","color":"#f14cc1"},{"name":"/liveCalibration/__valid","color":"#1ac938"},{"name":"/cameraOdometry/__valid","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1000000000.292252,"bottom":999999999.735447},"curves":[{"name":"/gyroscope/__logMonoTime","color":"#1f77b4","transform":"derivative"},{"name":"/accelerometer/__logMonoTime","color":"#d62728","transform":"derivative"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":20790107743.93223,"bottom":-529653831.495853},"curves":[{"name":"/accelerometer/timestamp","color":"#bcbd22","transform":"derivative"},{"name":"/gyroscope/timestamp","color":"#1f77b4","transform":"derivative"}]}]}}]}
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.166588,0.167062,0.166113,0.166588,0.167062,0.166588],"children":[{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/deviceMotion/inputsOK","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":14.542814,"bottom":-5.586039},"curves":[{"name":"/accelerometer/acceleration/v/0","color":"#f14cc1"},{"name":"/accelerometer/acceleration/v/1","color":"#9467bd"},{"name":"/accelerometer/acceleration/v/2","color":"#17becf"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":0.988911,"bottom":-0.745939},"curves":[{"name":"/gyroscope/gyroUncalibrated/v/0","color":"#d62728"},{"name":"/gyroscope/gyroUncalibrated/v/1","color":"#1ac938"},{"name":"/gyroscope/gyroUncalibrated/v/2","color":"#ff7f0e"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1.025,"bottom":-0.025},"curves":[{"name":"/accelerometer/__valid","color":"#17becf"},{"name":"/gyroscope/__valid","color":"#bcbd22"},{"name":"/carState/__valid","color":"#f14cc1"},{"name":"/extrinsicsCalibration/__valid","color":"#1ac938"},{"name":"/cameraOdometry/__valid","color":"#9467bd"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":1000000000.292252,"bottom":999999999.735447},"curves":[{"name":"/gyroscope/__logMonoTime","color":"#1f77b4","transform":"derivative"},{"name":"/accelerometer/__logMonoTime","color":"#d62728","transform":"derivative"}]},{"title":"...","range":{"left":0.0,"right":2280.128382,"top":20790107743.93223,"bottom":-529653831.495853},"curves":[{"name":"/accelerometer/timestamp","color":"#bcbd22","transform":"derivative"},{"name":"/gyroscope/timestamp","color":"#1f77b4","transform":"derivative"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/max-torque-debug.json b/openpilot/tools/jotpluggler/layouts/max-torque-debug.json
index 3a87fb3217..b587b695a9 100644
--- a/openpilot/tools/jotpluggler/layouts/max-torque-debug.json
+++ b/openpilot/tools/jotpluggler/layouts/max-torque-debug.json
@@ -1 +1 @@
-{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249724,0.250829,0.249724,0.249724],"children":[{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":6.050533,"bottom":-7.599037},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":5.384416,"bottom":-7.503945},"curves":[{"name":"roll compensated lateral acceleration","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll","/carState/steeringPressed","/carControl/latActive"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3, v4):\n    if (v3 == 0 and v4 == 1):\n        return  (value * v1 ** 2) - (v2 * 9.81)\n    return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i], v4[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carState/steeringPressed","color":"#0097ff"},{"name":"/carOutput/actuatorsOutput/torque","color":"#d62728"}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":80.762969,"bottom":-2.181837},"curves":[{"name":"/carState/vEgo","color":"#f14cc1","transform":"scale","scale":2.23694,"offset":0.0}]}]}}]}
+{"current_tab_index":0,"tabs":[{"name":"tab1","root":{"split":"vertical","sizes":[0.249724,0.250829,0.249724,0.249724],"children":[{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":6.050533,"bottom":-7.599037},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":5.384416,"bottom":-7.503945},"curves":[{"name":"roll compensated lateral acceleration","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll","/carState/steeringPressed","/carControl/latActive"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2, v3, v4):\n    if (v3 == 0 and v4 == 1):\n        return  (value * v1 ** 2) - (v2 * 9.81)\n    return 0\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i], v3[__jotpluggler_i], v4[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carState/steeringPressed","color":"#0097ff"},{"name":"/carOutput/actuatorsOutput/torque","color":"#d62728"}]},{"title":"...","range":{"left":0.00045,"right":2483.624998,"top":80.762969,"bottom":-2.181837},"curves":[{"name":"/carState/vEgo","color":"#f14cc1","transform":"scale","scale":2.23694,"offset":0.0}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/layouts/torque-controller.json b/openpilot/tools/jotpluggler/layouts/torque-controller.json
index 7e269e59e6..a794c725d6 100644
--- a/openpilot/tools/jotpluggler/layouts/torque-controller.json
+++ b/openpilot/tools/jotpluggler/layouts/torque-controller.json
@@ -1 +1 @@
-{"current_tab_index":0,"tabs":[{"name":"Lateral Plan Conformance","root":{"split":"vertical","sizes":[0.250949,0.249051,0.250949,0.249051],"children":[{"title":"desired vs actual lateral acceleration (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":1.858161,"bottom":-1.823407},"curves":[{"name":"/controlsState/lateralControlState/torqueState/actualLateralAccel","color":"#1f77b4"},{"name":"/controlsState/lateralControlState/torqueState/desiredLateralAccel","color":"#d62728"}]},{"title":"desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":2.749816,"bottom":-3.723091},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/liveParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891674,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"vehicle speed","range":{"left":0.000194,"right":1138.891674,"top":105.981304,"bottom":-2.709314},"curves":[{"name":"carState.vEgo mph","color":"#d62728","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 2.23694\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"carState.vEgo kmh","color":"#1ac938","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 3.6\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/carState/vEgo","color":"#ff7f0e"}]}]}},{"name":"Vehicle Dynamics","root":{"split":"vertical","sizes":[0.334282,0.331437,0.334282],"children":[{"title":"configured-initial vs online-learned steerRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":19.665784,"bottom":19.359553},"curves":[{"name":"/carParams/steerRatio","color":"#1f77b4"},{"name":"/liveParameters/steerRatio","color":"#1ac938"}]},{"title":"configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":1.11221,"bottom":0.995631},"curves":[{"name":"/carParams/tireStiffnessFactor","color":"#d62728"},{"name":"/liveParameters/stiffnessFactor","color":"#ff7f0e"}]},{"title":"live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems","range":{"left":0.0,"right":1138.816328,"top":-1.081041,"bottom":-4.494133},"curves":[{"name":"/liveParameters/angleOffsetAverageDeg","color":"#f14cc1"},{"name":"/liveParameters/angleOffsetDeg","color":"#9467bd"}]}]}},{"name":"Actuator Performance","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output","range":{"left":0.0,"right":1138.920072,"top":1.21611,"bottom":0.539474},"curves":[{"name":"/liveTorqueParameters/latAccelFactorFiltered","color":"#1f77b4"},{"name":"/liveTorqueParameters/latAccelFactorRaw","color":"#d62728"},{"name":"/carParams/lateralTuning/torque/latAccelFactor","color":"#1c9222"}]},{"title":"learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel","range":{"left":0.0,"right":1138.920072,"top":-0.304367,"bottom":-0.418688},"curves":[{"name":"/liveTorqueParameters/latAccelOffsetFiltered","color":"#1ac938"},{"name":"/liveTorqueParameters/latAccelOffsetRaw","color":"#ff7f0e"}]},{"title":"offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel","range":{"left":0.0,"right":1138.920072,"top":0.226389,"bottom":0.15805},"curves":[{"name":"/liveTorqueParameters/frictionCoefficientFiltered","color":"#f14cc1"},{"name":"/liveTorqueParameters/frictionCoefficientRaw","color":"#9467bd"},{"name":"/carParams/lateralTuning/torque/friction","color":"#1c9222"}]}]}},{"name":"Actuator Delay","root":{"split":"vertical","sizes":[0.30441,0.358464,0.337127],"children":[{"title":"actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid","range":{"left":0.0,"right":1138.749979,"top":1.025,"bottom":-0.025},"curves":[{"name":"/liveDelay/status","color":"#ff7f0e"}]},{"title":"offline default vs online estimated steering actuator lag","range":{"left":0.0,"right":1138.749979,"top":0.419648,"bottom":0.318362},"curves":[{"name":"/liveDelay/lateralDelay","color":"#1f77b4"},{"name":"/liveDelay/lateralDelayEstimate","color":"#d62728"},{"name":"opendbc default steering lag","color":"#1ac938","custom_python":{"linked_source":"/carParams/steerActuatorDelay","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value + 0.2\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"online estimated steering actuator lag, standard deviation","range":{"left":0.0,"right":1138.749979,"top":0.06732,"bottom":-0.001642},"curves":[{"name":"/liveDelay/lateralDelayEstimateStd","color":"#f14cc1"}]}]}},{"name":"Controls Performance","root":{"split":"vertical","sizes":[0.265655,0.251898,0.245731,0.236717],"children":[{"title":"rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)","range":{"left":0.000194,"right":1138.891921,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carControl/actuators/torque","color":"#0c00f2"},{"name":"/carOutput/actuatorsOutput/torque","color":"#2cd63a"}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891921,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)","range":{"left":0.000194,"right":1138.891921,"top":2.099784,"bottom":-4.027542},"curves":[{"name":"/controlsState/lateralControlState/torqueState/f","color":"#0ab027"},{"name":"/controlsState/lateralControlState/torqueState/p","color":"#d62728"},{"name":"/controlsState/lateralControlState/torqueState/i","color":"#ffaf00"},{"name":"Zero","color":"#756a6a","custom_python":{"linked_source":"/carState/canValid","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return (0)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"road roll angle, from openpilot localizer","range":{"left":0.000194,"right":1138.891921,"top":0.109446,"bottom":-0.045525},"curves":[{"name":"/liveParameters/roll","color":"#f14cc1"}]}]}}]}
+{"current_tab_index":0,"tabs":[{"name":"Lateral Plan Conformance","root":{"split":"vertical","sizes":[0.250949,0.249051,0.250949,0.249051],"children":[{"title":"desired vs actual lateral acceleration (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":1.858161,"bottom":-1.823407},"curves":[{"name":"/controlsState/lateralControlState/torqueState/actualLateralAccel","color":"#1f77b4"},{"name":"/controlsState/lateralControlState/torqueState/desiredLateralAccel","color":"#d62728"}]},{"title":"desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)","range":{"left":0.000194,"right":1138.891674,"top":2.749816,"bottom":-3.723091},"curves":[{"name":"Actual lateral accel (roll compensated)","color":"#1ac938","custom_python":{"linked_source":"/controlsState/curvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"Desired lateral accel (roll compensated)","color":"#ff7f0e","custom_python":{"linked_source":"/controlsState/desiredCurvature","additional_sources":["/carState/vEgo","/vehicleParameters/roll"],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value, v1, v2):\n    return (value * v1 ** 2) - (v2 * 9.81)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i], v1[__jotpluggler_i], v2[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891674,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"vehicle speed","range":{"left":0.000194,"right":1138.891674,"top":105.981304,"bottom":-2.709314},"curves":[{"name":"carState.vEgo mph","color":"#d62728","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 2.23694\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"carState.vEgo kmh","color":"#1ac938","custom_python":{"linked_source":"/carState/vEgo","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value * 3.6\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}},{"name":"/carState/vEgo","color":"#ff7f0e"}]}]}},{"name":"Vehicle Dynamics","root":{"split":"vertical","sizes":[0.334282,0.331437,0.334282],"children":[{"title":"configured-initial vs online-learned steerRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":19.665784,"bottom":19.359553},"curves":[{"name":"/carParams/steerRatio","color":"#1f77b4"},{"name":"/vehicleParameters/steerRatio","color":"#1ac938"}]},{"title":"configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned","range":{"left":0.0,"right":1138.816328,"top":1.11221,"bottom":0.995631},"curves":[{"name":"/carParams/tireStiffnessFactor","color":"#d62728"},{"name":"/vehicleParameters/stiffnessFactor","color":"#ff7f0e"}]},{"title":"online-learned steering angle offsets for straight-ahead driving, large values here may indicate alignment problems","range":{"left":0.0,"right":1138.816328,"top":-1.081041,"bottom":-4.494133},"curves":[{"name":"/vehicleParameters/angleOffsetAverageDeg","color":"#f14cc1"},{"name":"/vehicleParameters/angleOffsetDeg","color":"#9467bd"}]}]}},{"name":"Actuator Performance","root":{"split":"vertical","sizes":[0.333333,0.333333,0.333333],"children":[{"title":"offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output","range":{"left":0.0,"right":1138.920072,"top":1.21611,"bottom":0.539474},"curves":[{"name":"/lateralTorqueParameters/latAccelFactorFiltered","color":"#1f77b4"},{"name":"/lateralTorqueParameters/latAccelFactorRaw","color":"#d62728"},{"name":"/carParams/lateralTuning/torque/latAccelFactor","color":"#1c9222"}]},{"title":"learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel","range":{"left":0.0,"right":1138.920072,"top":-0.304367,"bottom":-0.418688},"curves":[{"name":"/lateralTorqueParameters/latAccelOffsetFiltered","color":"#1ac938"},{"name":"/lateralTorqueParameters/latAccelOffsetRaw","color":"#ff7f0e"}]},{"title":"offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel","range":{"left":0.0,"right":1138.920072,"top":0.226389,"bottom":0.15805},"curves":[{"name":"/lateralTorqueParameters/frictionCoefficientFiltered","color":"#f14cc1"},{"name":"/lateralTorqueParameters/frictionCoefficientRaw","color":"#9467bd"},{"name":"/carParams/lateralTuning/torque/friction","color":"#1c9222"}]}]}},{"name":"Actuator Delay","root":{"split":"vertical","sizes":[0.30441,0.358464,0.337127],"children":[{"title":"actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid","range":{"left":0.0,"right":1138.749979,"top":1.025,"bottom":-0.025},"curves":[{"name":"/lateralDelay/status","color":"#ff7f0e"}]},{"title":"offline default vs online estimated steering actuator lag","range":{"left":0.0,"right":1138.749979,"top":0.419648,"bottom":0.318362},"curves":[{"name":"/lateralDelay/lateralDelay","color":"#1f77b4"},{"name":"/lateralDelay/lateralDelayEstimate","color":"#d62728"},{"name":"opendbc default steering lag","color":"#1ac938","custom_python":{"linked_source":"/carParams/steerActuatorDelay","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return value + 0.2\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"online estimated steering actuator lag, standard deviation","range":{"left":0.0,"right":1138.749979,"top":0.06732,"bottom":-0.001642},"curves":[{"name":"/lateralDelay/lateralDelayEstimateStd","color":"#f14cc1"}]}]}},{"name":"Controls Performance","root":{"split":"vertical","sizes":[0.265655,0.251898,0.245731,0.236717],"children":[{"title":"rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)","range":{"left":0.000194,"right":1138.891921,"top":1.05,"bottom":-1.05},"curves":[{"name":"/carControl/actuators/torque","color":"#0c00f2"},{"name":"/carOutput/actuatorsOutput/torque","color":"#2cd63a"}]},{"title":"controller feed-forward vs actuator output (closer means controller prediction is more accurate)","range":{"left":0.000194,"right":1138.891921,"top":1.978032,"bottom":-1.570956},"curves":[{"name":"/carOutput/actuatorsOutput/torque","color":"#9467bd","transform":"scale","scale":-1.0,"offset":0.0},{"name":"/controlsState/lateralControlState/torqueState/f","color":"#1f77b4"},{"name":"/carState/steeringPressed","color":"#ff000f"}]},{"title":"proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)","range":{"left":0.000194,"right":1138.891921,"top":2.099784,"bottom":-4.027542},"curves":[{"name":"/controlsState/lateralControlState/torqueState/f","color":"#0ab027"},{"name":"/controlsState/lateralControlState/torqueState/p","color":"#d62728"},{"name":"/controlsState/lateralControlState/torqueState/i","color":"#ffaf00"},{"name":"Zero","color":"#756a6a","custom_python":{"linked_source":"/carState/canValid","additional_sources":[],"globals_code":"","function_code":"def __jotpluggler_eval_sample(time, value):\n    return (0)\n\n__jotpluggler_result = np.empty_like(value, dtype=np.float64)\nfor __jotpluggler_i in range(len(value)):\n    __jotpluggler_result[__jotpluggler_i] = __jotpluggler_eval_sample(time[__jotpluggler_i], value[__jotpluggler_i])\nreturn __jotpluggler_result"}}]},{"title":"road roll angle, from openpilot localizer","range":{"left":0.000194,"right":1138.891921,"top":0.109446,"bottom":-0.045525},"curves":[{"name":"/vehicleParameters/roll","color":"#f14cc1"}]}]}}]}
diff --git a/openpilot/tools/jotpluggler/runtime.cc b/openpilot/tools/jotpluggler/runtime.cc
index a1e47c7e8e..d7d0fc79c4 100644
--- a/openpilot/tools/jotpluggler/runtime.cc
+++ b/openpilot/tools/jotpluggler/runtime.cc
@@ -39,11 +39,11 @@ const bool kLogCameraTimings = env_flag_enabled("JOTP_CAMERA_TIMINGS");
 
 CameraType decoder_camera_type(CameraViewKind view) {
   switch (view) {
-    case CameraViewKind::Driver: return DriverCam;
+    case CameraViewKind::Cabin: return CabinCam;
     case CameraViewKind::WideRoad: return WideRoadCam;
-    case CameraViewKind::QRoad: return RoadCam;
+    case CameraViewKind::QRoad: return NarrowRoadCam;
     case CameraViewKind::Road:
-    default: return RoadCam;
+    default: return NarrowRoadCam;
   }
 }
 
@@ -59,17 +59,17 @@ bool stream_batch_has_data(const StreamExtractBatch &batch) {
 
 bool should_subscribe_stream_service(const std::string &name) {
   static const std::array kSkippedServices = {{
-    "roadEncodeIdx",
-    "driverEncodeIdx",
+    "narrowRoadEncodeIdx",
+    "cabinEncodeIdx",
     "wideRoadEncodeIdx",
-    "qRoadEncodeIdx",
-    "roadEncodeData",
-    "driverEncodeData",
+    "qNarrowRoadEncodeIdx",
+    "narrowRoadEncodeData",
+    "cabinEncodeData",
     "wideRoadEncodeData",
-    "qRoadEncodeData",
+    "qNarrowRoadEncodeData",
     "livestreamWideRoadEncodeIdx",
-    "livestreamRoadEncodeIdx",
-    "livestreamDriverEncodeIdx",
+    "livestreamNarrowRoadEncodeIdx",
+    "livestreamCabinEncodeIdx",
     "thumbnail",
   }};
   if (name == "rawAudioData") return false;
diff --git a/openpilot/tools/jotpluggler/sketch_layout.cc b/openpilot/tools/jotpluggler/sketch_layout.cc
index 1f7df72fed..5440d9dd8d 100644
--- a/openpilot/tools/jotpluggler/sketch_layout.cc
+++ b/openpilot/tools/jotpluggler/sketch_layout.cc
@@ -45,9 +45,9 @@ struct RouteSelection {
 struct SegmentLogs {
   std::string rlog;
   std::string qlog;
-  std::string fcamera;
-  std::string dcamera;
-  std::string ecamera;
+  std::string narrow_road;
+  std::string cabin;
+  std::string wide_road;
   std::string qcamera;
 };
 
@@ -262,7 +262,8 @@ RouteSelection parse_route_selection(std::string route_name) {
     if (separator == "/") {
       size_t pos = range_str.find(':');
       int begin_segment = 0;
-      if (!parse_segment_number(range_str.substr(0, pos), &begin_segment)) {
+      const std::string begin_str = range_str.substr(0, pos);
+      if (!begin_str.empty() && !parse_segment_number(begin_str, &begin_segment)) {
         return {};
       }
       route.begin_segment = begin_segment;
@@ -294,11 +295,11 @@ void add_log_file_to_segments(std::map *segments, int segment_
   } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segment.qlog = file;
   } else if (name == "fcamera.hevc") {
-    segment.fcamera = file;
+    segment.narrow_road = file;
   } else if (name == "dcamera.hevc") {
-    segment.dcamera = file;
+    segment.cabin = file;
   } else if (name == "ecamera.hevc") {
-    segment.ecamera = file;
+    segment.wide_road = file;
   } else if (name == "qcamera.ts") {
     segment.qcamera = file;
   }
@@ -926,7 +927,9 @@ void append_scalar_point(RouteSeries *series,
   series->values.push_back(value);
 }
 
-void append_fixed_scalar_point(RouteSeries *series, double tm, double value) {
+// This has thousands of generated call sites. Inlining it duplicates vector
+// growth logic throughout the extractor and is slower both to compile and run.
+__attribute__((noinline)) void append_fixed_scalar_point(RouteSeries *series, double tm, double value) {
   series->times.push_back(tm);
   series->values.push_back(value);
 }
@@ -1883,10 +1886,10 @@ RouteData load_route_data(const std::string &route_name,
                                           metadata.car_fingerprint,
                                           resolved_dbc);
   route_data.route_id = make_route_identifier(route, segments);
-  build_camera_index(segments, route_data, &SegmentLogs::fcamera, "roadEncodeIdx", &route_data.road_camera);
-  build_camera_index(segments, route_data, &SegmentLogs::dcamera, "driverEncodeIdx", &route_data.driver_camera);
-  build_camera_index(segments, route_data, &SegmentLogs::ecamera, "wideRoadEncodeIdx", &route_data.wide_road_camera);
-  build_camera_index(segments, route_data, &SegmentLogs::qcamera, "qRoadEncodeIdx", &route_data.qroad_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::narrow_road, "narrowRoadEncodeIdx", &route_data.road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::cabin, "cabinEncodeIdx", &route_data.cabin_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::wide_road, "wideRoadEncodeIdx", &route_data.wide_road_camera);
+  build_camera_index(segments, route_data, &SegmentLogs::qcamera, "qNarrowRoadEncodeIdx", &route_data.qroad_camera);
   stats.load_end = LoadStats::Clock::now();
   stats.publish(RouteLoadStage::Finished, segments.size(), {});
   stats.print_summary(route_data.series.size());
diff --git a/openpilot/tools/jotpluggler/test_jotpluggler.py b/openpilot/tools/jotpluggler/test_jotpluggler.py
index 0729e3b2e3..cbcc0a8168 100644
--- a/openpilot/tools/jotpluggler/test_jotpluggler.py
+++ b/openpilot/tools/jotpluggler/test_jotpluggler.py
@@ -5,7 +5,8 @@ from pathlib import Path
 JOTPLUGGLER_DIR = Path(__file__).parent
 
 
-class TestJotpluggler:
+from openpilot.common.test import OpenpilotTestCase
+class TestJotpluggler(OpenpilotTestCase):
   def test_help(self):
     result = subprocess.run(["./jotpluggler", "-h"], cwd=JOTPLUGGLER_DIR, capture_output=True, text=True)
     assert result.returncode == 0, result.stderr
diff --git a/openpilot/tools/joystick/joystickd.py b/openpilot/tools/joystick/joystickd.py
index ac2f99f67e..f8a2598361 100755
--- a/openpilot/tools/joystick/joystickd.py
+++ b/openpilot/tools/joystick/joystickd.py
@@ -9,6 +9,7 @@ from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.drive_helpers import should_stop
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 MAX_LAT_ACCEL = 3.0
@@ -20,7 +21,7 @@ def joystickd_thread():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   VM = VehicleModel(CP)
 
-  sm = messaging.SubMaster(['carState', 'onroadEvents', 'liveParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
+  sm = messaging.SubMaster(['carState', 'onroadEvents', 'vehicleParameters', 'selfdriveState', 'testJoystick'], frequency=1. / DT_CTRL)
   pm = messaging.PubMaster(['carControl', 'controlsState'])
 
   rk = Ratekeeper(100, print_delay_threshold=None)
@@ -33,6 +34,7 @@ def joystickd_thread():
     CC.enabled = sm['selfdriveState'].enabled
     CC.latActive = sm['selfdriveState'].active and not sm['carState'].steerFaultTemporary and not sm['carState'].steerFaultPermanent
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in sm['onroadEvents']) and CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = sm['carState'].cruiseState.enabled and (not CC.enabled or not CP.pcmCruise)
     CC.hudControl.leadDistanceBars = 2
 
@@ -48,12 +50,12 @@ def joystickd_thread():
 
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
-      actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > 0.1 else LongCtrlState.stopping
+      actuators.longControlState = LongCtrlState.stopping if should_stop(sm['carState'].vEgo, actuators.accel) else LongCtrlState.pid
       CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
-      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
+      max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['vehicleParameters'].roll))
 
       actuators.torque = float(np.clip(joystick_axes[1], -1, 1))
       actuators.steeringAngleDeg, actuators.curvature = actuators.torque * max_angle, actuators.torque * -max_curvature
@@ -65,7 +67,7 @@ def joystickd_thread():
     controlsState = cs_msg.controlsState
     controlsState.lateralControlState.init('debugState')
 
-    lp = sm['liveParameters']
+    lp = sm['vehicleParameters']
     steer_angle_without_offset = math.radians(sm['carState'].steeringAngleDeg - lp.angleOffsetDeg)
     controlsState.curvature = -VM.calc_curvature(steer_angle_without_offset, sm['carState'].vEgo, lp.roll)
 
diff --git a/openpilot/tools/lib/auth.py b/openpilot/tools/lib/auth.py
index 9139d8b42d..6a685e38d9 100755
--- a/openpilot/tools/lib/auth.py
+++ b/openpilot/tools/lib/auth.py
@@ -32,9 +32,6 @@ from urllib.parse import parse_qs, urlencode
 from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError
 from openpilot.tools.lib.auth_config import set_token, get_token
 
-PORT = 3000
-
-
 class ClientRedirectServer(HTTPServer):
   query_params: dict[str, Any] = {}
 
@@ -58,7 +55,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     pass  # this prevent http server from dumping messages to stdout
 
 
-def auth_redirect_link(method):
+def auth_redirect_link(method, port):
   provider_id = {
     'google': 'g',
     'apple': 'a',
@@ -67,7 +64,7 @@ def auth_redirect_link(method):
 
   params = {
     'redirect_uri': f"https://api.comma.ai/v2/auth/{provider_id}/redirect/",
-    'state': f'service,localhost:{PORT}',
+    'state': f'service,localhost:{port}',
   }
 
   if method == 'google':
@@ -98,9 +95,9 @@ def auth_redirect_link(method):
 
 
 def login(method):
-  oauth_uri = auth_redirect_link(method)
-
-  web_server = ClientRedirectServer(('localhost', PORT), ClientRedirectHandler)
+  # Let the OS select an available port to avoid colliding with other services.
+  web_server = ClientRedirectServer(('localhost', 0), ClientRedirectHandler)
+  oauth_uri = auth_redirect_link(method, web_server.server_port)
   print(f'To sign in, use your browser and navigate to {oauth_uri}')
   webbrowser.open(oauth_uri, new=2)
 
diff --git a/openpilot/tools/lib/file_downloader.py b/openpilot/tools/lib/file_downloader.py
index 68061b201e..efb06095be 100755
--- a/openpilot/tools/lib/file_downloader.py
+++ b/openpilot/tools/lib/file_downloader.py
@@ -5,17 +5,21 @@ Called by C++ replay/cabana via subprocess.
 
 Subcommands:
   route-files     - Get route file URLs as JSON
-  download          - Download URL to local cache, print local path
+  download          - Download/decompress URL to local cache, print local path
+  decompress       - Decompress a local log file, print temporary path
   devices                - List user's devices as JSON
   device-routes     - List routes for a device as JSON
 """
 import argparse
+import bz2
 import hashlib
 import json
 import os
+import shutil
 import sys
 import tempfile
-import shutil
+
+import zstandard as zstd
 
 from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.api import CommaApi, UnauthorizedError, APIError
@@ -39,11 +43,60 @@ def api_call(func):
   sys.stdout.flush()
 
 
-def cache_file_path(url):
+def cache_file_path(url, compression=None):
   url_without_query = url.split("?")[0]
+  if compression:
+    url_without_query = f"decompressed-{compression}:{url_without_query}"
   return os.path.join(Paths.download_cache_root(), hashlib.sha256(url_without_query.encode()).hexdigest())
 
 
+def compression_type(data):
+  if data.startswith(b'BZh'):
+    return 'bz2'
+  if data.startswith(b'\x28\xb5\x2f\xfd'):
+    return 'zst'
+  return None
+
+
+def make_decompressor(compression):
+  if compression == 'bz2':
+    return bz2.BZ2Decompressor()
+  if compression == 'zst':
+    return zstd.ZstdDecompressor().decompressobj()
+  raise ValueError(f"Unsupported compression type: {compression}")
+
+
+def decompress_file(source, destination, compression=None):
+  with open(source, 'rb') as src, open(destination, 'wb') as dst:
+    header = src.read(4)
+    compression = compression or compression_type(header)
+    decompressor = make_decompressor(compression)
+    dst.write(decompressor.decompress(header))
+    while data := src.read(1024 * 1024):
+      dst.write(decompressor.decompress(data))
+  if not decompressor.eof:
+    raise EOFError(f"Compressed {compression} file ended before the end-of-stream marker")
+
+
+def materialize_cached_file(source, url, compression):
+  local_path = cache_file_path(url, compression)
+  if os.path.exists(local_path):
+    return local_path
+
+  tmp_fd, tmp_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+  os.close(tmp_fd)
+  try:
+    decompress_file(source, tmp_path, compression)
+    shutil.move(tmp_path, local_path)
+  except Exception:
+    try:
+      os.unlink(tmp_path)
+    except OSError:
+      pass
+    raise
+  return local_path
+
+
 def cmd_route_files(args):
   api_call(lambda api: api.get(f"v1/route/{args.route}/files"))
 
@@ -53,8 +106,19 @@ def cmd_download(args):
   use_cache = not args.no_cache
 
   if use_cache:
+    for compression in ('bz2', 'zst'):
+      decompressed_path = cache_file_path(url, compression)
+      if os.path.exists(decompressed_path):
+        sys.stdout.write(decompressed_path + "\n")
+        sys.stdout.flush()
+        return
+
     local_path = cache_file_path(url)
     if os.path.exists(local_path):
+      with open(local_path, 'rb') as f:
+        compression = compression_type(f.read(4))
+        if compression:
+          local_path = materialize_cached_file(local_path, url, compression)
       sys.stdout.write(local_path + "\n")
       sys.stdout.flush()
       return
@@ -80,14 +144,30 @@ def cmd_download(args):
     try:
       downloaded = 0
       chunk_size = 1024 * 1024
+      compression = None
+      decompressor = None
       with os.fdopen(tmp_fd, 'wb') as f:
         for data in r.stream(chunk_size):
-          f.write(data)
+          if downloaded == 0:
+            compression = compression_type(data)
+            if compression:
+              decompressor = make_decompressor(compression)
+          f.write(decompressor.decompress(data) if decompressor else data)
           downloaded += len(data)
           sys.stderr.write(f"PROGRESS:{downloaded}:{total}\n")
           sys.stderr.flush()
 
-      if use_cache:
+      if decompressor and not decompressor.eof:
+        raise EOFError(f"Compressed {compression} file ended before the end-of-stream marker")
+
+      if decompressor:
+        if use_cache:
+          output_path = cache_file_path(url, compression)
+          shutil.move(tmp_path, output_path)
+        else:
+          output_path = tmp_path
+        sys.stdout.write(output_path + "\n")
+      elif use_cache:
         shutil.move(tmp_path, local_path)
         sys.stdout.write(local_path + "\n")
       else:
@@ -109,6 +189,24 @@ def cmd_download(args):
   sys.stdout.flush()
 
 
+def cmd_decompress(args):
+  os.makedirs(Paths.download_cache_root(), exist_ok=True)
+  output_fd, output_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+  os.close(output_fd)
+  try:
+    decompress_file(args.path, output_path)
+  except Exception as e:
+    try:
+      os.unlink(output_path)
+    except OSError:
+      pass
+    sys.stderr.write(f"ERROR:{e}\n")
+    sys.stderr.flush()
+    sys.exit(1)
+  sys.stdout.write(output_path + "\n")
+  sys.stdout.flush()
+
+
 def cmd_devices(args):
   api_call(lambda api: api.get("v1/me/devices/"))
 
@@ -139,6 +237,10 @@ def main():
   p_dl.add_argument("--no-cache", action="store_true")
   p_dl.set_defaults(func=cmd_download)
 
+  p_dc = subparsers.add_parser("decompress")
+  p_dc.add_argument("path")
+  p_dc.set_defaults(func=cmd_decompress)
+
   p_dev = subparsers.add_parser("devices")
   p_dev.set_defaults(func=cmd_devices)
 
diff --git a/openpilot/tools/lib/framereader.py b/openpilot/tools/lib/framereader.py
index c923651563..62c75b95f7 100644
--- a/openpilot/tools/lib/framereader.py
+++ b/openpilot/tools/lib/framereader.py
@@ -28,7 +28,7 @@ class LRUCache:
   def __setitem__(self, key, value):
     self._cache[key] = value
     if len(self._cache) > self.capacity:
-        self._cache.popitem(last=False)
+      self._cache.popitem(last=False)
 
   def __contains__(self, key):
     return key in self._cache
diff --git a/openpilot/tools/lib/log_time_series.py b/openpilot/tools/lib/log_time_series.py
index 5e8aa4f73b..eba821bc84 100644
--- a/openpilot/tools/lib/log_time_series.py
+++ b/openpilot/tools/lib/log_time_series.py
@@ -80,5 +80,5 @@ if __name__ == "__main__":
   import sys
   from openpilot.tools.lib.logreader import LogReader
   m = msgs_to_time_series(LogReader(sys.argv[1]))
-  print(m['driverCameraState']['t'])
-  print(np.diff(m['driverCameraState']['timestampSof']))
+  print(m['cabinCameraState']['t'])
+  print(np.diff(m['cabinCameraState']['timestampSof']))
diff --git a/openpilot/tools/lib/tests/test_caching.py b/openpilot/tools/lib/tests/test_caching.py
index c70d7fc81b..565bac40dd 100644
--- a/openpilot/tools/lib/tests/test_caching.py
+++ b/openpilot/tools/lib/tests/test_caching.py
@@ -3,8 +3,9 @@ import os
 import shutil
 import socket
 import tempfile
-import pytest
 
+from openpilot.common.parameterized import parameterized
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile, prune_cache
@@ -30,12 +31,11 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
     self.end_headers()
 
 
-@pytest.fixture
 def host():
   with http_server_context(handler=CachingTestRequestHandler) as (host, port):
     yield f"http://{host}:{port}"
 
-class TestFileDownload:
+class TestFileDownload(OpenpilotTestCase):
 
   def test_pipeline_defaults(self, host):
     # TODO: parameterize the defaults so we don't rely on hard-coded values in xx
@@ -59,7 +59,7 @@ class TestFileDownload:
     # ensure caching on by default and cache dir gets created
     os.environ.pop("DISABLE_FILEREADER_CACHE", None)
     if os.path.exists(Paths.download_cache_root()):
-      shutil.rmtree(Paths.download_cache_root())
+      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
     URLFile(f"{host}/test.txt").get_length()
     URLFile(f"{host}/test.txt").read()
     assert os.path.exists(Paths.download_cache_root())
@@ -117,7 +117,7 @@ class TestFileDownload:
     self.compare_loads(large_file_url, length - 100, 100)
     self.compare_loads(large_file_url)
 
-  @pytest.mark.parametrize("cache_enabled", [True, False])
+  @parameterized.expand([True, False], names=("cache_enabled",))
   def test_recover_from_missing_file(self, host, cache_enabled):
     if cache_enabled:
       os.environ.pop("DISABLE_FILEREADER_CACHE", None)
@@ -135,7 +135,7 @@ class TestFileDownload:
     assert length == 4
 
 
-class TestCache:
+class TestCache(OpenpilotTestCase):
   def test_prune_cache(self, monkeypatch):
     with tempfile.TemporaryDirectory() as tmpdir:
       monkeypatch.setattr(Paths, 'download_cache_root', staticmethod(lambda: tmpdir + "/"))
diff --git a/openpilot/tools/lib/tests/test_comma_car_segments.py b/openpilot/tools/lib/tests/test_comma_car_segments.py
index 1b0f07ee63..a678aad51d 100644
--- a/openpilot/tools/lib/tests/test_comma_car_segments.py
+++ b/openpilot/tools/lib/tests/test_comma_car_segments.py
@@ -1,13 +1,14 @@
-import pytest
+import unittest
 import requests
 from opendbc.car.fingerprints import MIGRATION
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentRange
 
 
-@pytest.mark.skip(reason="huggingface is flaky, run this test manually to check for issues")
-class TestCommaCarSegments:
+@unittest.skip("huggingface is flaky, run this test manually to check for issues")
+class TestCommaCarSegments(OpenpilotTestCase):
   def test_database(self):
     database = get_comma_car_segments_database()
 
diff --git a/openpilot/tools/lib/tests/test_logreader.py b/openpilot/tools/lib/tests/test_logreader.py
index a27a348d9e..9d5691abd8 100644
--- a/openpilot/tools/lib/tests/test_logreader.py
+++ b/openpilot/tools/lib/tests/test_logreader.py
@@ -4,15 +4,16 @@ import io
 import shutil
 import tempfile
 import os
-import pytest
+import unittest
 import requests
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.parameterized import parameterized
 
 from openpilot.cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
-from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
-from openpilot.tools.lib.route import SegmentRange
+from openpilot.tools.lib.logreader import _LogFileReader, LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import InternalUnavailableException
+from openpilot.tools.lib.route import FileName, SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
 
 NUM_SEGS = 17  # number of segments in the test route
@@ -47,7 +48,46 @@ def setup_source_scenario(mocker, is_internal=False):
   yield
 
 
-class TestLogReader:
+class TestLogReader(OpenpilotTestCase):
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    cls.tmpdir = tempfile.TemporaryDirectory()
+    cls.qlog_path = os.path.join(cls.tmpdir.name, "qlog")
+    cls.rlog_path = os.path.join(cls.tmpdir.name, "rlog")
+    cls._write_test_log(cls.qlog_path, 10, include_car_params=True)
+    cls._write_test_log(cls.rlog_path, 100)
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmpdir.cleanup()
+    super().tearDownClass()
+
+  @staticmethod
+  def _write_test_log(path, count, include_car_params=False):
+    events = []
+    for i in range(count):
+      event = capnp_log.Event.new_message()
+      event.logMonoTime = count - i  # deliberately unsorted
+      if include_car_params and i == 0:
+        event.init("carParams")
+        event.carParams.carFingerprint = "SUBARU OUTBACK 6TH GEN"
+      else:
+        event.init("can", 0)
+      events.append(event.to_bytes())
+
+    with open(path, "wb") as f:
+      f.write(b"".join(events))
+
+  def local_source(self, sr, seg_idxs, fns):
+    path = self.qlog_path if fns == FileName.QLOG else self.rlog_path
+    return dict.fromkeys(seg_idxs, path)
+
+  def local_auto_source(self, sr, seg_idxs, fns):
+    if fns == FileName.RLOG:
+      return {}
+    return dict.fromkeys(seg_idxs, self.qlog_path)
+
   @parameterized.expand([
     (f"{TEST_ROUTE}", ALL_SEGS),
     (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
@@ -72,7 +112,7 @@ class TestLogReader:
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS),
   ])
-  @pytest.mark.skip("this got flaky. internet tests are stupid.")
+  @unittest.skip("this got flaky. internet tests are stupid.")
   def test_indirect_parsing(self, identifier, expected):
     parsed = parse_indirect(identifier)
     sr = SegmentRange(parsed)
@@ -90,7 +130,7 @@ class TestLogReader:
     sr = SegmentRange(identifier)
     assert str(sr) == expected
 
-  @pytest.mark.parametrize("cache_enabled", [True, False])
+  @parameterized.expand([True, False], names=("cache_enabled",))
   def test_direct_parsing(self, mocker, cache_enabled):
     file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
     if cache_enabled:
@@ -107,7 +147,7 @@ class TestLogReader:
       l = len(list(LogReader(f)))
       assert l > 100
 
-    with pytest.raises(URLFileException) if not cache_enabled else pytest.raises(AssertionError):
+    with self.assertRaises(URLFileException if not cache_enabled else AssertionError):
       l = len(list(LogReader(QLOG_FILE.replace("/3/", "/200/"))))
 
     # file_exists should not be called for direct files
@@ -126,47 +166,43 @@ class TestLogReader:
     (f"{TEST_ROUTE}--3a",),
   ])
   def test_bad_ranges(self, segment_range):
-    with pytest.raises(AssertionError):
+    with self.assertRaises(AssertionError):
       _ = SegmentRange(segment_range).seg_idxs
 
-  @pytest.mark.parametrize("segment_range, api_call", [
+  @parameterized.expand([
     (f"{TEST_ROUTE}/0", False),
     (f"{TEST_ROUTE}/:2", False),
     (f"{TEST_ROUTE}/0:", True),
     (f"{TEST_ROUTE}/-1", True),
     (f"{TEST_ROUTE}", True),
-  ])
+  ], names=("segment_range", "api_call"))
   def test_slicing_api_call(self, mocker, segment_range, api_call):
     max_seg_mock = mocker.patch("openpilot.tools.lib.route.get_max_seg_number_cached")
     max_seg_mock.return_value = NUM_SEGS
     _ = SegmentRange(segment_range).seg_idxs
     assert api_call == max_seg_mock.called
 
-  @pytest.mark.slow
   def test_modes(self):
-    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG)))
-    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG)))
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG, sources=[self.local_source])))
+    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG, sources=[self.local_source])))
 
     assert qlog_len * 6 < rlog_len
 
-  @pytest.mark.slow
   def test_modes_from_name(self):
-    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
-    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r")))
+    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q", sources=[self.local_source])))
+    rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r", sources=[self.local_source])))
 
     assert qlog_len * 6 < rlog_len
 
-  @pytest.mark.slow
   def test_list(self):
-    qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
-    qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"])))
+    qlog_len = len(list(LogReader(self.qlog_path)))
+    qlog_len_2 = len(list(LogReader([self.qlog_path, self.qlog_path])))
 
     assert qlog_len * 2 == qlog_len_2
 
-  @pytest.mark.slow
   def test_multiple_iterations(self, mocker):
-    init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader")
-    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    init_mock = mocker.patch("openpilot.tools.lib.logreader._LogFileReader", wraps=_LogFileReader)
+    lr = LogReader(self.qlog_path)
     qlog_len1 = len(list(lr))
     qlog_len2 = len(list(lr))
 
@@ -175,47 +211,37 @@ class TestLogReader:
 
     assert qlog_len1 == qlog_len2
 
-  @pytest.mark.slow
   def test_helpers(self):
-    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    lr = LogReader(self.qlog_path)
     assert lr.first("carParams").carFingerprint == "SUBARU OUTBACK 6TH GEN"
     assert 0 < len(list(lr.filter("carParams"))) < len(list(lr))
 
-  @parameterized.expand([(True,), (False,)])
-  @pytest.mark.slow
-  def test_run_across_segments(self, cache_enabled):
-    if cache_enabled:
-      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
-    else:
-      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
-    lr = LogReader(f"{TEST_ROUTE}/0:4")
+  def test_run_across_segments(self):
+    lr = LogReader([self.qlog_path] * 4)
     assert len(lr.run_across_segments(4, noop)) == len(list(lr))
 
-  @pytest.mark.slow
   def test_auto_mode(self, subtests, mocker):
-    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    lr = LogReader(self.qlog_path)
     qlog_len = len(list(lr))
-    log_paths_mock = mocker.patch("openpilot.tools.lib.route.Route.log_paths")
-    log_paths_mock.return_value = [None] * NUM_SEGS
     # Should fall back to qlogs since rlogs are not available
 
     with subtests.test("interactive_yes"):
       mocker.patch("sys.stdin", new=io.StringIO("y\n"))
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[comma_api_source])
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[self.local_auto_source])
       log_len = len(list(lr))
       assert qlog_len == log_len
 
     with subtests.test("interactive_no"):
       mocker.patch("sys.stdin", new=io.StringIO("n\n"))
-      with pytest.raises(LogsUnavailable):
-        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[comma_api_source])
+      with self.assertRaises(LogsUnavailable):
+        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[self.local_auto_source])
 
     with subtests.test("non_interactive"):
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, sources=[comma_api_source])
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, sources=[self.local_auto_source])
       log_len = len(list(lr))
       assert qlog_len == log_len
 
-  @pytest.mark.parametrize("is_internal", [True, False])
+  @parameterized.expand([True, False], names=("is_internal",))
   def test_auto_source_scenarios(self, mocker, is_internal):
     lr = LogReader(QLOG_FILE)
     qlog_len = len(list(lr))
@@ -225,12 +251,11 @@ class TestLogReader:
       log_len = len(list(lr))
       assert qlog_len == log_len
 
-  @pytest.mark.slow
   def test_sort_by_time(self):
-    msgs = list(LogReader(f"{TEST_ROUTE}/0/q"))
+    msgs = list(LogReader(self.qlog_path))
     assert msgs != sorted(msgs, key=lambda m: m.logMonoTime)
 
-    msgs = list(LogReader(f"{TEST_ROUTE}/0/q", sort_by_time=True))
+    msgs = list(LogReader(self.qlog_path, sort_by_time=True))
     assert msgs == sorted(msgs, key=lambda m: m.logMonoTime)
 
   def test_only_union_types(self):
@@ -254,7 +279,7 @@ class TestLogReader:
       # ensure new message is added, but is not a union type
       msgs = list(LogReader(qlog.name))
       assert len(msgs) == num_msgs + 1
-      with pytest.raises(capnp.KjException):
+      with self.assertRaises(capnp.KjException):
         [m.which() for m in msgs]
 
       # should not be added when only_union_types=True
diff --git a/openpilot/tools/lib/tests/test_route_library.py b/openpilot/tools/lib/tests/test_route_library.py
index 491bb81327..392484c794 100644
--- a/openpilot/tools/lib/tests/test_route_library.py
+++ b/openpilot/tools/lib/tests/test_route_library.py
@@ -1,8 +1,9 @@
 from collections import namedtuple
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.tools.lib.route import SegmentName
 
-class TestRouteLibrary:
+class TestRouteLibrary(OpenpilotTestCase):
   def test_segment_name_formats(self):
     Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir'])
 
diff --git a/openpilot/tools/longitudinal_maneuvers/generate_report.py b/openpilot/tools/longitudinal_maneuvers/generate_report.py
index dbd9f6db91..2d7f81a7f8 100755
--- a/openpilot/tools/longitudinal_maneuvers/generate_report.py
+++ b/openpilot/tools/longitudinal_maneuvers/generate_report.py
@@ -44,14 +44,14 @@ def report(platform, route, _description, CP, ID, maneuvers):
       t_carControl, carControl = zip(*[(m.logMonoTime, m.carControl) for m in msgs if m.which() == 'carControl'], strict=True)
       t_carOutput, carOutput = zip(*[(m.logMonoTime, m.carOutput) for m in msgs if m.which() == 'carOutput'], strict=True)
       t_carState, carState = zip(*[(m.logMonoTime, m.carState) for m in msgs if m.which() == 'carState'], strict=True)
-      t_livePose, livePose = zip(*[(m.logMonoTime, m.livePose) for m in msgs if m.which() == 'livePose'], strict=True)
+      t_deviceMotion, deviceMotion = zip(*[(m.logMonoTime, m.deviceMotion) for m in msgs if m.which() == 'deviceMotion'], strict=True)
       t_longitudinalPlan, longitudinalPlan = zip(*[(m.logMonoTime, m.longitudinalPlan) for m in msgs if m.which() == 'longitudinalPlan'], strict=True)
 
       # make time relative seconds
       t_carControl = [(t - t_carControl[0]) / 1e9 for t in t_carControl]
       t_carOutput = [(t - t_carOutput[0]) / 1e9 for t in t_carOutput]
       t_carState = [(t - t_carState[0]) / 1e9 for t in t_carState]
-      t_livePose = [(t - t_livePose[0]) / 1e9 for t in t_livePose]
+      t_deviceMotion = [(t - t_deviceMotion[0]) / 1e9 for t in t_deviceMotion]
       t_longitudinalPlan = [(t - t_longitudinalPlan[0]) / 1e9 for t in t_longitudinalPlan]
 
       # maneuver validity
@@ -70,7 +70,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
 
       # Localizer is noisy, require two consecutive 20Hz frames above threshold
       prev_crossed = False
-      for t, lp in zip(t_livePose, livePose, strict=True):
+      for t, lp in zip(t_deviceMotion, deviceMotion, strict=True):
         crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
         if crossed and prev_crossed:
           builder.append(f', crossed in {t:.3f}s')
@@ -95,7 +95,7 @@ def report(platform, route, _description, CP, ID, maneuvers):
       ax[0].plot(t_carOutput, [m.actuatorsOutput.accel for m in carOutput], label='carOutput.actuatorsOutput.accel', linewidth=6)
       ax[0].plot(t_longitudinalPlan, [m.aTarget for m in longitudinalPlan], label='longitudinalPlan.aTarget', linewidth=6)
       ax[0].plot(t_carState, [m.aEgo for m in carState], label='carState.aEgo', linewidth=6)
-      ax[0].plot(t_livePose, [m.accelerationDevice.x for m in livePose], label='livePose.accelerationDevice.x', linewidth=6)
+      ax[0].plot(t_deviceMotion, [m.accelerationDevice.x for m in deviceMotion], label='deviceMotion.accelerationDevice.x', linewidth=6)
       # TODO localizer accel
       ax[0].set_ylabel('Acceleration (m/s^2)')
       #ax[0].set_ylim(-6.5, 6.5)
diff --git a/openpilot/tools/longitudinal_maneuvers/maneuversd.py b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
index a644e1dc32..3cba805f00 100755
--- a/openpilot/tools/longitudinal_maneuvers/maneuversd.py
+++ b/openpilot/tools/longitudinal_maneuvers/maneuversd.py
@@ -117,8 +117,8 @@ MANEUVERS = [
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
-    "brake step response: -4m/s^2 from 20mph",
-    [Action([-4], [3])],
+    "brake step response: -3.5m/s^2 from 20mph",
+    [Action([-3.5], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
@@ -129,8 +129,8 @@ MANEUVERS = [
     initial_speed=20. * CV.MPH_TO_MS,
   ),
   Maneuver(
-    "gas step response: +4m/s^2 from 20mph",
-    [Action([4], [3])],
+    "gas step response: +2m/s^2 from 20mph",
+    [Action([2], [3])],
     repeat=2,
     initial_speed=20. * CV.MPH_TO_MS,
   ),
diff --git a/openpilot/tools/plotjuggler/README.md b/openpilot/tools/plotjuggler/README.md
index efccbdc0bd..e87fc2c3d4 100644
--- a/openpilot/tools/plotjuggler/README.md
+++ b/openpilot/tools/plotjuggler/README.md
@@ -4,7 +4,7 @@
 
 ## Installation
 
-Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins:
+Once you've [set up the openpilot environment](/tools/README.md), this command will download PlotJuggler and install our plugins:
 
 `cd openpilot/tools/plotjuggler && ./juggle.py --install`
 
diff --git a/openpilot/tools/plotjuggler/layouts/camera-timings.xml b/openpilot/tools/plotjuggler/layouts/camera-timings.xml
index f91cbd3f53..2abff4d508 100644
--- a/openpilot/tools/plotjuggler/layouts/camera-timings.xml
+++ b/openpilot/tools/plotjuggler/layouts/camera-timings.xml
@@ -8,13 +8,13 @@
       
        
        
-       
-        
+       
+        
          
         
        
-       
-        
+       
+        
          
         
        
@@ -29,13 +29,13 @@
       
        
        
-       
-        
+       
+        
          
         
        
-       
-        
+       
+        
          
         
        
@@ -76,8 +76,8 @@
       
        
        
-       
-       
+       
+       
        
       
      
@@ -91,13 +91,13 @@
       
        
        
-       
-        
+       
+        
          
         
        
-       
-        
+       
+        
          
         
        
@@ -112,13 +112,13 @@
       
        
        
-       
-        
+       
+        
          
         
        
-       
-        
+       
+        
          
         
        
@@ -145,4 +145,3 @@
  
  
 
-
diff --git a/openpilot/tools/plotjuggler/layouts/locationd_debug.xml b/openpilot/tools/plotjuggler/layouts/locationd_debug.xml
index 5377e1535c..6e1cd35039 100644
--- a/openpilot/tools/plotjuggler/layouts/locationd_debug.xml
+++ b/openpilot/tools/plotjuggler/layouts/locationd_debug.xml
@@ -8,7 +8,7 @@
       
        
        
-       
+       
       
      
      
@@ -36,7 +36,7 @@
        
        
        
-       
+       
        
       
      
@@ -97,4 +97,3 @@
  
  
 
-
diff --git a/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml b/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
index 9a6693165e..2089b826d9 100644
--- a/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
+++ b/openpilot/tools/plotjuggler/layouts/max-torque-debug.xml
@@ -62,7 +62,7 @@ return 0
    /controlsState/curvature
    
     /carState/vEgo
-    /liveParameters/roll
+    /vehicleParameters/roll
     /carState/steeringPressed
     /carControl/latActive
    
@@ -73,7 +73,7 @@ return 0
    /controlsState/desiredCurvature
    
     /carState/vEgo
-    /liveParameters/roll
+    /vehicleParameters/roll
    
   
   
@@ -82,11 +82,10 @@ return 0
    /controlsState/curvature
    
     /carState/vEgo
-    /liveParameters/roll
+    /vehicleParameters/roll
    
   
  
  
  
 
-
diff --git a/openpilot/tools/plotjuggler/layouts/torque-controller.xml b/openpilot/tools/plotjuggler/layouts/torque-controller.xml
index 8e9a1a8526..671b47c355 100644
--- a/openpilot/tools/plotjuggler/layouts/torque-controller.xml
+++ b/openpilot/tools/plotjuggler/layouts/torque-controller.xml
@@ -53,7 +53,7 @@
        
        
        
-       
+       
       
      
      
@@ -61,15 +61,15 @@
        
        
        
-       
+       
       
      
-     
+     
       
        
        
-       
-       
+       
+       
       
      
     
@@ -82,8 +82,8 @@
       
        
        
-       
-       
+       
+       
        
       
      
@@ -91,16 +91,16 @@
       
        
        
-       
-       
+       
+       
       
      
      
       
        
        
-       
-       
+       
+       
        
       
      
@@ -114,15 +114,15 @@
       
        
        
-       
+       
       
      
      
       
        
        
-       
-       
+       
+       
        
       
      
@@ -130,7 +130,7 @@
       
        
        
-       
+       
       
      
     
@@ -174,7 +174,7 @@
       
        
        
-       
+       
       
      
     
@@ -221,7 +221,7 @@
    /controlsState/desiredCurvature
    
     /carState/vEgo
-    /liveParameters/roll
+    /vehicleParameters/roll
    
   
   
@@ -230,7 +230,7 @@
    /controlsState/curvature
    
     /carState/vEgo
-    /liveParameters/roll
+    /vehicleParameters/roll
    
   
   
@@ -247,4 +247,3 @@
  
  
 
-
diff --git a/openpilot/tools/plotjuggler/test_plotjuggler.py b/openpilot/tools/plotjuggler/test_plotjuggler.py
index d55aafe9be..10cd342dc8 100644
--- a/openpilot/tools/plotjuggler/test_plotjuggler.py
+++ b/openpilot/tools/plotjuggler/test_plotjuggler.py
@@ -5,17 +5,18 @@ import signal
 import subprocess
 import time
 
-import pytest
+import unittest
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
 
 PJ_DIR = os.path.join(BASEDIR, "openpilot/tools/plotjuggler")
 
-class TestPlotJuggler:
+class TestPlotJuggler(OpenpilotTestCase):
 
-  @pytest.mark.skipif(not shutil.which('qmake'), reason="Qt not installed")
+  @unittest.skipIf(not shutil.which('qmake'), "Qt not installed")
   def test_demo(self):
     install()
 
diff --git a/openpilot/tools/replay/README.md b/openpilot/tools/replay/README.md
index 108df08935..1d500eac96 100644
--- a/openpilot/tools/replay/README.md
+++ b/openpilot/tools/replay/README.md
@@ -68,8 +68,8 @@ Options:
                          internal, openpilotci, comma_api, car_segments, testing_closet
   --data_dir   local directory with routes
   --prefix       set OPENPILOT_PREFIX
-  --dcam                 load driver camera
-  --ecam                 load wide road camera
+  --cabin                  load cabin camera
+  --wide-road                 load wide road camera
   --no-loop              stop at the end of the route
   --no-cache             turn off local cache
   --qcam                 load qcamera
@@ -103,11 +103,11 @@ openpilot/tools/plotjuggler/juggle.py --stream
 
 watch all three cameras simultaneously from your comma three routes with watch3
 
-simply replay a route using the `--dcam` and `--ecam` flags:
+simply replay a route using the `--cabin` and `--wide-road` flags:
 
 ```bash
 # start a replay
-cd openpilot/tools/replay && ./replay --demo --dcam --ecam
+cd openpilot/tools/replay && ./replay --demo --cabin --wide-road
 
 # then start watch3
 cd openpilot/selfdrive/ui && ./watch3.py
diff --git a/openpilot/tools/replay/SConscript b/openpilot/tools/replay/SConscript
index 643de97bb9..9e060bc829 100644
--- a/openpilot/tools/replay/SConscript
+++ b/openpilot/tools/replay/SConscript
@@ -9,11 +9,8 @@ base_libs = [common, messaging, cereal, visionipc, 'm', 'pthread']
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
                   "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "py_downloader.cc"]
 if arch != "Darwin":
-  replay_lib_src.append("qcom_decoder.cc")
+  replay_lib_src.append("#openpilot/system/loggerd/encoder/v4l_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib] + ffmpeg_libs + ['bz2', 'zstd', 'ncurses'] + base_libs
+replay_libs = [replay_lib] + ffmpeg_libs + ['ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
-
-if GetOption('extras'):
-  replay_env.Program('tests/test_replay', ['tests/test_replay.cc'], LIBS=replay_libs)
diff --git a/openpilot/tools/replay/camera.h b/openpilot/tools/replay/camera.h
index 9433018848..81b3bb1a81 100644
--- a/openpilot/tools/replay/camera.h
+++ b/openpilot/tools/replay/camera.h
@@ -5,6 +5,7 @@
 #include 
 #include 
 
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_server.h"
 #include "common/queue.h"
 #include "tools/replay/framereader.h"
@@ -32,8 +33,8 @@ protected:
   VisionBuf *getFrame(Camera &cam, FrameReader *fr, int32_t segment_id, uint32_t frame_id);
 
   Camera cameras_[MAX_CAMERAS] = {
-      {.type = RoadCam, .stream_type = VISION_STREAM_ROAD},
-      {.type = DriverCam, .stream_type = VISION_STREAM_DRIVER},
+      {.type = NarrowRoadCam, .stream_type = VISION_STREAM_NARROW_ROAD},
+      {.type = CabinCam, .stream_type = VISION_STREAM_CABIN},
       {.type = WideRoadCam, .stream_type = VISION_STREAM_WIDE_ROAD},
   };
   std::atomic publishing_ = 0;
diff --git a/openpilot/tools/replay/consoleui.cc b/openpilot/tools/replay/consoleui.cc
index eeb385f8a4..6dbc984b2f 100644
--- a/openpilot/tools/replay/consoleui.cc
+++ b/openpilot/tools/replay/consoleui.cc
@@ -62,7 +62,7 @@ ExitHandler do_exit;
 
 }  // namespace
 
-ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "liveParameters"}) {
+ConsoleUI::ConsoleUI(Replay *replay) : replay(replay), sm({"carState", "vehicleParameters"}) {
   // Initialize curses
   initscr();
   clear();
@@ -176,7 +176,7 @@ void ConsoleUI::updateStatus() {
   std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
   write_item(0, 25, "TIME:  ", time_string, current_segment, true);
 
-  auto p = sm["liveParameters"].getLiveParameters();
+  auto p = sm["vehicleParameters"].getVehicleParameters();
   write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), "  ");
   write_item(1, 25, "SPEED: ", util::string_format("%.2f", sm["carState"].getCarState().getVEgo()), " m/s");
   write_item(2, 0, "STEER RATIO: ", util::string_format("%.2f", p.getSteerRatio()), "");
diff --git a/openpilot/tools/replay/filereader.cc b/openpilot/tools/replay/filereader.cc
index 93a6a1193f..6ad56bbfc6 100644
--- a/openpilot/tools/replay/filereader.cc
+++ b/openpilot/tools/replay/filereader.cc
@@ -1,5 +1,8 @@
 #include "tools/replay/filereader.h"
 
+#include 
+#include 
+
 #include "common/util.h"
 #include "tools/replay/py_downloader.h"
 
@@ -10,5 +13,17 @@ std::string FileReader::read(const std::string &file, std::atomic *abort)
     if (local_path.empty()) return {};
     return util::read_file(local_path);
   }
+  char header[4] = {};
+  std::ifstream stream(file, std::ios::binary);
+  stream.read(header, sizeof(header));
+  const std::string magic(header, stream.gcount());
+  if (util::ends_with(file, ".bz2") || util::ends_with(file, ".zst") ||
+      util::starts_with(magic, "BZh") || magic == "\x28\xB5\x2F\xFD") {
+    std::string local_path = PyDownloader::decompress(file, abort);
+    if (local_path.empty()) return {};
+    std::string data = util::read_file(local_path);
+    unlink(local_path.c_str());
+    return data;
+  }
   return util::read_file(file);
 }
diff --git a/openpilot/tools/replay/framereader.cc b/openpilot/tools/replay/framereader.cc
index 7c6f144148..19e5fa0d0f 100644
--- a/openpilot/tools/replay/framereader.cc
+++ b/openpilot/tools/replay/framereader.cc
@@ -42,7 +42,7 @@ struct DecoderManager {
     std::unique_ptr decoder;
     #ifndef __APPLE__
     if (!Hardware::PC() && hw_decoder) {
-      decoder = std::make_unique();
+      decoder = std::make_unique();
     } else
     #endif
     {
@@ -269,18 +269,18 @@ bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
 }
 
 #ifndef __APPLE__
-bool QcomVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+bool V4LVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
   if (codecpar->codec_id != AV_CODEC_ID_HEVC) {
     rError("Hardware decoder only supports HEVC codec");
     return false;
   }
   width = codecpar->width;
   height = codecpar->height;
-  msm_vidc.init(VIDEO_DEVICE, width, height, V4L2_PIX_FMT_HEVC);
+  v4l_decoder.init(V4LDecoder::DEVICE, width, height, V4L2_PIX_FMT_HEVC);
   return true;
 }
 
-bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
+bool V4LVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
   int from_idx = idx;
   if (idx != reader->prev_idx + 1) {
     // seeking to the nearest key frame
@@ -301,10 +301,10 @@ bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
   reader->prev_idx = idx;
   bool result = false;
   AVPacket pkt;
-  msm_vidc.avctx = reader->input_ctx;
+  v4l_decoder.avctx = reader->input_ctx;
   for (int i = from_idx; i <= idx; ++i) {
     if (av_read_frame(reader->input_ctx, &pkt) == 0) {
-      result = msm_vidc.decodeFrame(&pkt, buf) && (i == idx);
+      result = v4l_decoder.decodeFrame(&pkt, buf) && (i == idx);
       av_packet_unref(&pkt);
     }
   }
diff --git a/openpilot/tools/replay/framereader.h b/openpilot/tools/replay/framereader.h
index 3609d64f8b..65feb5b3b7 100644
--- a/openpilot/tools/replay/framereader.h
+++ b/openpilot/tools/replay/framereader.h
@@ -7,7 +7,7 @@
 #include "tools/replay/util.h"
 
 #ifndef __APPLE__
-#include "tools/replay/qcom_decoder.h"
+#include "system/loggerd/encoder/v4l_decoder.h"
 #endif
 
 extern "C" {
@@ -67,14 +67,14 @@ private:
 };
 
 #ifndef __APPLE__
-class QcomVideoDecoder : public VideoDecoder {
+class V4LVideoDecoder : public VideoDecoder {
 public:
-  QcomVideoDecoder() {};
-  ~QcomVideoDecoder() override {};
+  V4LVideoDecoder() {};
+  ~V4LVideoDecoder() override {};
   bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
   bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
 
 private:
-  MsmVidc msm_vidc = MsmVidc();
+  V4LDecoder v4l_decoder;
 };
 #endif
diff --git a/openpilot/tools/replay/logreader.cc b/openpilot/tools/replay/logreader.cc
index 54b69dc168..315aed9741 100644
--- a/openpilot/tools/replay/logreader.cc
+++ b/openpilot/tools/replay/logreader.cc
@@ -32,16 +32,6 @@ bool LogReader::load(const std::string &url, std::atomic *abort, bool loca
   }
   compressed_size_ = data.size();
   download_seconds_ = std::chrono::duration(download_end - download_start).count();
-  if (!data.empty()) {
-    const auto decompress_start = Clock::now();
-    if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
-      data = decompressBZ2(data, abort);
-    } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
-      data = decompressZST(data, abort);
-    }
-    const auto decompress_end = Clock::now();
-    decompress_seconds_ = std::chrono::duration(decompress_end - decompress_start).count();
-  }
   decompressed_size_ = data.size();
 
   bool success = !data.empty() && load(data.data(), data.size(), abort, progress);
@@ -84,8 +74,8 @@ bool LogReader::load(const char *data, size_t size, std::atomic *abort,
       uint64_t mono_time = event.getLogMonoTime();
       const Event &evt = events.emplace_back(which, mono_time, event_data);
       // Add encodeIdx packet again as a frame packet for the video stream
-      if (evt.which == cereal::Event::ROAD_ENCODE_IDX ||
-          evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
+      if (evt.which == cereal::Event::NARROW_ROAD_ENCODE_IDX ||
+          evt.which == cereal::Event::CABIN_ENCODE_IDX ||
           evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
         auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs();
         if (idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
diff --git a/openpilot/tools/replay/logreader.h b/openpilot/tools/replay/logreader.h
index 63f7468401..52e82c46ad 100644
--- a/openpilot/tools/replay/logreader.h
+++ b/openpilot/tools/replay/logreader.h
@@ -8,7 +8,7 @@
 #include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "tools/replay/util.h"
 
-const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
+const CameraType ALL_CAMERAS[] = {NarrowRoadCam, CabinCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
 
 class Event {
diff --git a/openpilot/tools/replay/main.cc b/openpilot/tools/replay/main.cc
index bdb9cf4f35..50233189a1 100644
--- a/openpilot/tools/replay/main.cc
+++ b/openpilot/tools/replay/main.cc
@@ -26,8 +26,8 @@ Options:
                      internal, openpilotci, comma_api, car_segments, testing_closet
   -d, --data_dir     Local directory with routes
   -p, --prefix       Set OPENPILOT_PREFIX
-      --dcam         Load driver camera
-      --ecam         Load wide road camera
+      --cabin        Load cabin camera (alias: --dcam)
+      --wide-road    Load wide road camera (alias: --ecam)
       --no-loop      Stop at the end of the route
       --no-cache     Turn off local cache
       --qcam         Load qcamera
@@ -62,8 +62,10 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"auto", no_argument, nullptr, 0},
       {"data_dir", required_argument, nullptr, 'd'},
       {"prefix", required_argument, nullptr, 'p'},
-      {"dcam", no_argument, nullptr, 0},
-      {"ecam", no_argument, nullptr, 0},
+      {"cabin", no_argument, nullptr, 0},
+      {"dcam", no_argument, nullptr, 0},  // deprecated alias
+      {"wide-road", no_argument, nullptr, 0},
+      {"ecam", no_argument, nullptr, 0},  // deprecated alias
       {"no-loop", no_argument, nullptr, 0},
       {"no-cache", no_argument, nullptr, 0},
       {"qcam", no_argument, nullptr, 0},
@@ -76,8 +78,10 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
   };
 
   const std::map flag_map = {
-      {"dcam", REPLAY_FLAG_DCAM},
-      {"ecam", REPLAY_FLAG_ECAM},
+      {"cabin", REPLAY_FLAG_CABIN_CAMERA},
+      {"dcam", REPLAY_FLAG_CABIN_CAMERA},  // deprecated alias
+      {"wide-road", REPLAY_FLAG_WIDE_ROAD},
+      {"ecam", REPLAY_FLAG_WIDE_ROAD},  // deprecated alias
       {"no-loop", REPLAY_FLAG_NO_LOOP},
       {"no-cache", REPLAY_FLAG_NO_FILE_CACHE},
       {"qcam", REPLAY_FLAG_QCAMERA},
diff --git a/openpilot/tools/replay/py_downloader.cc b/openpilot/tools/replay/py_downloader.cc
index d27a77e6ee..a265dfd6a3 100644
--- a/openpilot/tools/replay/py_downloader.cc
+++ b/openpilot/tools/replay/py_downloader.cc
@@ -152,6 +152,10 @@ std::string download(const std::string &url, bool use_cache, std::atomic *
   return runPython(args, abort);
 }
 
+std::string decompress(const std::string &path, std::atomic *abort) {
+  return runPython({"decompress", path}, abort);
+}
+
 std::string getRouteFiles(const std::string &route) {
   return runPython({"route-files", route});
 }
diff --git a/openpilot/tools/replay/py_downloader.h b/openpilot/tools/replay/py_downloader.h
index 535189784c..80fab6ab00 100644
--- a/openpilot/tools/replay/py_downloader.h
+++ b/openpilot/tools/replay/py_downloader.h
@@ -12,6 +12,9 @@ namespace PyDownloader {
 // Downloads url to local cache, returns local file path. Reports progress via installDownloadProgressHandler.
 std::string download(const std::string &url, bool use_cache = true, std::atomic *abort = nullptr);
 
+// Decompresses a local log file and returns the temporary output path.
+std::string decompress(const std::string &path, std::atomic *abort = nullptr);
+
 // Returns JSON string of route files (same format as /v1/route/.../files API)
 std::string getRouteFiles(const std::string &route);
 
diff --git a/openpilot/tools/replay/qcom_decoder.h b/openpilot/tools/replay/qcom_decoder.h
deleted file mode 100644
index 1d7522cc70..0000000000
--- a/openpilot/tools/replay/qcom_decoder.h
+++ /dev/null
@@ -1,88 +0,0 @@
-#pragma once
-
-#include 
-#include 
-
-#include "msgq/visionipc/visionbuf.h"
-
-extern "C" {
-  #include 
-  #include 
-}
-
-#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
-#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
-#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
-#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
-#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
-#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
-#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
-#define V4L2_QCOM_CMD_FLUSH (4)
-
-#define VIDEO_DEVICE "/dev/video32"
-#define OUTPUT_BUFFER_COUNT 	8
-#define CAPTURE_BUFFER_COUNT 	8
-#define FPS 									20
-
-
-class MsmVidc {
-public:
-  MsmVidc() = default;
-  ~MsmVidc();
-
-  bool init(const char* dev, size_t width, size_t height, uint64_t codec);
-  VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
-
-  AVFormatContext* avctx = nullptr;
-  int fd = 0;
-
-private:
-  bool initialized = false;
-  bool reconfigure_pending = false;
-  bool frame_ready = false;
-
-  VisionBuf* current_output_buf = nullptr;
-  VisionBuf out_buf;                          // Single input buffer
-  VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT];   // Capture (output) buffers
-
-  size_t w = 1928, h = 1208;
-  size_t cap_height = 0, cap_width = 0;
-
-  int cap_buf_size = 0;
-  int out_buf_size = 0;
-
-  size_t cap_plane_off[CAPTURE_BUFFER_COUNT] = {0};
-  size_t cap_plane_stride[CAPTURE_BUFFER_COUNT] = {0};
-  bool cap_buf_flag[CAPTURE_BUFFER_COUNT] = {false};
-
-  size_t out_buf_off[OUTPUT_BUFFER_COUNT] = {0};
-  void* out_buf_addr[OUTPUT_BUFFER_COUNT] = {0};
-  bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
-  const int out_buf_cnt = OUTPUT_BUFFER_COUNT;
-
-  const int subscriptions[2] = {
-    V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
-    V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
-  };
-
-  enum { EV_VIDEO, EV_COUNT };
-  struct pollfd pfd[EV_COUNT] = {0};
-  int ev[EV_COUNT] = {-1};
-  int nfds = 0;
-
-  VisionBuf* processEvents();
-  bool setupOutput();
-  bool subscribeEvents();
-  bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
-  bool setFPS(uint32_t fps);
-  bool restartCapture();
-  bool queueCaptureBuffer(int i);
-  bool queueOutputBuffer(int i, size_t size);
-  bool setDBP();
-  bool setupPolling();
-  bool sendPacket(int buf_index, AVPacket* pkt);
-  int getBufferUnlocked();
-  VisionBuf* handleCapture();
-  bool handleOutput();
-  bool handleEvent();
-};
diff --git a/openpilot/tools/replay/replay.cc b/openpilot/tools/replay/replay.cc
index 75aecfd0c2..6449fc30ea 100644
--- a/openpilot/tools/replay/replay.cc
+++ b/openpilot/tools/replay/replay.cc
@@ -251,13 +251,13 @@ void Replay::publishMessage(const Event *e) {
 void Replay::publishFrame(const Event *e) {
   CameraType cam;
   switch (e->which) {
-    case cereal::Event::ROAD_ENCODE_IDX: cam = RoadCam; break;
-    case cereal::Event::DRIVER_ENCODE_IDX: cam = DriverCam; break;
+    case cereal::Event::NARROW_ROAD_ENCODE_IDX: cam = NarrowRoadCam; break;
+    case cereal::Event::CABIN_ENCODE_IDX: cam = CabinCam; break;
     case cereal::Event::WIDE_ROAD_ENCODE_IDX: cam = WideRoadCam; break;
     default: return;  // Invalid event type
   }
 
-  if ((cam == DriverCam && !hasFlag(REPLAY_FLAG_DCAM)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_ECAM)))
+  if ((cam == CabinCam && !hasFlag(REPLAY_FLAG_CABIN_CAMERA)) || (cam == WideRoadCam && !hasFlag(REPLAY_FLAG_WIDE_ROAD)))
     return;  // Camera isdisabled
 
   auto seg_it = event_data_->segments.find(e->eidx_segnum);
diff --git a/openpilot/tools/replay/replay.h b/openpilot/tools/replay/replay.h
index ce6d75bd6d..7cd5fbecd0 100644
--- a/openpilot/tools/replay/replay.h
+++ b/openpilot/tools/replay/replay.h
@@ -16,8 +16,8 @@
 
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
-  REPLAY_FLAG_DCAM = 0x0002,
-  REPLAY_FLAG_ECAM = 0x0004,
+  REPLAY_FLAG_CABIN_CAMERA = 0x0002,
+  REPLAY_FLAG_WIDE_ROAD = 0x0004,
   REPLAY_FLAG_NO_LOOP = 0x0010,
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
diff --git a/openpilot/tools/replay/route.cc b/openpilot/tools/replay/route.cc
index 326d28d726..f38c2b1971 100644
--- a/openpilot/tools/replay/route.cc
+++ b/openpilot/tools/replay/route.cc
@@ -180,9 +180,9 @@ void Route::addFileToSegment(int n, const std::string &file) {
   } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
-    segments_[n].road_cam = file;
+    segments_[n].narrow_road_cam = file;
   } else if (name == "dcamera.hevc") {
-    segments_[n].driver_cam = file;
+    segments_[n].cabin_cam = file;
   } else if (name == "ecamera.hevc") {
     segments_[n].wide_road_cam = file;
   } else if (name == "qcamera.ts") {
@@ -195,11 +195,11 @@ void Route::addFileToSegment(int n, const std::string &file) {
 Segment::Segment(int n, const SegmentFile &files, uint32_t flags, const std::vector &filters,
                  std::function callback)
     : seg_num(n), flags(flags), filters_(filters), on_load_finished_(callback) {
-  // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
+  // [NarrowRoadCam, CabinCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
-      (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.empty() ? files.qcamera : files.road_cam,
-      flags & REPLAY_FLAG_DCAM ? files.driver_cam : "",
-      flags & REPLAY_FLAG_ECAM ? files.wide_road_cam : "",
+      (flags & REPLAY_FLAG_QCAMERA) || files.narrow_road_cam.empty() ? files.qcamera : files.narrow_road_cam,
+      flags & REPLAY_FLAG_CABIN_CAMERA ? files.cabin_cam : "",
+      flags & REPLAY_FLAG_WIDE_ROAD ? files.wide_road_cam : "",
       files.rlog.empty() ? files.qlog : files.rlog,
   };
   for (int i = 0; i < file_list.size(); ++i) {
diff --git a/openpilot/tools/replay/route.h b/openpilot/tools/replay/route.h
index 50f3eba854..7a55997969 100644
--- a/openpilot/tools/replay/route.h
+++ b/openpilot/tools/replay/route.h
@@ -33,8 +33,8 @@ struct RouteIdentifier {
 struct SegmentFile {
   std::string rlog;
   std::string qlog;
-  std::string road_cam;
-  std::string driver_cam;
+  std::string narrow_road_cam;
+  std::string cabin_cam;
   std::string wide_road_cam;
   std::string qcamera;
 };
diff --git a/openpilot/tools/replay/tests/test_replay.cc b/openpilot/tools/replay/tests/test_replay.cc
deleted file mode 100644
index 45fcc98191..0000000000
--- a/openpilot/tools/replay/tests/test_replay.cc
+++ /dev/null
@@ -1,18 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
-#include "tools/replay/filereader.h"
-#include "tools/replay/replay.h"
-
-const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
-
-TEST_CASE("LogReader") {
-  SECTION("corrupt log") {
-    FileReader reader(true);
-    std::string corrupt_content = reader.read(TEST_RLOG_URL);
-    corrupt_content.resize(corrupt_content.length() / 2);
-    corrupt_content = decompressBZ2(corrupt_content);
-    LogReader log;
-    REQUIRE(log.load(corrupt_content.data(), corrupt_content.size()));
-    REQUIRE(log.events.size() > 0);
-  }
-}
diff --git a/openpilot/tools/replay/ui.py b/openpilot/tools/replay/ui.py
index 4fbede2be9..7f34f1303d 100755
--- a/openpilot/tools/replay/ui.py
+++ b/openpilot/tools/replay/ui.py
@@ -21,7 +21,7 @@ from openpilot.tools.replay.lib.ui_helpers import (
   plot_lead,
   plot_model,
 )
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 
 os.environ['BASEDIR'] = BASEDIR
@@ -57,7 +57,7 @@ def ui_thread(addr):
   font_path = os.path.join(BASEDIR, "openpilot/selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
   font = rl.load_font_ex(font_path, 32, None, 0)
 
-  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_NARROW_ROAD)
 
   # Overlay texture for model/lane line drawing
   overlay_img = np.zeros((480, 640, 4), dtype='uint8')
@@ -76,13 +76,13 @@ def ui_thread(addr):
       'longitudinalPlan',
       'carControl',
       'radarState',
-      'liveCalibration',
+      'extrinsicsCalibration',
       'controlsState',
       'selfdriveState',
-      'liveTracks',
+      'radarTracks',
       'modelV2',
-      'liveParameters',
-      'roadCameraState',
+      'vehicleParameters',
+      'narrowRoadCameraState',
     ],
     addr=addr,
   )
@@ -152,13 +152,13 @@ def ui_thread(addr):
 
     sm.update(0)
 
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-    calib_scale = camera.fcam.width / 640.0
+    camera = DEVICE_CAMERAS[("tici", str(sm['narrowRoadCameraState'].sensor))]
+    calib_scale = camera.narrow_road.width / 640.0
 
     if camera_view.frame:
       num_px = camera_view.frame.width * camera_view.frame.height
 
-    intrinsic_matrix = camera.fcam.intrinsics
+    intrinsic_matrix = camera.narrow_road.intrinsics
 
     w = sm['controlsState'].lateralControlState.which()
     if w == 'lqrStateDEPRECATED':
@@ -195,10 +195,10 @@ def ui_thread(addr):
       plot_lead(sm['radarState'], top_down)
 
     # draw all radar points
-    maybe_update_radar_points(sm['liveTracks'].points, top_down[1])
+    maybe_update_radar_points(sm['radarTracks'].points, top_down[1])
 
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
+    if sm.updated['extrinsicsCalibration'] and num_px:
+      rpyCalib = np.asarray(sm['extrinsicsCalibration'].rpyCalib)
       calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
     # Update overlay texture (RGB img -> RGBA with non-black pixels visible)
@@ -232,10 +232,10 @@ def ui_thread(addr):
       ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), YELLOW),
       ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), YELLOW),
       None,
-      ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW),
-      ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", YELLOW),
-      ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW),
-      ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), YELLOW),
+      ("ANGLE OFFSET (AVG): " + str(round(sm['vehicleParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW),
+      ("ANGLE OFFSET (INSTANT): " + str(round(sm['vehicleParameters'].angleOffsetDeg, 2)) + " deg", YELLOW),
+      ("STIFFNESS: " + str(round(sm['vehicleParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW),
+      ("STEER RATIO: " + str(round(sm['vehicleParameters'].steerRatio, 2)), YELLOW),
     ]
 
     for i, line in enumerate(lines):
diff --git a/openpilot/tools/replay/util.cc b/openpilot/tools/replay/util.cc
index 7b308b5c3d..44e144443a 100644
--- a/openpilot/tools/replay/util.cc
+++ b/openpilot/tools/replay/util.cc
@@ -1,14 +1,10 @@
 #include "tools/replay/util.h"
 
-#include 
-
 #include 
 #include 
 #include 
 #include 
 #include 
-#include 
-
 #include "common/timing.h"
 #include "common/util.h"
 
@@ -58,90 +54,6 @@ std::string getUrlWithoutQuery(const std::string &url) {
   return (idx == std::string::npos ? url : url.substr(0, idx));
 }
 
-std::string decompressBZ2(const std::string &in, std::atomic *abort) {
-  return decompressBZ2((std::byte *)in.data(), in.size(), abort);
-}
-
-std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort) {
-  if (in_size == 0) return {};
-
-  bz_stream strm = {};
-  int bzerror = BZ2_bzDecompressInit(&strm, 0, 0);
-  assert(bzerror == BZ_OK);
-
-  strm.next_in = (char *)in;
-  strm.avail_in = in_size;
-  std::string out(in_size * 5, '\0');
-  do {
-    strm.next_out = (char *)(&out[strm.total_out_lo32]);
-    strm.avail_out = out.size() - strm.total_out_lo32;
-
-    const char *prev_write_pos = strm.next_out;
-    bzerror = BZ2_bzDecompress(&strm);
-    if (bzerror == BZ_OK && prev_write_pos == strm.next_out) {
-      // content is corrupt
-      bzerror = BZ_STREAM_END;
-      rWarning("decompressBZ2 error: content is corrupt");
-      break;
-    }
-
-    if (bzerror == BZ_OK && strm.avail_in > 0 && strm.avail_out == 0) {
-      out.resize(out.size() * 2);
-    }
-  } while (bzerror == BZ_OK && !(abort && *abort));
-
-  BZ2_bzDecompressEnd(&strm);
-  if (bzerror == BZ_STREAM_END && !(abort && *abort)) {
-    out.resize(strm.total_out_lo32);
-    out.shrink_to_fit();
-    return out;
-  }
-  return {};
-}
-
-std::string decompressZST(const std::string &in, std::atomic *abort) {
-  return decompressZST((std::byte *)in.data(), in.size(), abort);
-}
-
-std::string decompressZST(const std::byte *in, size_t in_size, std::atomic *abort) {
-  ZSTD_DCtx *dctx = ZSTD_createDCtx();
-  assert(dctx != nullptr);
-
-  // Initialize input and output buffers
-  ZSTD_inBuffer input = {in, in_size, 0};
-
-  // Estimate and reserve memory for decompressed data
-  size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in, in_size);
-  if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) {
-    estimatedDecompressedSize = in_size * 2;  // Use a fallback size
-  }
-
-  std::string decompressedData;
-  decompressedData.reserve(estimatedDecompressedSize);
-
-  const size_t bufferSize = ZSTD_DStreamOutSize();  // Recommended output buffer size
-  std::string outputBuffer(bufferSize, '\0');
-
-  while (input.pos < input.size && !(abort && *abort)) {
-    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
-
-    size_t result = ZSTD_decompressStream(dctx, &output, &input);
-    if (ZSTD_isError(result)) {
-      rWarning("decompressZST error: content is corrupt");
-      break;
-    }
-
-    decompressedData.append(outputBuffer.data(), output.pos);
-  }
-
-  ZSTD_freeDCtx(dctx);
-  if (!(abort && *abort)) {
-    decompressedData.shrink_to_fit();
-    return decompressedData;
-  }
-  return {};
-}
-
 void precise_nano_sleep(int64_t nanoseconds, std::atomic &interrupt_requested) {
   struct timespec req, rem;
   req.tv_sec = nanoseconds / 1000000000;
diff --git a/openpilot/tools/replay/util.h b/openpilot/tools/replay/util.h
index 03a15787b2..5cffc11706 100644
--- a/openpilot/tools/replay/util.h
+++ b/openpilot/tools/replay/util.h
@@ -10,8 +10,8 @@
 #include "openpilot/cereal/messaging/messaging.h"
 
 enum CameraType {
-  RoadCam = 0,
-  DriverCam,
+  NarrowRoadCam = 0,
+  CabinCam,
   WideRoadCam
 };
 
@@ -47,10 +47,6 @@ private:
 };
 
 void precise_nano_sleep(int64_t nanoseconds, std::atomic &interrupt_requested);
-std::string decompressBZ2(const std::string &in, std::atomic *abort = nullptr);
-std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort = nullptr);
-std::string decompressZST(const std::string &in, std::atomic *abort = nullptr);
-std::string decompressZST(const std::byte *in, size_t in_size, std::atomic *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
 std::string formattedDataSize(size_t size);
 std::string extractFileName(const std::string& file);
diff --git a/openpilot/tools/sim/bridge/metadrive/metadrive_process.py b/openpilot/tools/sim/bridge/metadrive/metadrive_process.py
index 2486d87ff9..01d0473755 100644
--- a/openpilot/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/openpilot/tools/sim/bridge/metadrive/metadrive_process.py
@@ -27,9 +27,9 @@ def apply_metadrive_patches(arrive_dest_done=True):
   # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
   def add_image_sensor_patched(self, name: str, cls, args):
     if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
-        sensor = cls(*args, self, cuda=True)
+      sensor = cls(*args, self, cuda=True)
     else:
-        sensor = cls(*args, self, cuda=False)
+      sensor = cls(*args, self, cuda=False)
     assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
     self.sensors[name] = sensor
 
diff --git a/openpilot/tools/sim/lib/camerad.py b/openpilot/tools/sim/lib/camerad.py
index 8efb3e5dab..206e4fdf90 100644
--- a/openpilot/tools/sim/lib/camerad.py
+++ b/openpilot/tools/sim/lib/camerad.py
@@ -1,6 +1,7 @@
 import numpy as np
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.cereal import messaging
 
 from openpilot.tools.sim.lib.common import W, H
@@ -37,20 +38,20 @@ def rgb_to_nv12(rgb):
 class Camerad:
   """Simulates the camerad daemon"""
   def __init__(self, dual_camera):
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
+    self.pm = messaging.PubMaster(['narrowRoadCameraState', 'wideRoadCameraState'])
 
     self.frame_road_id = 0
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_NARROW_ROAD, 5, W, H)
     if dual_camera:
       self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H)
 
     self.vipc_server.start_listener()
 
   def cam_send_yuv_road(self, yuv):
-    self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
+    self._send_yuv(yuv, self.frame_road_id, 'narrowRoadCameraState', VisionStreamType.VISION_STREAM_NARROW_ROAD)
     self.frame_road_id += 1
 
   def cam_send_yuv_wide_road(self, yuv):
diff --git a/openpilot/tools/sim/tests/conftest.py b/openpilot/tools/sim/tests/conftest.py
deleted file mode 100644
index ddf6635276..0000000000
--- a/openpilot/tools/sim/tests/conftest.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import pytest
-
-def pytest_addoption(parser):
-  parser.addoption("--test_duration", action="store", default=60, type=int, help="Seconds to run metadrive drive")
-
-@pytest.fixture
-def test_duration(request):
-  return request.config.getoption("--test_duration")
diff --git a/openpilot/tools/sim/tests/test_metadrive_bridge.py b/openpilot/tools/sim/tests/test_metadrive_bridge.py
index 9be640d736..4e7560907b 100644
--- a/openpilot/tools/sim/tests/test_metadrive_bridge.py
+++ b/openpilot/tools/sim/tests/test_metadrive_bridge.py
@@ -1,17 +1,22 @@
-import pytest
 import warnings
+import unittest
+import importlib
 
 # Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 
-from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
+try:
+  MetaDriveBridge = importlib.import_module("openpilot.tools.sim.bridge.metadrive.metadrive_bridge").MetaDriveBridge
+except ModuleNotFoundError:
+  MetaDriveBridge = None
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
-@pytest.mark.slow
+@unittest.skipIf(MetaDriveBridge is None, "metadrive is not installed")
 class TestMetaDriveBridge(TestSimBridgeBase):
-  @pytest.fixture(autouse=True)
-  def setup_create_bridge(self, test_duration):
+  def setup_method(self):
+    super().openpilot_setup_method()
     self.test_duration = 30
 
   def create_bridge(self):
+    assert MetaDriveBridge is not None
     return MetaDriveBridge(False, False, self.test_duration, True)
diff --git a/openpilot/tools/sim/tests/test_sim_bridge.py b/openpilot/tools/sim/tests/test_sim_bridge.py
index f93cc2ef50..a2c0611937 100644
--- a/openpilot/tools/sim/tests/test_sim_bridge.py
+++ b/openpilot/tools/sim/tests/test_sim_bridge.py
@@ -1,25 +1,27 @@
 import os
 import subprocess
 import time
-import pytest
+import unittest
 
 from multiprocessing import Queue
 
+from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.sim.bridge.common import QueueMessageType
 
 SIM_DIR = os.path.join(BASEDIR, "openpilot/tools/sim")
 
-class TestSimBridgeBase:
+class TestSimBridgeBase(OpenpilotTestCase):
   @classmethod
   def setup_class(cls):
     if cls is TestSimBridgeBase:
-      raise pytest.skip("Don't run this base class, run test_metadrive_bridge.py instead")
+      raise unittest.SkipTest("Don't run this base class, run test_metadrive_bridge.py instead")
 
   def setup_method(self):
     self.processes = []
 
+  @unittest.skip("TODO: re-enable simulator bridge test")
   def test_driving(self):
     # Startup manager and bridge.py. Check processes are running, then engage and verify.
     p_manager = subprocess.Popen("./launch_openpilot.sh", cwd=SIM_DIR)
diff --git a/panda b/panda
index 61b050f1bd..ea5a83a956 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 61b050f1bd36fad04d4ceccca8a72c92ee1422df
+Subproject commit ea5a83a956d61c7540c1a13a8d76f08c24675d1b
diff --git a/pyproject.toml b/pyproject.toml
index 051eb5ffc6..dcc1024479 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -8,6 +8,12 @@ authors = [
   {name = "Vehicle Researcher", email="user@comma.ai"}
 ]
 
+# ------------------------------------------
+# > this dependencies list *only* goes down.
+# ------------------------------------------
+# Linux and Python is all we need, otherwise
+# we write and own the lines ourselves.
+# ------------------------------------------
 dependencies = [
   # multiple users
   "sounddevice",  # micd + soundd
@@ -17,12 +23,10 @@ dependencies = [
   # core
   "scons",
   "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
-  "Cython",
   "numpy >=2.0",
 
   # vendored native dependencies
   "comma-deps-capnproto",
-  "comma-deps-catch2",
   "comma-deps-acados",
   "comma-deps-ffmpeg",
   "comma-deps-zstd",
@@ -31,10 +35,6 @@ dependencies = [
   "comma-deps-git-lfs",
   "comma-deps-gcc-arm-none-eabi",
 
-  # logging
-  "pyzmq",
-  "sentry-sdk",
-
   # athena
   "PyJWT[crypto]",
   "websocket_client",
@@ -43,16 +43,14 @@ dependencies = [
   "inputs",
 
   # these should be removed
+  "pyzmq",
+  "sentry-sdk",
   "setproctitle",
-
-  # logreader
-  "zstandard",
+  "jeepney",
+  "zstandard",  # this can go once we're on Python 3.14+
 
   # ui
   "comma-deps-raylib",
-  "qrcode",
-  "jeepney",
-  "pillow",
 ]
 
 [project.optional-dependencies]
@@ -60,28 +58,21 @@ docs = [
   "zensical",
 ]
 
+dev = [
+  "huggingface_hub",
+]
+
 testing = [
   "coverage",
-  "hypothesis ==6.47.*",
   "ty",
-  "pytest",
-  "pytest-cpp",
-  "pytest-subtests",
-  # https://github.com/pytest-dev/pytest-xdist/pull/1229
-  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
-  "pytest-mock",
   "ruff",
   "codespell",
 ]
 
-dev = [
-  "huggingface_hub",
-  "matplotlib",
-]
-
 tools = [
+  "matplotlib",
+
   "comma-deps-imgui",
-  "comma-deps-bzip2",
   "comma-deps-bootstrap-icons",
   "comma-deps-libusb",
   "comma-deps-ncurses",
@@ -119,24 +110,6 @@ packages = [
 [tool.hatch.metadata]
 allow-direct-references = true
 
-[tool.pytest.ini_options]
-minversion = "6.0"
-addopts = "-Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
-cpp_files = "test_*"
-cpp_harness = "openpilot/selfdrive/test/cpp_harness.py"
-python_files = "test_*.py"
-markers = [
-  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
-  "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture",
-  "nocapture: don't capture test output",
-  "shared_download_cache: share download cache between tests",
-  "xdist_group_class_property: group tests by a property of the class that contains them",
-]
-testpaths = [
-  "openpilot",
-]
-
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
@@ -175,10 +148,7 @@ exclude = [
 lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
-"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
-"time.time".msg = "Use time.monotonic"  # time.time can skip due to its reference clock, you probably want a monotonic clock
-
-# raylib banned APIs
+"time.time".msg = "Use time.monotonic. time.time can skip due to its reference clock, you probably want a monotonic clock"
 "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
diff --git a/rednose_repo b/rednose_repo
index 9e19086c26..28d4a7f69e 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 9e19086c26ca35708870d50ebcf237d65d0b163e
+Subproject commit 28d4a7f69e80e1c3e0d24ca0733d7daeaeade3d0
diff --git a/scripts/docs.py b/scripts/docs.py
deleted file mode 100644
index d60bfb791f..0000000000
--- a/scripts/docs.py
+++ /dev/null
@@ -1,63 +0,0 @@
-"""
-  wrapper that materializes symlinks in docs/ before build
-
-  we can delete this once zensical supports symlinks:
-  https://github.com/zensical/backlog/issues/55
-"""
-import os
-import shutil
-import signal
-import sys
-from pathlib import Path
-
-REPO_ROOT = Path(__file__).resolve().parent.parent
-DOCS_DIR = REPO_ROOT / "docs"
-SITE_DIR = REPO_ROOT / "docs_site"
-sys.path.insert(0, str(REPO_ROOT))
-# Local docs build helpers live under docs/ so they stay near the content
-# source. The wrapper prunes them from docs_site/ after build.
-sys.path.insert(0, str(DOCS_DIR))
-
-
-def _materialize(docs: Path) -> dict[Path, str]:
-  originals: dict[Path, str] = {}
-  for link in docs.rglob("*"):
-    if not link.is_symlink():
-      continue
-    target = link.resolve()
-    if not target.is_file():
-      continue
-    originals[link] = os.readlink(link)
-    link.unlink()
-    shutil.copy2(target, link)
-  return originals
-
-
-def _restore(originals: dict[Path, str]) -> None:
-  for link, target in originals.items():
-    link.unlink(missing_ok=True)
-    os.symlink(target, link)
-
-
-def _raise_interrupt(*_):
-  raise KeyboardInterrupt
-
-
-def _prune_site_output() -> None:
-  shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
-
-
-def main() -> None:
-  signal.signal(signal.SIGTERM, _raise_interrupt)
-  originals = _materialize(DOCS_DIR)
-  try:
-    from zensical.main import cli
-    cli(standalone_mode=False)
-    if len(sys.argv) > 1 and sys.argv[1] == "build":
-      _prune_site_output()
-  finally:
-    _restore(originals)
-
-
-if __name__ == "__main__":
-  main()
diff --git a/scripts/lint/check_indentation.py b/scripts/lint/check_indentation.py
new file mode 100755
index 0000000000..533dd2efa9
--- /dev/null
+++ b/scripts/lint/check_indentation.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import argparse
+import tokenize
+
+
+# TODO: remove this once https://github.com/astral-sh/ruff/issues/8705 is closed
+def check_indentation(filename: str, indent_width: int = 2) -> bool:
+  failed = False
+  indent_stack = [0]
+
+  with tokenize.open(filename) as f:
+    tokens = tokenize.generate_tokens(f.readline)
+    for token in tokens:
+      if token.type == tokenize.INDENT:
+        indentation = token.string
+        width = len(indentation)
+        expected = indent_stack[-1] + indent_width
+
+        if indentation != " " * expected:
+          found = "indentation containing tabs" if "\t" in indentation else f"{width} spaces"
+          print(f"{filename}:{token.start[0]}:1: expected {expected} spaces, found {found}")
+          failed = True
+        indent_stack.append(width)
+      elif token.type == tokenize.DEDENT:
+        indent_stack.pop()
+
+  return failed
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check Python block indentation.")
+  parser.add_argument("filenames", nargs="+")
+  args = parser.parse_args()
+
+  failed = False
+  for filename in args.filenames:
+    failed |= check_indentation(filename)
+  raise SystemExit(failed)
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 69ed3951d8..8f3aab4e52 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -46,6 +46,7 @@ function run_tests() {
   PYTHON_FILES=$2
 
   run "ruff" ruff check openpilot --quiet
+  run "check_indentation" $DIR/check_indentation.py $PYTHON_FILES
   run "check_added_large_files" $DIR/check_added_large_files.py --maxkb=120 $ALL_FILES
   run "check_shebang_scripts_are_executable" $DIR/check_shebang_scripts_are_executable.py $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
@@ -66,6 +67,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}check_indentation${NC}"
   echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
diff --git a/scripts/reporter.py b/scripts/reporter.py
deleted file mode 100755
index 5de5521835..0000000000
--- a/scripts/reporter.py
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/usr/bin/env python3
-import os
-import glob
-
-from tinygrad.nn.onnx import OnnxPBParser
-
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
-
-MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
-MODEL_PATH = "/openpilot/selfdrive/modeld/models/"
-
-
-class MetadataOnnxPBParser(OnnxPBParser):
-  def _parse_ModelProto(self) -> dict:
-    obj = {"metadata_props": []}
-    for fid, wire_type in self._parse_message(self.reader.len):
-      match fid:
-        case 14:
-          obj["metadata_props"].append(self._parse_StringStringEntryProto())
-        case _:
-          self.reader.skip_field(wire_type)
-    return obj
-
-
-def get_checkpoint(f):
-  model = MetadataOnnxPBParser(f).parse()
-  metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
-  # "" or "...//"; combined models list vision then policy
-  parts = metadata['model_checkpoint'].split('/')
-  return parts[-2] if len(parts) > 1 else parts[0]
-
-
-if __name__ == "__main__":
-  print("| | master | PR branch |")
-  print("|-| -----  | --------- |")
-
-  for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
-    fn = os.path.basename(f)
-    master_path = MASTER_PATH + MODEL_PATH + fn
-    if os.path.exists(master_path):
-      master = get_checkpoint(master_path)
-      master_col = f"[{master}](https://reporter.comma.life/{master})"
-    else:
-      master_col = "N/A (new model)"
-    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/{pr})", "|")
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
deleted file mode 100644
index f11db1d71b..0000000000
--- a/site_scons/site_tools/cython.py
+++ /dev/null
@@ -1,75 +0,0 @@
-import re
-import SCons
-from SCons.Action import Action
-from SCons.Scanner import Scanner
-import numpy as np
-
-pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
-pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
-cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
-
-np_version = SCons.Script.Value(np.__version__)
-
-def pyx_scan(node, env, path, arg=None):
-  contents = node.get_text_contents()
-  env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version)
-
-  # from  cimport ...
-  matches = pyx_from_import_re.findall(contents)
-  # cimport 
-  matches += pyx_import_re.findall(contents)
-
-  # Modules can be either .pxd or .pyx files
-  files = [m.replace('.', '/') + '.pxd' for m in matches]
-  files += [m.replace('.', '/') + '.pyx' for m in matches]
-
-  # cdef extern from 
-  files += cdef_import_re.findall(contents)
-
-  # Handle relative imports
-  cur_dir = str(node.get_dir())
-  files = [cur_dir + f if f.startswith('/') else f for f in files]
-
-  # Filter out non-existing files (probably system imports)
-  files = [f for f in files if env.File(f).exists()]
-  return env.File(files)
-
-
-pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
-cythonAction = Action("$CYTHONCOM")
-
-
-def create_builder(env):
-  try:
-    cython = env['BUILDERS']['Cython']
-  except KeyError:
-    cython = SCons.Builder.Builder(
-      action=cythonAction,
-      emitter={},
-      suffix=cython_suffix_emitter,
-      single_source=1
-    )
-    env.Append(SCANNERS=pyxscanner)
-    env['BUILDERS']['Cython'] = cython
-  return cython
-
-def cython_suffix_emitter(env, source):
-  return "$CYTHONCFILESUFFIX"
-
-def generate(env):
-  env["CYTHON"] = "cythonize"
-  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
-  env["CYTHONCFILESUFFIX"] = ".cpp"
-
-  c_file, _ = SCons.Tool.createCFileBuilders(env)
-
-  c_file.suffix['.pyx'] = cython_suffix_emitter
-  c_file.add_action('.pyx', cythonAction)
-
-  c_file.suffix['.py'] = cython_suffix_emitter
-  c_file.add_action('.py', cythonAction)
-
-  create_builder(env)
-
-def exists(env):
-  return True
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
new file mode 120000
index 0000000000..7bc8df1b8c
--- /dev/null
+++ b/system/hardware/tici/agnos.json
@@ -0,0 +1 @@
+../../../openpilot/system/hardware/comma/agnos.json
\ No newline at end of file
diff --git a/teleoprtc_repo b/teleoprtc_repo
index c0f813f1c4..31db236a9e 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit c0f813f1c4f7e2d29bc0ed6a4d2a7b3268511b0f
+Subproject commit 31db236a9ef820d7051ccd53488153cfbc84d3b9
diff --git a/tools/CTF.md b/tools/CTF.md
index 2b877a0e25..ae7bea09c2 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -5,7 +5,7 @@ Welcome to the first part of the comma CTF!
 * there's 2 flags in each segment, with roughly increasing difficulty
 * everything you'll need to find the flags is in the openpilot repo
   * grep is also your friend
-  * first, [setup](https://github.com/commaai/openpilot/tree/master/openpilot/tools#setup-your-pc) your PC
+  * first, [setup](https://github.com/commaai/openpilot/tree/master/tools) your PC
   * read the docs & checkout out the tools in openpilot/tools/
   * tip: once you get the replay and UI up, start by familiarizing yourself with seeking in replay
 
diff --git a/tools/README.md b/tools/README.md
index 1ea42bbe1d..ae36282828 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -45,6 +45,14 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 
 ## Directory Structure
 
+```
+├── car_porting/        # Tools for porting new cars
+├── release/            # Scripts for building openpilot releases
+└── scripts/            # Miscellaneous scripts
+```
+
+Development tools such as cabana, plotjuggler, and replay live in [openpilot/tools/](/openpilot/tools/):
+
 ```
 ├── cabana/             # View and plot CAN messages from drives or in realtime
 ├── camerastream/       # Cameras stream over the network
@@ -52,8 +60,5 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 ├── lib/                # Libraries to support the tools and reading openpilot logs
 ├── plotjuggler/        # A tool to plot openpilot logs
 ├── replay/             # Replay drives and mock openpilot services
-├── scripts/            # Miscellaneous scripts
-├── serial/             # Tools for using the comma serial
-├── sim/                # Run openpilot in a simulator
-└── webcam/             # Run openpilot on a PC with webcams
+└── sim/                # Run openpilot in a simulator
 ```
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index 07ca2d0eba..ef4c6ef80b 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -32,7 +32,7 @@ Finds common bugs for car interfaces, without even requiring a route.
 
 #### Example: Typo in signal name
 ```bash
-> pytest openpilot/selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
+> tools/test_runner.py openpilot/selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on
 
 =====================================================================
 FAILED openpilot/selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'
@@ -52,9 +52,9 @@ FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_ca
 Assert that panda safety matches openpilot's carState
 ----------------------------------------------------------------------
 Traceback (most recent call last):
-  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
-    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
-AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}
+  File "/home/batman/openpilot/opendbc_repo/opendbc/car/tests/test_models.py", line 440, in test_panda_safety_carstate
+    self.assertFalse(failed_checks, f"panda safety doesn't agree with CarState: {failed_checks}")
+AssertionError: {'gasPressed': 116} is not false : panda safety doesn't agree with CarState: {'gasPressed': 116}
 ```
 
 ## Jupyter notebooks
diff --git a/tools/car_porting/test_car_model.py b/tools/car_porting/test_car_model.py
index 61ec2e15ed..3fb7ec9ae6 100755
--- a/tools/car_porting/test_car_model.py
+++ b/tools/car_porting/test_car_model.py
@@ -3,7 +3,7 @@ import argparse
 import sys
 import unittest
 from opendbc.car.tests.routes import CarTestRoute
-from openpilot.selfdrive.car.tests.test_models import TestCarModel
+from opendbc.car.tests.test_models import TestCarModelBase
 from openpilot.tools.lib.route import SegmentRange
 
 
@@ -12,14 +12,14 @@ def create_test_models_suite(routes: list[CarTestRoute]) -> unittest.TestSuite:
   for test_route in routes:
     # create new test case and discover tests
     test_case_args = {"platform": test_route.car_model, "test_route": test_route}
-    CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
+    CarModelTestCase = type("CarModelTestCase", (TestCarModelBase,), test_case_args)
     test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
   return test_suite
 
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
-                                               "Uses openpilot/selfdrive/car/tests/test_models.py")
+                                               "Uses opendbc_repo/opendbc/car/tests/test_models.py")
   parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
   parser.add_argument("--car", help="Specify car model for test route")
   args = parser.parse_args()
diff --git a/tools/op.sh b/tools/op.sh
index 1ee7b232b0..3d7d17a76b 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -19,18 +19,6 @@ RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
 fi
-function op_install() {
-  echo "Installing op system-wide..."
-  OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
-  CMD=$(cat </dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
-  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
-}
 
 function retry() {
   local attempts=$1
@@ -99,7 +87,6 @@ function op_check_openpilot_dir() {
     echo -e " ↳ [${GREEN}✔${NC}] openpilot found."
     return 0
   fi
-
   echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
   echo "       inside the openpilot directory or specify one with the"
   echo "       --dir option!"
@@ -193,6 +180,17 @@ function op_before_cmd() {
 }
 
 function op_setup() {
+  echo "Installing op system-wide..."
+  OP_SH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh"
+  CMD=$(cat </dev/null || printf '\n%s\n' "$CMD" >> "$RC_FILE"
+  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it."
+
   op_get_openpilot_dir
   cd $OPENPILOT_ROOT
 
@@ -327,7 +325,7 @@ function op_lint() {
 
 function op_test() {
   op_before_cmd
-  op_run_command pytest "$@"
+  op_run_command tools/test_runner.py "$@"
 }
 
 function op_replay() {
@@ -351,6 +349,32 @@ function op_clip() {
   op_run_command openpilot/tools/clip/run.py "$@"
 }
 
+function op_check_agnos_update() {
+  if [[ ! -f "/AGNOS" ]]; then
+    return 0
+  fi
+
+  local choice current_version target_version
+  current_version="$(< /VERSION)"
+  target_version="$(unset AGNOS_VERSION; source "$OPENPILOT_ROOT/launch_env.sh"; echo "$AGNOS_VERSION")"
+
+  if [[ "$current_version" == "$target_version" ]]; then
+    return 0
+  fi
+
+  echo -e "${BOLD}AGNOS update available:${NC} $current_version → $target_version"
+  if read -r -p "Install it now? [y/N] " choice && [[ "$choice" =~ ^[Yy]$ ]]; then
+    op_run_command "$OPENPILOT_ROOT/openpilot/common/hardware/comma/agnos.py" --swap \
+      "$OPENPILOT_ROOT/openpilot/common/hardware/comma/agnos.json"
+
+    if read -r -p "Reboot now to apply the update? [y/N] " choice && [[ "$choice" =~ ^[Yy]$ ]]; then
+      op_run_command sudo reboot
+    else
+      echo "Reboot before starting openpilot to apply the AGNOS update."
+    fi
+  fi
+}
+
 function op_switch() {
   REMOTE="origin"
   if [ "$#" -gt 1 ]; then
@@ -378,11 +402,14 @@ function op_switch() {
 
   # remove openpilot update flag if present
   rm -f .overlay_init
+
+  op_check_agnos_update
 }
 
 function op_start() {
   if [[ -f "/AGNOS" ]]; then
     op_before_cmd
+    op_check_agnos_update
     op_run_command sudo systemctl restart comma $@
   fi
 }
@@ -409,9 +436,8 @@ function op_default() {
   echo -e "  ${BOLD}check${NC}        Check the development environment (git, os) to start using openpilot"
   echo -e "  ${BOLD}esim${NC}         Manage eSIM profiles on your comma device"
   echo -e "  ${BOLD}venv${NC}         Activate the python virtual environment"
-  echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
+  echo -e "  ${BOLD}setup${NC}        Install the 'op' tool and openpilot dependencies"
   echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
-  echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
   echo -e "  ${BOLD}switch${NC}       Switch to a different git branch with a clean slate (nukes any changes)"
   echo -e "  ${BOLD}start${NC}        Starts (or restarts) openpilot"
   echo -e "  ${BOLD}stop${NC}         Stops openpilot"
@@ -431,7 +457,7 @@ function op_default() {
   echo -e "  ${BOLD}sim${NC}          Run openpilot in a simulator"
   echo -e "  ${BOLD}lint${NC}         Run the linter"
   echo -e "  ${BOLD}post-commit${NC}  Install the linter as a post-commit hook"
-  echo -e "  ${BOLD}test${NC}         Run all unit tests from pytest"
+  echo -e "  ${BOLD}test${NC}         Run all unit tests"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
@@ -477,7 +503,6 @@ function _op() {
     replay )        shift 1; op_replay "$@" ;;
     clip )          shift 1; op_clip "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
-    install )       shift 1; op_install "$@" ;;
     switch )        shift 1; op_switch "$@" ;;
     start )         shift 1; op_start "$@" ;;
     stop )          shift 1; op_stop "$@" ;;
diff --git a/tools/release/build_release.sh b/tools/release/build_release.sh
index 6a019a80d0..3711cd582c 100755
--- a/tools/release/build_release.sh
+++ b/tools/release/build_release.sh
@@ -46,8 +46,9 @@ echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
 
-# Build
-export PYTHONPATH="$BUILD_DIR"
+# Build and test before launch_chffrplus.sh creates the on-device package
+# symlinks. SConstruct uses the same package roots for build subprocesses.
+export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
 scons
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
@@ -93,8 +94,8 @@ git commit --amend -m "openpilot v$VERSION"
 
 # Run tests
 cd $BUILD_DIR
-RELEASE=1 pytest -n0 -s openpilot/selfdrive/test/test_onroad.py
-#pytest openpilot/selfdrive/car/tests/test_car_interfaces.py
+RELEASE=1 ./openpilot/selfdrive/test/test_onroad.py
+#tools/test_runner.py openpilot/selfdrive/car/tests/test_car_interfaces.py
 
 echo "[-] pushing release T=$SECONDS"
 REFS=()
diff --git a/tools/release/release_files.py b/tools/release/release_files.py
index 7f08719ea8..54e92f5ff3 100755
--- a/tools/release/release_files.py
+++ b/tools/release/release_files.py
@@ -12,6 +12,9 @@ blacklist = [
 
   "matlab.*.md",
 
+  # skip big model for now
+  "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
+
   # no LFS or submodules in release
   ".lfsconfig",
   ".gitattributes",
diff --git a/tools/scripts/car/max_lat_accel.py b/tools/scripts/car/max_lat_accel.py
index dc44e8ac40..b76b3302cc 100755
--- a/tools/scripts/car/max_lat_accel.py
+++ b/tools/scripts/car/max_lat_accel.py
@@ -62,8 +62,8 @@ def find_events(lr: LogReader, extrapolate: bool = False, qlog: bool = False) ->
     elif msg.which() == 'controlsState':
       curvature = msg.controlsState.curvature
 
-    elif msg.which() == 'liveParameters':
-      roll = msg.liveParameters.roll
+    elif msg.which() == 'vehicleParameters':
+      roll = msg.vehicleParameters.roll
 
     if lat_active > min_lat_active and steering_unpressed > min_steering_unpressed and requesting_max > min_requesting_max:
       # TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it
diff --git a/tools/scripts/cycle_alerts.py b/tools/scripts/cycle_alerts.py
index 0bd42bcd3f..f78dfe1090 100755
--- a/tools/scripts/cycle_alerts.py
+++ b/tools/scripts/cycle_alerts.py
@@ -50,12 +50,12 @@ def cycle_alerts(duration=200, is_metric=False):
     (EventName.cameraFrameRate, ET.PERMANENT),
   ]
 
-  cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
+  cameras = ['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']
 
   CS = car.CarState.new_message()
   CP = CarInterface.get_non_essential_params("HONDA_CIVIC")
-  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
-                            'driverMonitoringState', 'longitudinalPlan', 'livePose',
+  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'narrowRoadCameraState', 'modelV2', 'extrinsicsCalibration',
+                            'driverMonitoringState', 'longitudinalPlan', 'deviceMotion',
                             'managerState'] + cameras)
 
   pm = messaging.PubMaster(['selfdriveState', 'pandaStates', 'deviceState'])
@@ -87,7 +87,7 @@ def cycle_alerts(duration=200, is_metric=False):
         procs[i].shouldBeRunning = True
       sm['managerState'].processes = procs
 
-      sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
+      sm['extrinsicsCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))]
 
       for s in sm.data.keys():
         prob = 0.3 if s in cameras else 0.08
diff --git a/tools/scripts/profiling/clpeak/no_print.patch b/tools/scripts/profiling/clpeak/no_print.patch
deleted file mode 100644
index 44a5efd10f..0000000000
--- a/tools/scripts/profiling/clpeak/no_print.patch
+++ /dev/null
@@ -1,39 +0,0 @@
-diff --git a/src/logger.cpp b/src/logger.cpp
-index a63c6dd..a1d9860 100644
---- a/src/logger.cpp
-+++ b/src/logger.cpp
-@@ -24,34 +24,22 @@ logger::~logger()
- 
- void logger::print(string str)
- {
--  cout << str;
--  cout.flush();
- }
- 
- void logger::print(double val)
- {
--  cout << setprecision(2) << fixed;
--  cout << val;
--  cout.flush();
- }
- 
- void logger::print(float val)
- {
--  cout << setprecision(2) << fixed;
--  cout << val;
--  cout.flush();
- }
- 
- void logger::print(int val)
- {
--  cout << val;
--  cout.flush();
- }
- 
- void logger::print(unsigned int val)
- {
--  cout << val;
--  cout.flush();
- }
- 
- void logger::xmlOpenTag(string tag)
diff --git a/tools/scripts/ssh.py b/tools/scripts/ssh.py
index 86e86c7eed..2d8ff46604 100755
--- a/tools/scripts/ssh.py
+++ b/tools/scripts/ssh.py
@@ -14,7 +14,7 @@ if __name__ == "__main__":
   parser.add_argument("device", help="device name or dongle id")
   parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
   parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
-  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "openpilot/common/hardware/tici/id_rsa"))
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "openpilot/common/hardware/comma/id_rsa"))
   parser.add_argument("--debug", help="enable debug output", action="store_true")
   args = parser.parse_args()
 
diff --git a/tools/scripts/test_fw_query_on_routes.py b/tools/scripts/test_fw_query_on_routes.py
index ab539e4feb..33e1aa39ba 100755
--- a/tools/scripts/test_fw_query_on_routes.py
+++ b/tools/scripts/test_fw_query_on_routes.py
@@ -12,7 +12,6 @@ from openpilot.tools.lib.logreader import LogReader, ReadMode
 from openpilot.tools.lib.route import SegmentRange
 
 
-NO_API = "NO_API" in os.environ
 SUPPORTED_BRANDS = VERSIONS.keys()
 SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
 UNKNOWN_BRAND = "unknown"
@@ -178,4 +177,3 @@ if __name__ == "__main__":
   print(f"Correct fuzzy matches:        {good_fuzzy}")
   print(f"Wrong fuzzy matches:          {wrong_fuzzy}")
   print()
-
diff --git a/tools/setup.sh b/tools/setup.sh
index dafd466ef9..ced451ab11 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -33,6 +33,13 @@ cat << 'EOF'
 EOF
 }
 
+function check_platform() {
+  if [[ -f /AGNOS ]]; then
+    echo -e "[${RED}✗${NC}] This installer is for PCs only. The environment is pre-configured in AGNOS."
+    return 1
+  fi
+}
+
 function check_stdin() {
   if [ -t 0 ]; then
     INTERACTIVE=1
@@ -121,7 +128,6 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh install
   $OPENPILOT_ROOT/tools/op.sh post-commit
 
   if ! $OPENPILOT_ROOT/tools/op.sh setup; then
@@ -136,6 +142,7 @@ function install_with_op() {
 }
 
 show_motd
+check_platform
 check_stdin
 ask_dir
 check_dir
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
index b76fdc7dde..5ad833a5ca 100755
--- a/tools/setup_dependencies.sh
+++ b/tools/setup_dependencies.sh
@@ -38,7 +38,11 @@ function install_linux_deps() {
     fi
   done
 
-  # normal stuff, this mostly for bare docker images
+  # ------------------------------------------------
+  # dependencies should never be added to this list.
+  # these are only for inflating bare docker images
+  # to their desktop equivalents.
+  # ------------------------------------------------
   if [[ "$missing_linux_deps" -eq 0 ]]; then
     # the native package managers are slow, so skip if we can
     echo "[ ] system packages already installed t=$SECONDS"
diff --git a/tools/test_runner.py b/tools/test_runner.py
new file mode 100755
index 0000000000..1979ce01e4
--- /dev/null
+++ b/tools/test_runner.py
@@ -0,0 +1,309 @@
+#!/usr/bin/env python3
+import argparse
+from collections import Counter
+from concurrent.futures import as_completed, ProcessPoolExecutor
+from itertools import batched
+import math
+import os
+from pathlib import Path
+import sys
+import tempfile
+import time
+import traceback
+import unittest
+import warnings
+
+ROOT = Path(__file__).resolve().parents[1]
+IGNORED = (
+  ROOT / "openpilot/selfdrive/test/process_replay/test_processes.py",
+  ROOT / "openpilot/tools/sim",
+)
+FAILURES = {"failed", "error", "xpassed"}
+STATUS_MARKS = {
+  "passed": (".", 32),
+  "skipped": ("s", 33),
+  "xfailed": ("x", 36),
+  "failed": ("F", 31),
+  "error": ("E", 31),
+  "xpassed": ("X", 31),
+}
+
+
+def paint(text, code):
+  if sys.stdout.isatty() and "NO_COLOR" not in os.environ:
+    return f"\033[{code}m{text}\033[0m"
+  return text
+
+
+class Capture:
+  def __init__(self, enabled):
+    self.enabled = enabled
+
+  def start(self):
+    if not self.enabled:
+      return
+    for stream in (sys.stdout, sys.stderr):
+      stream.flush()
+    self.files = [tempfile.TemporaryFile() for _ in range(2)]
+    self.saved = [os.dup(fd) for fd in (1, 2)]
+    for fd, file in enumerate(self.files, 1):
+      os.dup2(file.fileno(), fd)
+
+  def stop(self, keep=True):
+    if not self.enabled:
+      return "", ""
+    for stream in (sys.stdout, sys.stderr):
+      stream.flush()
+    for fd, saved in enumerate(self.saved, 1):
+      os.dup2(saved, fd)
+      os.close(saved)
+    output = []
+    for file in self.files:
+      if keep:
+        file.seek(0)
+        output.append(file.read().decode(errors="replace"))
+      file.close()
+    return output if keep else ("", "")
+
+
+def make_record(test_id, status="passed", detail=""):
+  return {"id": test_id, "status": status, "detail": detail, "time": 0.0, "stdout": "", "stderr": ""}
+
+
+class Result(unittest.TestResult):
+  def __init__(self, capture_output):
+    super().__init__()
+    self.records = []
+    self.current = None
+    self.capture = Capture(capture_output)
+
+  def startTest(self, test):
+    self.current = make_record(test.id())
+    self.started = time.monotonic()
+    self.capture.start()
+
+  def stopTest(self, test):
+    self.current["time"] = time.monotonic() - self.started
+    keep = self.current["status"] in FAILURES
+    stdout, stderr = self.capture.stop(keep)
+    if keep:
+      self.current["stdout"] = stdout
+      self.current["stderr"] = stderr
+    self.records.append(self.current)
+    self.current = None
+
+  def mark(self, test, status, detail=""):
+    if self.current is None:  # setUpClass/setUpModule can fail before a test starts
+      self.records.append(make_record(test.id(), status, detail))
+      return
+    if self.current["status"] not in FAILURES or status == "error":
+      self.current["status"] = status
+    if detail:
+      self.current["detail"] += ("\n\n" if self.current["detail"] else "") + detail
+
+  def addFailure(self, test, err):
+    self.mark(test, "failed", self._exc_info_to_string(err, test))
+
+  def addError(self, test, err):
+    self.mark(test, "error", self._exc_info_to_string(err, test))
+
+  def addSkip(self, test, reason):
+    self.mark(test, "skipped")
+
+  def addExpectedFailure(self, test, err):
+    self.mark(test, "xfailed")
+
+  def addUnexpectedSuccess(self, test):
+    self.mark(test, "xpassed", "Test was expected to fail, but passed.")
+
+  def addSubTest(self, test, subtest, err):
+    if err:
+      status = "failed" if issubclass(err[0], test.failureException) else "error"
+      self.mark(test, status, f"{subtest}\n{self._exc_info_to_string(err, test)}")
+
+
+def flatten(suite):
+  for test in suite:
+    if isinstance(test, unittest.TestSuite):
+      yield from flatten(test)
+    else:
+      yield test
+
+
+def module_name(path):
+  return ".".join(path.resolve().relative_to(ROOT).with_suffix("").parts)
+
+
+def collect(targets, keyword):
+  use_ignores = not targets
+  targets = targets or ["openpilot"]
+  loader = unittest.TestLoader()
+  tests = []
+  errors = []
+  names = []
+  for target in targets:
+    path_text, *nodes = target.split("::")
+    path = Path(path_text)
+    try:
+      if path.is_dir():
+        files = sorted(path.rglob("test_*.py"))
+        if use_ignores:
+          files = [f for f in files if not any(f.resolve().is_relative_to(i) for i in IGNORED)]
+        names.extend(module_name(file) for file in files)
+      elif path.is_file():
+        names.append(".".join((module_name(path), *nodes)))
+      elif "/" in path_text or path_text.endswith(".py"):
+        errors.append(f"{target}: file or directory not found")
+      else:
+        names.append(target.replace("::", "."))
+    except (OSError, ValueError) as e:
+      errors.append(str(e))
+  for name in dict.fromkeys(names):
+    before = len(loader.errors)
+    try:
+      suite = loader.loadTestsFromName(name)
+    except Exception:
+      errors.append(f"Failed to collect {name}\n{traceback.format_exc()}")
+      continue
+    errors.extend(loader.errors[before:])
+    for test in flatten(suite):
+      cls = type(test)
+      if cls.__name__ == "_FailedTest":
+        continue
+      if getattr(cls, "__unittest_skip_why__", "") == "parameterized base class":
+        continue
+      if not keyword or keyword.lower() in test.id().lower():
+        tests.append(test)
+  return list({test.id(): test for test in tests}.values()), errors
+
+
+def make_batches(tests, workers):
+  fixture_groups = {}
+  parallel = []
+  for test in tests:
+    cls = type(test)
+    module = sys.modules[cls.__module__]
+    if hasattr(module, "setUpModule") or hasattr(module, "tearDownModule"):
+      key = cls.__module__
+    elif "setUpClass" in cls.__dict__ or "tearDownClass" in cls.__dict__:
+      key = f"{cls.__module__}.{cls.__qualname__}"
+    else:
+      parallel.append(test.id())
+      continue
+    fixture_groups.setdefault(key, []).append(test.id())
+  size = max(1, math.ceil(len(tests) / (workers * 4)))
+  batches = list(fixture_groups.values())
+  batches.extend(list(batch) for batch in batched(parallel, size))
+  return sorted(batches, key=len, reverse=True)
+
+
+def run_batch(test_ids, capture_output):
+  result = Result(capture_output)
+  outside = Capture(capture_output)
+  os.chdir(ROOT)
+  outside.start()
+  try:
+    unittest.TestLoader().loadTestsFromNames(test_ids).run(result)
+  finally:
+    stdout, stderr = outside.stop()
+  failures = [item for item in result.records if item["status"] in FAILURES]
+  if failures:  # attach class/module fixture output to the first related failure
+    failures[0]["stdout"] = stdout + failures[0]["stdout"]
+    failures[0]["stderr"] = stderr + failures[0]["stderr"]
+  return result.records
+
+
+def run_parallel(batches, workers, warning_action, capture_output):
+  with ProcessPoolExecutor(max_workers=workers, initializer=warnings.simplefilter, initargs=(warning_action,)) as pool:
+    futures = {pool.submit(run_batch, batch, capture_output): batch for batch in batches}
+    for future in as_completed(futures):
+      try:
+        yield future.result()
+      except Exception:
+        yield [make_record(futures[future][0], "error", traceback.format_exc())]
+
+
+def report(records, errors, duration_count, elapsed):
+  width = min(100, os.get_terminal_size().columns if sys.stdout.isatty() else 80)
+  for index, error in enumerate(errors, 1):
+    print(paint(f"\n{'=' * 8} COLLECTION ERROR {index} {'=' * 8}", 31))
+    print(error.rstrip())
+  for item in sorted((r for r in records if r["status"] in FAILURES), key=lambda r: r["id"]):
+    heading = f" {item['status'].upper()} {item['id']} "
+    print(paint(f"\n{heading:=^{width}}", 31))
+    if item["detail"]:
+      print(item["detail"].rstrip())
+    for stream in ("stdout", "stderr"):
+      if item[stream]:
+        print(paint(f"\n--- captured {stream} ---", 33))
+        print(item[stream].rstrip())
+  timed = sorted((r for r in records if r["time"]), key=lambda r: r["time"], reverse=True)
+  if duration_count:
+    timed = timed[:duration_count]
+  if timed:
+    print(paint("\nslowest tests", 36))
+    for item in timed:
+      print(f"{item['time']:8.2f}s  {item['id']}")
+  counts = Counter(item["status"] for item in records)
+  parts = [f"{counts[name]} {name}" for name in STATUS_MARKS if counts[name]]
+  if errors:
+    parts.append(f"{len(errors)} collection error{'s' if len(errors) != 1 else ''}")
+  failed = bool(errors) or any(counts[name] for name in FAILURES)
+  print(paint(f"\n{', '.join(parts) or 'no tests ran'} in {elapsed:.2f}s", 31 if failed else 32))
+  if failed:
+    return 1
+  if records:
+    return 0
+  return 5
+
+
+def main():
+  parser = argparse.ArgumentParser(description=__doc__)
+  parser.add_argument("targets", nargs="*", help="files, directories, dotted IDs, or path.py::Class::test")
+  parser.add_argument("-j", "--jobs", type=int, default=os.cpu_count() or 1, help="workers (default: available CPUs)")
+  parser.add_argument("-k", metavar="TEXT", help="only run test IDs containing TEXT")
+  parser.add_argument("-s", "--no-capture", action="store_true", help="show test output live")
+  parser.add_argument("-v", "--verbose", action="store_true", help="show every test")
+  parser.add_argument("--durations", type=int, default=10, metavar="N", help="show N slowest tests; 0 shows all")
+  parser.add_argument("-W", "--warnings", choices=("error", "default", "always", "ignore"), default="error")
+  args = parser.parse_args()
+
+  capture_output = not args.no_capture
+  os.chdir(ROOT)
+  warnings.simplefilter(args.warnings)
+  started = time.monotonic()
+  tests, errors = collect(args.targets, args.k)
+  batches = make_batches(tests, args.jobs)
+  workers = min(args.jobs, len(batches))
+  summary = f"collected {len(tests)} test{'s' if len(tests) != 1 else ''} in {time.monotonic() - started:.2f}s "
+  summary += f"• {workers} worker{'s' if workers != 1 else ''}"
+  print(summary)
+  records = []
+  column = 0
+  try:
+    if workers < 2:
+      streams = (run_batch(batch, capture_output) for batch in batches)
+    else:
+      streams = run_parallel(batches, workers, args.warnings, capture_output)
+    for batch in streams:
+      records.extend(batch)
+      for item in batch:
+        mark, code = STATUS_MARKS[item["status"]]
+        if args.verbose:
+          print(f"{paint(mark, code)} {item['id']} {item['time']:.2f}s")
+        else:
+          print(paint(mark, code), end="", flush=True)
+          column += 1
+          if column == 80:
+            print()
+            column = 0
+  except KeyboardInterrupt:
+    print(paint("\ninterrupted", 31))
+    return 2
+  if column:
+    print()
+  return report(records, errors, args.durations, time.monotonic() - started)
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/uv.lock b/uv.lock
index b88ba23d7c..a86cd55d30 100644
--- a/uv.lock
+++ b/uv.lock
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-]
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 [[package]]
 name = "certifi"
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 source = { registry = "https://pypi.org/simple" }
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+    { url = "https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl", hash = "sha256:62f22742b58a1a33014a2b6b706588a8d7e2a88ae7bd1a6ebe8c992928483775", size = 136983, upload-time = "2026-07-22T03:35:11.276Z" },
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 name = "cffi"
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 [[package]]
diff --git a/zensical.toml b/zensical.toml
deleted file mode 100644
index 7e5ca2c5db..0000000000
--- a/zensical.toml
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-
-[[project.extra.social]]
-icon = "fontawesome/brands/discord"
-link = "https://discord.comma.ai"
-
-[[project.extra.social]]
-icon = "fontawesome/brands/x-twitter"
-link = "https://x.com/comma_ai"
-
-[project.markdown_extensions.attr_list]
-
-[project.markdown_extensions.admonition]
-
-[project.markdown_extensions.md_in_html]
-
-[project.markdown_extensions.pymdownx.highlight]
-anchor_linenums = true
-line_spans = "__span"
-pygments_lang_class = true
-
-[project.markdown_extensions.pymdownx.inlinehilite]
-
-[project.markdown_extensions.pymdownx.magiclink]
-
-[project.markdown_extensions.pymdownx.superfences]
-custom_fences = [{ name = "mermaid", class = "mermaid" }]
-
-[project.markdown_extensions.pymdownx.details]
-
-[project.markdown_extensions."ext.glossary"]