use upstream commit

Updated the code across multiple files to incorporate a new Firehose Mode. This new mode allows users to maximize their training data uploads improving openpilot's driving models. The access to more data can lead to better and bigger models being developed for the Experimental Mode. The Firehose Mode is made effective by following a few steps stated in the program. Added Firehose Mode to the list of modes in the program.

 The common parameters for the sunnypilot have also been modified. Existing conditions have been altered and new parameters have been added for MADS, Model Manager, sunnylink, and sunnypilot car specific parameters. In addition to enabling Sunnylink, the "SunnylinkDongleId" has been included in the test setup.

Made changes in sunnypilot's UI for the settings device, settings network, settings network advanced, settings sunnylink, settings sunnypilot, settings sunnypilot MADS, settings trips, settings vehicle, driver camera, and various onroad alert setups. The translations have also been updated accordingly.

.github/ISSUE_TEMPLATE/car_bug_report.yml

@@ -1,53 +0,0 @@
-name: Car bug report
-description: For issues with a particular car make or model
-labels: ["car", "bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: car
-    attributes:
-      label: Which car does this affect?
-      placeholder: Toyota Prius 2017
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/ISSUE_TEMPLATE/config.yml

@@ -1,9 +1,12 @@
 blank_issues_enabled: false
 contact_links:
+  - name: Car bug report
+    url: https://github.com/commaai/opendbc/issues/new
+    about: For issues with a particular car make or model
   - name: Join the Discord
     url: https://discord.comma.ai
     about: The community Discord is for both openpilot development and experience discussion
-  - name: Report model bugs
+  - name: Report driving behavior feedback
     url: https://discord.com/channels/469524606043160576/1254834193066623017
     about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
   - name: Community Wiki

.github/workflows/selfdrive_tests.yaml

@@ -195,9 +195,10 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && steps.print-diff.outcome == 'success' }}
       run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --local --upload-only"
+        git push origin ${{ github.head_ref || github.ref_name }}
     - name: Run regen
       if: false
       timeout-minutes: 4

Jenkinsfile

@@ -31,7 +31,7 @@ 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
-export PYTEST_ADDOPTS="-n 0"
+export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
@@ -208,7 +208,6 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-          //["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
         ])
       },
       'HW + Unit Tests': {
@@ -227,18 +226,29 @@ node {
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
-      'camerad': {
+      'camerad AR0231': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
+      },
+      'camerad OX03C10': {
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
+      /*
+      'camerad OS04C10': {
+        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
+          step("build", "cd system/manager && ./build.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+        ])
+      },
+      */
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),

RELEASES.md

@@ -1,4 +1,8 @@
-Version 0.9.8 (2025-02-27)
+Version 0.9.9 (2025-04-XX)
+========================
+* Tesla Model 3 and Y support thanks to lukasloetkolben!
+
+Version 0.9.8 (2025-02-28)
 ========================
 * New driving model
   * Model now gates applying positive acceleration in Chill mode
@@ -8,15 +12,11 @@ Version 0.9.8 (2025-02-27)
   * More GPU time for bigger driving models
   * Power draw reduced 0.5W, which means your device runs cooler
 * Added toggle to enable driver monitoring even when openpilot is not engaged
-* FIREHOSE mode
-  * Allows you to maximize your training data uploads to improve the models
+* Firehose Mode for maximizing your training data uploads
 * Enable openpilot longitudinal control for Ford Q3 vehicles
 * New Toyota TSS2 longitudinal tune
-* Coming soon
-  * Rivian support
-  * F-150 & Mach-E support
-  * Tesla Model 3 support
-
+* Rivian R1S and R1T support thanks to lukasloetkolben!
+* Ford F-150, F-150 Hybrid, Mach-E, and Ranger support
 
 Version 0.9.7 (2024-06-13)
 ========================

cereal/log.capnp

@@ -2238,6 +2238,11 @@ struct LiveParametersData {
   roll @14 :Float32;
   debugFilterState @16 :FilterState;
 
+  angleOffsetValid @17 :Bool = true;
+  angleOffsetAverageValid @18 :Bool = true;
+  steerRatioValid @19 :Bool = true;
+  stiffnessFactorValid @20 :Bool = true;
+
   yawRateDEPRECATED @7 :Float32;
   filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
 

cereal/messaging/__init__.py

@@ -9,11 +9,11 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict, Deque
-from collections import deque
+from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
+from openpilot.common.util import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
@@ -108,10 +108,8 @@ class FrequencyTracker:
 
     self.min_freq = min_freq * 0.8
     self.max_freq = max_freq * 1.2
-    self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
-    self.recv_dts_sum = 0.0
-    self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
-    self.recent_recv_dts_sum = 0.0
+    self.avg_dt = MovingAverage(int(10 * freq))
+    self.recent_avg_dt = MovingAverage(int(freq))
     self.prev_time = 0.0
 
   def record_recv_time(self, cur_time: float) -> None:
@@ -119,28 +117,21 @@ class FrequencyTracker:
     if self.prev_time > 1e-5:
       dt = cur_time - self.prev_time
 
-      if len(self.recv_dts) == self.recv_dts.maxlen:
-        self.recv_dts_sum -= self.recv_dts[0]
-      self.recv_dts.append(dt)
-      self.recv_dts_sum += dt
-
-      if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
-        self.recent_recv_dts_sum -= self.recent_recv_dts[0]
-      self.recent_recv_dts.append(dt)
-      self.recent_recv_dts_sum += dt
+      self.avg_dt.add_value(dt)
+      self.recent_avg_dt.add_value(dt)
 
     self.prev_time = cur_time
 
   @property
   def valid(self) -> bool:
-    if not self.recv_dts:
+    if self.avg_dt.count == 0:
       return False
 
-    avg_freq = len(self.recv_dts) / self.recv_dts_sum
+    avg_freq = 1.0 / self.avg_dt.get_average()
     if self.min_freq <= avg_freq <= self.max_freq:
       return True
 
-    avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
+    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
     return self.min_freq <= avg_freq_recent <= self.max_freq
 
 

cereal/services.py

@@ -29,7 +29,7 @@ _services: dict[str, tuple] = {
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 20),
+  "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139),
   "logMessage": (True, 0.),
@@ -58,10 +58,10 @@ _services: dict[str, tuple] = {
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 20),
+  "driverEncodeIdx": (False, 20., 1),
   "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 20),
+  "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20.),

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Not Too Shabby (Default)"
+#define DEFAULT_MODEL "vision+policy (Default)"

common/params.cc

@@ -8,6 +8,7 @@
 #include <csignal>
 #include <unordered_map>
 
+#include "common/params_keys.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
@@ -87,160 +88,6 @@ private:
   int fd_ = -1;
 };
 
-std::unordered_map<std::string, uint32_t> keys = {
-    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
-    {"AlwaysOnDM", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"AssistNowToken", PERSISTENT},
-    {"AthenadPid", PERSISTENT},
-    {"AthenadUploadQueue", PERSISTENT},
-    {"AthenadRecentlyViewedRoutes", PERSISTENT},
-    {"BootCount", PERSISTENT},
-    {"CalibrationParams", PERSISTENT},
-    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
-    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
-    {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsPersistent", PERSISTENT},
-    {"CarParamsPrevRoute", PERSISTENT},
-    {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CurrentBootlog", PERSISTENT},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT | BACKUP},
-    {"DisableUpdates", PERSISTENT | BACKUP},
-    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
-    {"DongleId", PERSISTENT},
-    {"DoReboot", CLEAR_ON_MANAGER_START},
-    {"DoShutdown", CLEAR_ON_MANAGER_START},
-    {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
-    {"ExperimentalMode", PERSISTENT | BACKUP},
-    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ForcePowerDown", PERSISTENT},
-    {"GitBranch", PERSISTENT},
-    {"GitCommit", PERSISTENT},
-    {"GitCommitDate", PERSISTENT},
-    {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT | BACKUP},
-    {"GithubUsername", PERSISTENT | BACKUP},
-    {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT | BACKUP},
-    {"GsmMetered", PERSISTENT | BACKUP},
-    {"GsmRoaming", PERSISTENT | BACKUP},
-    {"HardwareSerial", PERSISTENT},
-    {"HasAcceptedTerms", PERSISTENT},
-    {"InstallDate", PERSISTENT},
-    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
-    {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT | BACKUP},
-    {"IsMetric", PERSISTENT | BACKUP},
-    {"IsOffroad", CLEAR_ON_MANAGER_START},
-    {"IsOnroad", PERSISTENT},
-    {"IsRhdDetected", PERSISTENT},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
-    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT | BACKUP},
-    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
-    {"LastGPSPosition", PERSISTENT},
-    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-    {"LastUpdateException", CLEAR_ON_MANAGER_START},
-    {"LastUpdateTime", PERSISTENT},
-    {"LiveParameters", PERSISTENT},
-    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"LocationFilterInitialState", PERSISTENT},
-    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT},
-    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSignatures", CLEAR_ON_MANAGER_START},
-    {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT | BACKUP},
-    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
-    {"RouteCount", PERSISTENT},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT | BACKUP},
-    {"TermsVersion", PERSISTENT},
-    {"TrainingVersion", PERSISTENT},
-    {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterAvailableBranches", PERSISTENT},
-    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
-    {"UpdaterLastFetchTime", PERSISTENT},
-    {"Version", PERSISTENT},
-
-    // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT},
-    {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
-    {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
-
-    // MADS params
-    {"Mads", PERSISTENT | BACKUP},
-    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
-    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
-
-    // Model Manager params
-    {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
-
-    // sunnylink params
-    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
-    {"SunnylinkDongleId", PERSISTENT},
-    {"SunnylinkdPid", PERSISTENT},
-    {"SunnylinkEnabled", PERSISTENT},
-
-    // sunnypilot car specific params
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
-
-    {"DynamicExperimentalControl", PERSISTENT},
-};
-
 } // namespace
 
 

common/params_keys.h

@@ -0,0 +1,158 @@
+#pragma once
+
+#include <string>
+#include <unordered_map>
+
+inline static std::unordered_map<std::string, uint32_t> keys = {
+    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AdbEnabled", PERSISTENT},
+    {"AlwaysOnDM", PERSISTENT},
+    {"ApiCache_Device", PERSISTENT},
+    {"AssistNowToken", PERSISTENT},
+    {"AthenadPid", PERSISTENT},
+    {"AthenadUploadQueue", PERSISTENT},
+    {"AthenadRecentlyViewedRoutes", PERSISTENT},
+    {"BootCount", PERSISTENT},
+    {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
+    {"CarBatteryCapacity", PERSISTENT},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CarParamsCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsPersistent", PERSISTENT},
+    {"CarParamsPrevRoute", PERSISTENT},
+    {"CompletedTrainingVersion", PERSISTENT},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CurrentBootlog", PERSISTENT},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisablePowerDown", PERSISTENT},
+    {"DisableUpdates", PERSISTENT},
+    {"DisengageOnAccelerator", PERSISTENT},
+    {"DongleId", PERSISTENT},
+    {"DoReboot", CLEAR_ON_MANAGER_START},
+    {"DoShutdown", CLEAR_ON_MANAGER_START},
+    {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"FirehoseMode", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
+    {"GitBranch", PERSISTENT},
+    {"GitCommit", PERSISTENT},
+    {"GitCommitDate", PERSISTENT},
+    {"GitDiff", PERSISTENT},
+    {"GithubSshKeys", PERSISTENT},
+    {"GithubUsername", PERSISTENT},
+    {"GitRemote", PERSISTENT},
+    {"GsmApn", PERSISTENT},
+    {"GsmMetered", PERSISTENT},
+    {"GsmRoaming", PERSISTENT},
+    {"HardwareSerial", PERSISTENT},
+    {"HasAcceptedTerms", PERSISTENT},
+    {"InstallDate", PERSISTENT},
+    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
+    {"IsEngaged", PERSISTENT},
+    {"IsLdwEnabled", PERSISTENT},
+    {"IsMetric", PERSISTENT},
+    {"IsOffroad", CLEAR_ON_MANAGER_START},
+    {"IsOnroad", PERSISTENT},
+    {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
+    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LanguageSetting", PERSISTENT},
+    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
+    {"LastGPSPosition", PERSISTENT},
+    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
+    {"LastUpdateException", CLEAR_ON_MANAGER_START},
+    {"LastUpdateTime", PERSISTENT},
+    {"LiveParameters", PERSISTENT},
+    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LocationFilterInitialState", PERSISTENT},
+    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LongitudinalPersonality", PERSISTENT},
+    {"NetworkMetered", PERSISTENT},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"OpenpilotEnabledToggle", PERSISTENT},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaSignatures", CLEAR_ON_MANAGER_START},
+    {"PrimeType", PERSISTENT},
+    {"RecordFront", PERSISTENT},
+    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
+    {"SecOCKey", PERSISTENT | DONT_LOG},
+    {"RouteCount", PERSISTENT},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"SshEnabled", PERSISTENT},
+    {"TermsVersion", PERSISTENT},
+    {"TrainingVersion", PERSISTENT},
+    {"UbloxAvailable", PERSISTENT},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
+    {"UpdaterAvailableBranches", PERSISTENT},
+    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
+    {"UpdaterLastFetchTime", PERSISTENT},
+    {"Version", PERSISTENT},
+
+    // --- sunnypilot params --- //
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
+    {"CarParamsSPPersistent", PERSISTENT},
+    {"CarPlatformBundle", PERSISTENT},
+    {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
+    {"OffroadMode", CLEAR_ON_MANAGER_START},
+    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
+
+    // MADS params
+    {"Mads", PERSISTENT | BACKUP},
+    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
+
+    // Model Manager params
+    {"ModelManager_ActiveBundle", PERSISTENT},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+
+    // sunnylink params
+    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
+    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
+    {"SunnylinkDongleId", PERSISTENT},
+    {"SunnylinkdPid", PERSISTENT},
+    {"SunnylinkEnabled", PERSISTENT},
+
+    // sunnypilot car specific params
+    {"HyundaiRadarTracks", PERSISTENT},
+    {"HyundaiRadarTracksConfirmed", PERSISTENT},
+    {"HyundaiRadarTracksPersistent", PERSISTENT},
+    {"HyundaiRadarTracksToggle", PERSISTENT},
+
+    {"DynamicExperimentalControl", PERSISTENT},
+};

common/realtime.py

@@ -2,10 +2,10 @@
 import gc
 import os
 import time
-from collections import deque
 
 from setproctitle import getproctitle
 
+from openpilot.common.util import MovingAverage
 from openpilot.system.hardware import PC
 
 
@@ -48,10 +48,12 @@ class Ratekeeper:
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
-    self._dts = deque([self._interval], maxlen=100)
     self._last_monitor_time = -1.
     self._next_frame_time = -1.
 
+    self.avg_dt = MovingAverage(100)
+    self.avg_dt.add_value(self._interval)
+
   @property
   def frame(self) -> int:
     return self._frame
@@ -62,9 +64,8 @@ class Ratekeeper:
 
   @property
   def lagging(self) -> bool:
-    avg_dt = sum(self._dts) / len(self._dts)
     expected_dt = self._interval * (1 / 0.9)
-    return avg_dt > expected_dt
+    return self.avg_dt.get_average() > expected_dt
 
   # Maintain loop rate by calling this at the end of each loop
   def keep_time(self) -> bool:
@@ -81,7 +82,7 @@ class Ratekeeper:
 
     prev = self._last_monitor_time
     self._last_monitor_time = time.monotonic()
-    self._dts.append(self._last_monitor_time - prev)
+    self.avg_dt.add_value(self._last_monitor_time - prev)
 
     lagged = False
     remaining = self._next_frame_time - time.monotonic()

common/time_helpers.py

@@ -1,15 +1,15 @@
 import datetime
 from pathlib import Path
 
-_MIN_DATE = datetime.datetime(year=2024, month=8, day=26)
+MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time
   systemd_path = Path("/lib/systemd/systemd")
   if systemd_path.exists():
     d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
-    return d + datetime.timedelta(days=1)
-  return _MIN_DATE
+    return max(MIN_DATE, d + datetime.timedelta(days=1))
+  return MIN_DATE
 
 def system_time_valid():
   return datetime.datetime.now() > min_date()

common/util.py

@@ -0,0 +1,24 @@
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.8"
+#define COMMA_VERSION "0.9.9"

conftest.py

@@ -14,7 +14,6 @@ collect_ignore = [
   "selfdrive/ui/tests/test_translations",
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
-  "selfdrive/test/test_time_to_onroad.py",
 ]
 collect_ignore_glob = [
   "selfdrive/debug/*.py",

docs/CARS.md

@@ -4,300 +4,312 @@
 
 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.
 
-# 290 Supported Cars
+# 302 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
-|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
-|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
-|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
-|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
-|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
+|Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
-|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
-|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
-|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
-|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
-|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
-|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
+|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
+|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>||
+|Tesla|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
+|Tesla|Model Y (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
@@ -307,12 +319,13 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
 <sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
 <sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## 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/).

pyproject.toml

@@ -42,7 +42,7 @@ dependencies = [
 
   # modeld
   "onnx >= 1.14.0",
-  "onnxruntime >=1.16.3",
+  "llvmlite",
 
   # logging
   "pyzmq",

release/build_release.sh

@@ -74,7 +74,8 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/supercombo.onnx
+rm selfdrive/modeld/models/driving_vision.onnx
+rm selfdrive/modeld/models/driving_policy.onnx
 rm sunnypilot/modeld*/models/supercombo.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +

scripts/jenkins_loop_test.sh

@@ -13,6 +13,8 @@ RUNS="20"
 COOKIE_JAR=/tmp/cookies
 CRUMB=$(curl -s --cookie-jar $COOKIE_JAR 'https://jenkins.comma.life/crumbIssuer/api/xml?xpath=concat(//crumbRequestField,":",//crumb)')
 
+FIRST_LOOP=1
+
 function loop() {
   JENKINS_BRANCH="__jenkins_loop_${BRANCH}"
   API_ROUTE="https://jenkins.comma.life/job/openpilot/job/$JENKINS_BRANCH"
@@ -20,17 +22,12 @@ function loop() {
   for run in $(seq 1 $((RUNS / 2))); do
 
     N=2
-    TEST_BUILDS=()
 
-    # Try to find previous builds
-    ALL_BUILDS=( $(curl -s $API_ROUTE/api/json | jq .builds.[].number 2> /dev/null || :) )
-
-    # No builds. Create branch
-    if [[ ${#ALL_BUILDS[@]} -eq 0 ]]; then
+    if [[ $FIRST_LOOP ]]; then
       TEMP_DIR=$(mktemp -d)
       GIT_LFS_SKIP_SMUDGE=1 git clone --quiet -b $BRANCH --depth=1 --no-tags git@github.com:commaai/openpilot $TEMP_DIR
       git -C $TEMP_DIR checkout --quiet -b $JENKINS_BRANCH
-      echo "TESTING" >> $TEMP_DIR/testing_jenkins
+      echo "TESTING: $(date)" >> $TEMP_DIR/testing_jenkins
       git -C $TEMP_DIR add testing_jenkins
       git -C $TEMP_DIR commit --quiet -m "testing"
       git -C $TEMP_DIR push --quiet -f origin $JENKINS_BRANCH
@@ -40,34 +37,21 @@ function loop() {
       echo 'waiting on Jenkins...'
       echo ''
       sleep 90
-    else
-      # Found some builds. Wait for them to end if they are still running
-      for i in ${ALL_BUILDS[@]}; do
-        running=$(curl -s $API_ROUTE/$i/api/json/ | jq .inProgress)
-        if [[ $running == "false" ]]; then
-          continue
-        fi
-        TEST_BUILDS=( ${ALL_BUILDS[@]} )
-        N=${#TEST_BUILDS[@]}
-        break
-      done
+      FIRST_LOOP=""
     fi
 
-    # No running builds found
-    if [[ ${#TEST_BUILDS[@]} -eq 0 ]]; then
-      FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
-      LAST_BUILD=$((FIRST_BUILD+N-1))
-      TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
+    FIRST_BUILD=$(curl -s $API_ROUTE/api/json | jq .nextBuildNumber)
+    LAST_BUILD=$((FIRST_BUILD+N-1))
+    TEST_BUILDS=( $(seq $FIRST_BUILD $LAST_BUILD) )
 
-      # Start N new builds
-      for i in ${TEST_BUILDS[@]};
-      do
-        echo "Starting build $i"
-        curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
-        sleep 5
-      done
-      echo ""
-    fi
+    # Start N new builds
+    for i in ${TEST_BUILDS[@]};
+    do
+      echo "Starting build $i"
+      curl -s --output /dev/null --cookie $COOKIE_JAR -H "$CRUMB" -X POST $API_ROUTE/build?delay=0sec
+      sleep 5
+    done
+    echo ""
 
     # Wait for all builds to end
     while true; do

selfdrive/car/CARS_template.md

@@ -23,7 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All
 
 ### Footnotes
 {% for footnote in footnotes %}
-<sup>{{loop.index}}</sup>{{footnote}} <br />
+<sup>{{loop.index}}</sup>{{footnote | replace('</br>', '')}} <br />
 {% endfor %}
 
 ## Community Maintained Cars

selfdrive/car/tests/test_car_interfaces.py

@@ -9,9 +9,9 @@ from opendbc.car import DT_CTRL
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
 from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
-from opendbc.car.fingerprints import all_known_cars
 from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
 from opendbc.car.mock.values import CAR as MOCK
+from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -30,7 +30,7 @@ MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 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(all_known_cars())] + [MOCK.MOCK])
+  @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())
@@ -87,6 +87,8 @@ class TestCarInterfaces:
 
     CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
+    CC.latActive = True
+    CC.longActive = True
     CC = CC.as_reader()
     for _ in range(10):
       car_interface.update([])

selfdrive/car/tests/test_models.py

@@ -14,11 +14,12 @@ from 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 all_known_cars, MIGRATION
+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
+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
@@ -27,9 +28,8 @@ from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotc
                                           internal_source_zst, comma_api_source, auto_source
 from openpilot.tools.lib.route import SegmentName
 
-from panda.tests.libpanda import libpanda_py
-
 SafetyModel = car.CarParams.SafetyModel
+SteerControlType = structs.CarParams.SteerControlType
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
@@ -45,9 +45,9 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
   if not len(INTERNAL_SEG_LIST):
     routes_by_car = defaultdict(set)
     for r in routes:
-      routes_by_car[r.car_model].add(r)
+      routes_by_car[str(r.car_model)].add(r)
 
-    for i, c in enumerate(sorted(all_known_cars())):
+    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,))))
 
@@ -128,7 +128,7 @@ class TestCarModelBase(unittest.TestCase):
       try:
         source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
                                               [openpilotci_source_zst, openpilotci_source, comma_api_source])
-        lr = LogReader(segment_range, source=source)
+        lr = LogReader(segment_range, source=source, sort_by_time=True)
         return cls.get_testing_data_from_logreader(lr)
       except (LogsUnavailable, AssertionError):
         pass
@@ -172,7 +172,7 @@ class TestCarModelBase(unittest.TestCase):
     assert self.CI
 
     # TODO: check safetyModel is in release panda build
-    self.safety = libpanda_py.libpanda
+    self.safety = libsafety_py.libsafety
 
     cfg = self.CP.safetyConfigs[-1]
     set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam)
@@ -186,7 +186,7 @@ class TestCarModelBase(unittest.TestCase):
     # make sure car params are within a valid range
     self.assertGreater(self.CP.mass, 1)
 
-    if self.CP.steerControlType != structs.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType != SteerControlType.angle:
       tuning = self.CP.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
@@ -245,7 +245,7 @@ class TestCarModelBase(unittest.TestCase):
         if msg.src >= 64:
           continue
 
-        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
+        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
 
@@ -284,7 +284,7 @@ class TestCarModelBase(unittest.TestCase):
         now_nanos += DT_CTRL * 1e9
         msgs_sent += len(sendcan)
         for addr, dat, bus in sendcan:
-          to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
+          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
@@ -325,6 +325,8 @@ class TestCarModelBase(unittest.TestCase):
     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 dat in 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
@@ -333,10 +335,12 @@ class TestCarModelBase(unittest.TestCase):
       prev_panda_brake = self.safety.get_brake_pressed_prev()
       prev_panda_regen_braking = self.safety.get_regen_braking_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 = libpanda_py.make_CANPacket(address, bus, dat)
+      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)])]
@@ -360,6 +364,16 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         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())
@@ -379,16 +393,17 @@ class TestCarModelBase(unittest.TestCase):
     for can in self.can_msgs[:300]:
       self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), )))
       for msg in filter(lambda m: m.src in range(64), can.can):
-        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
+        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_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader()
       for msg in filter(lambda m: m.src in range(64), can.can):
-        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
+        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)}")
 
@@ -405,6 +420,15 @@ class TestCarModelBase(unittest.TestCase):
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
       checks['standstill'] += 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:
+        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))
+
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
       if CS.brakePressed and not self.safety.get_brake_pressed_prev():

selfdrive/controls/controlsd.py

@@ -10,13 +10,13 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import get_car_interface
+from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
 State = log.SelfdriveState.OpenpilotState
@@ -25,6 +25,7 @@ LaneChangeDirection = log.LaneChangeDirection
 
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
+
 class Controls:
   def __init__(self) -> None:
     self.params = Params()
@@ -48,7 +49,7 @@ class Controls:
     self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
-    self.calibrated_pose: Pose|None = None
+    self.calibrated_pose: Pose | None = None
 
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
@@ -123,9 +124,9 @@ class Controls:
     self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
     actuators.curvature = float(self.desired_curvature)
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                                            self.steer_limited, self.desired_curvature,
-                                                                            self.calibrated_pose) # TODO what if not available
-    actuators.steer = float(steer)
+                                                       self.steer_limited, self.desired_curvature,
+                                                       self.calibrated_pose)  # TODO what if not available
+    actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
@@ -178,7 +179,7 @@ class Controls:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                              STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
+        self.steer_limited = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
@@ -232,6 +233,7 @@ class Controls:
       self.publish(CC, CC_SP, lac_log)
       rk.monitor_time()
 
+
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)
   controls = Controls()

selfdrive/controls/lib/latcontrol_torque.py

@@ -3,9 +3,9 @@ import numpy as np
 
 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
-from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
 # Lateral acceleration achieved by a specific car correlates to

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -5,10 +5,10 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.vehicle_model import VehicleModel
 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.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_livePose
 

selfdrive/controls/lib/tests/test_vehicle_model.py

@@ -1,67 +0,0 @@
-import pytest
-import math
-
-import numpy as np
-
-from opendbc.car.honda.interface import CarInterface
-from opendbc.car.honda.values import CAR
-from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
-
-
-class TestVehicleModel:
-  def setup_method(self):
-    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
-    self.VM = VehicleModel(CP)
-
-  def test_round_trip_yaw_rate(self):
-    # TODO: fix VM to work at zero speed
-    for u in np.linspace(1, 30, num=10):
-      for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
-        for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
-          yr = self.VM.yaw_rate(sa, u, roll)
-          new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll)
-
-          assert sa == pytest.approx(new_sa)
-
-  def test_dyn_ss_sol_against_yaw_rate(self):
-    """Verify that the yaw_rate helper function matches the results
-    from the state space model."""
-
-    for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
-      for u in np.linspace(1, 30, num=10):
-        for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
-
-          # Compute yaw rate based on state space model
-          _, yr1 = dyn_ss_sol(sa, u, roll, self.VM)
-
-          # Compute yaw rate using direct computations
-          yr2 = self.VM.yaw_rate(sa, u, roll)
-          assert float(yr1[0]) == pytest.approx(yr2)
-
-  def test_syn_ss_sol_simulate(self):
-    """Verifies that dyn_ss_sol matches a simulation"""
-
-    for roll in np.linspace(math.radians(-20), math.radians(20), num=11):
-      for u in np.linspace(1, 30, num=10):
-        A, B = create_dyn_state_matrices(u, self.VM)
-
-        # Convert to discrete time system
-        dt = 0.01
-        top = np.hstack((A, B))
-        full = np.vstack((top, np.zeros_like(top))) * dt
-        Md = sum([np.linalg.matrix_power(full, k) / math.factorial(k) for k in range(25)])
-        Ad = Md[:A.shape[0], :A.shape[1]]
-        Bd = Md[:A.shape[0], A.shape[1]:]
-
-        for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
-          inp = np.array([[sa], [roll]])
-
-          # Simulate for 1 second
-          x1 = np.zeros((2, 1))
-          for _ in range(100):
-            x1 = Ad @ x1 + Bd @ inp
-
-          # Compute steady state solution directly
-          x2 = dyn_ss_sol(sa, u, roll, self.VM)
-
-          np.testing.assert_almost_equal(x1, x2, decimal=3)

selfdrive/controls/lib/vehicle_model.py

@@ -1,230 +0,0 @@
-#!/usr/bin/env python3
-"""
-Dynamic bicycle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
-
-The state is x = [v, r]^T
-with v lateral speed [m/s], and r rotational speed [rad/s]
-
-The input u is the steering angle [rad], and roll [rad]
-
-The system is defined by
-x_dot = A*x + B*u
-
-A depends on longitudinal speed, u [m/s], and vehicle parameters CP
-"""
-
-import numpy as np
-from numpy.linalg import solve
-
-from cereal import car
-
-ACCELERATION_DUE_TO_GRAVITY = 9.8
-
-
-class VehicleModel:
-  def __init__(self, CP: car.CarParams):
-    """
-    Args:
-      CP: Car Parameters
-    """
-    # for math readability, convert long names car params into short names
-    self.m: float = CP.mass
-    self.j: float = CP.rotationalInertia
-    self.l: float = CP.wheelbase
-    self.aF: float = CP.centerToFront
-    self.aR: float = CP.wheelbase - CP.centerToFront
-    self.chi: float = CP.steerRatioRear
-
-    self.cF_orig: float = CP.tireStiffnessFront
-    self.cR_orig: float = CP.tireStiffnessRear
-    self.update_params(1.0, CP.steerRatio)
-
-  def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
-    """Update the vehicle model with a new stiffness factor and steer ratio"""
-    self.cF: float = stiffness_factor * self.cF_orig
-    self.cR: float = stiffness_factor * self.cR_orig
-    self.sR: float = steer_ratio
-
-  def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray:
-    """Returns the steady state solution.
-
-    If the speed is too low we can't use the dynamic model (tire slip is undefined),
-    we then have to use the kinematic model
-
-    Args:
-      sa: Steering wheel angle [rad]
-      u: Speed [m/s]
-      roll: Road Roll [rad]
-
-    Returns:
-      2x1 matrix with steady state solution (lateral speed, rotational speed)
-    """
-    if u > 0.1:
-      return dyn_ss_sol(sa, u, roll, self)
-    else:
-      return kin_ss_sol(sa, u, self)
-
-  def calc_curvature(self, sa: float, u: float, roll: float) -> float:
-    """Returns the curvature. Multiplied by the speed this will give the yaw rate.
-
-    Args:
-      sa: Steering wheel angle [rad]
-      u: Speed [m/s]
-      roll: Road Roll [rad]
-
-    Returns:
-      Curvature factor [1/m]
-    """
-    return (self.curvature_factor(u) * sa / self.sR) + self.roll_compensation(roll, u)
-
-  def curvature_factor(self, u: float) -> float:
-    """Returns the curvature factor.
-    Multiplied by wheel angle (not steering wheel angle) this will give the curvature.
-
-    Args:
-      u: Speed [m/s]
-
-    Returns:
-      Curvature factor [1/m]
-    """
-    sf = calc_slip_factor(self)
-    return (1. - self.chi) / (1. - sf * u**2) / self.l
-
-  def get_steer_from_curvature(self, curv: float, u: float, roll: float) -> float:
-    """Calculates the required steering wheel angle for a given curvature
-
-    Args:
-      curv: Desired curvature [1/m]
-      u: Speed [m/s]
-      roll: Road Roll [rad]
-
-    Returns:
-      Steering wheel angle [rad]
-    """
-
-    return (curv - self.roll_compensation(roll, u)) * self.sR * 1.0 / self.curvature_factor(u)
-
-  def roll_compensation(self, roll: float, u: float) -> float:
-    """Calculates the roll-compensation to curvature
-
-    Args:
-      roll: Road Roll [rad]
-      u: Speed [m/s]
-
-    Returns:
-      Roll compensation curvature [rad]
-    """
-    sf = calc_slip_factor(self)
-
-    if abs(sf) < 1e-6:
-      return 0
-    else:
-      return (ACCELERATION_DUE_TO_GRAVITY * roll) / ((1 / sf) - u**2)
-
-  def get_steer_from_yaw_rate(self, yaw_rate: float, u: float, roll: float) -> float:
-    """Calculates the required steering wheel angle for a given yaw_rate
-
-    Args:
-      yaw_rate: Desired yaw rate [rad/s]
-      u: Speed [m/s]
-      roll: Road Roll [rad]
-
-    Returns:
-      Steering wheel angle [rad]
-    """
-    curv = yaw_rate / u
-    return self.get_steer_from_curvature(curv, u, roll)
-
-  def yaw_rate(self, sa: float, u: float, roll: float) -> float:
-    """Calculate yaw rate
-
-    Args:
-      sa: Steering wheel angle [rad]
-      u: Speed [m/s]
-      roll: Road Roll [rad]
-
-    Returns:
-      Yaw rate [rad/s]
-    """
-    return self.calc_curvature(sa, u, roll) * u
-
-
-def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
-  """Calculate the steady state solution at low speeds
-  At low speeds the tire slip is undefined, so a kinematic
-  model is used.
-
-  Args:
-    sa: Steering angle [rad]
-    u: Speed [m/s]
-    VM: Vehicle model
-
-  Returns:
-    2x1 matrix with steady state solution
-  """
-  K = np.zeros((2, 1))
-  K[0, 0] = VM.aR / VM.sR / VM.l * u
-  K[1, 0] = 1. / VM.sR / VM.l * u
-  return K * sa
-
-
-def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]:
-  """Returns the A and B matrix for the dynamics system
-
-  Args:
-    u: Vehicle speed [m/s]
-    VM: Vehicle model
-
-  Returns:
-    A tuple with the 2x2 A matrix, and 2x2 B matrix
-
-  Parameters in the vehicle model:
-    cF: Tire stiffness Front [N/rad]
-    cR: Tire stiffness Front [N/rad]
-    aF: Distance from CG to front wheels [m]
-    aR: Distance from CG to rear wheels [m]
-    m: Mass [kg]
-    j: Rotational inertia [kg m^2]
-    sR: Steering ratio [-]
-    chi: Steer ratio rear [-]
-  """
-  A = np.zeros((2, 2))
-  B = np.zeros((2, 2))
-  A[0, 0] = - (VM.cF + VM.cR) / (VM.m * u)
-  A[0, 1] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.m * u) - u
-  A[1, 0] = - (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.j * u)
-  A[1, 1] = - (VM.cF * VM.aF**2 + VM.cR * VM.aR**2) / (VM.j * u)
-
-  # Steering input
-  B[0, 0] = (VM.cF + VM.chi * VM.cR) / VM.m / VM.sR
-  B[1, 0] = (VM.cF * VM.aF - VM.chi * VM.cR * VM.aR) / VM.j / VM.sR
-
-  # Roll input
-  B[0, 1] = -ACCELERATION_DUE_TO_GRAVITY
-
-  return A, B
-
-
-def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray:
-  """Calculate the steady state solution when x_dot = 0,
-  Ax + Bu = 0 => x = -A^{-1} B u
-
-  Args:
-    sa: Steering angle [rad]
-    u: Speed [m/s]
-    roll: Road Roll [rad]
-    VM: Vehicle model
-
-  Returns:
-    2x1 matrix with steady state solution
-  """
-  A, B = create_dyn_state_matrices(u, VM)
-  inp = np.array([[sa], [roll]])
-  return -solve(A, B) @ inp  # type: ignore
-
-
-def calc_slip_factor(VM: VehicleModel) -> float:
-  """The slip factor is a measure of how the curvature changes with speed
-  it's positive for Oversteering vehicle, negative (usual case) otherwise.
-  """
-  return VM.m * (VM.cF * VM.aF - VM.cR * VM.aR) / (VM.l**2 * VM.cF * VM.cR)

selfdrive/controls/radard.py

@@ -150,7 +150,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
     "vRel": float(lead_v_rel_pred),
     "vLead": float(v_ego + lead_v_rel_pred),
     "vLeadK": float(v_ego + lead_v_rel_pred),
-    "aLeadK": 0.0,
+    "aLeadK": float(lead_msg.a[0]),
     "aLeadTau": 0.3,
     "fcw": False,
     "modelProb": float(lead_msg.prob),

selfdrive/debug/clear_dtc.py

@@ -4,7 +4,7 @@ import argparse
 from subprocess import check_output, CalledProcessError
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="clear DTC status")
@@ -25,7 +25,7 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Safety.SAFETY_ELM327)
+panda.set_safety_mode(CarParams.SafetyModel.elm327)
 uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 try:

selfdrive/debug/debug_fw_fingerprinting_offline.py

@@ -6,7 +6,7 @@ from openpilot.tools.lib.live_logreader import live_logreader
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 
-def main(route: str | None, addrs: list[int]):
+def main(route: str | None, addrs: list[int], rxoffset: int | None):
   """
   TODO:
   - highlight TX vs RX clearly
@@ -23,7 +23,7 @@ def main(route: str | None, addrs: list[int]):
   prev_mono_time = 0
 
   # include rx addresses
-  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs]
+  addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr, rxoffset) for addr in addrs]
 
   for msg in lr:
     if msg.which() == 'can':
@@ -36,7 +36,7 @@ def main(route: str | None, addrs: list[int]):
           if msg.logMonoTime != prev_mono_time:
             print()
             prev_mono_time = msg.logMonoTime
-          print(f"{msg.which():>7}: rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " +
+          print(f"{msg.which():>7}: rxaddr={can.address}, bus={str(can.src) + ',':<4} {round((msg.logMonoTime - start_mono_time) * 1e-6)} ms, " +
                 f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}")
 
 
@@ -44,7 +44,9 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
   parser.add_argument('route', nargs='?', help='Route name, live if not specified')
   parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
+  parser.add_argument('--rxoffset', default='')
   args = parser.parse_args()
 
   addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
-  main(args.route, addrs)
+  rxoffset = int(args.rxoffset, base=16) if args.rxoffset else None
+  main(args.route, addrs, rxoffset)

selfdrive/debug/hyundai_enable_radar_points.py

@@ -18,7 +18,7 @@ from subprocess import check_output, CalledProcessError
 
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda.python import Panda
 
 class ConfigValues(NamedTuple):
@@ -97,7 +97,7 @@ if __name__ == "__main__":
     sys.exit(0)
 
   panda = Panda()
-  panda.set_safety_mode(Safety.SAFETY_ELM327)
+  panda.set_safety_mode(CarParams.SafetyModel.elm327)
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")

selfdrive/debug/max_lat_accel.py

@@ -0,0 +1,116 @@
+#!/usr/bin/env python3
+import argparse
+import numpy as np
+import matplotlib.pyplot as plt
+from typing import NamedTuple
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.locationd.models.pose_kf import EARTH_G
+
+RLOG_MIN_LAT_ACTIVE = 50
+RLOG_MIN_STEERING_UNPRESSED = 50
+RLOG_MIN_REQUESTING_MAX = 25  # sample many times after reaching max torque
+
+QLOG_DECIMATION = 10
+
+
+class Event(NamedTuple):
+  lateral_accel: float
+  speed: float
+  roll: float
+  timestamp: float  # relative to start of route (s)
+
+
+def find_events(lr: LogReader, qlog: bool = False) -> list[Event]:
+  min_lat_active = RLOG_MIN_LAT_ACTIVE // QLOG_DECIMATION if qlog else RLOG_MIN_LAT_ACTIVE
+  min_steering_unpressed = RLOG_MIN_STEERING_UNPRESSED // QLOG_DECIMATION if qlog else RLOG_MIN_STEERING_UNPRESSED
+  min_requesting_max = RLOG_MIN_REQUESTING_MAX // QLOG_DECIMATION if qlog else RLOG_MIN_REQUESTING_MAX
+
+  events = []
+
+  start_ts = 0
+
+  # state tracking
+  steering_unpressed = 0  # frames
+  requesting_max = 0  # frames
+  lat_active = 0  # frames
+
+  # current state
+  curvature = 0
+  v_ego = 0
+  roll = 0
+
+  for msg in lr:
+    if msg.which() == 'carControl':
+      if start_ts == 0:
+        start_ts = msg.logMonoTime
+
+      lat_active = lat_active + 1 if msg.carControl.latActive else 0
+
+    elif msg.which() == 'carOutput':
+      # if we test with driver torque safety, max torque can be slightly noisy
+      requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.torque) > 0.95 else 0
+
+    elif msg.which() == 'carState':
+      steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0
+      v_ego = msg.carState.vEgo
+
+    elif msg.which() == 'controlsState':
+      curvature = msg.controlsState.curvature
+
+    elif msg.which() == 'liveParameters':
+      roll = msg.liveParameters.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
+      requesting_max = 0
+
+      current_lateral_accel = curvature * v_ego ** 2 - roll * EARTH_G
+      events.append(Event(current_lateral_accel, v_ego, roll, round((msg.logMonoTime - start_ts) * 1e-9, 2)))
+      print(events[-1])
+
+  return events
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(description="Find max lateral acceleration events",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("route")
+  args = parser.parse_args()
+
+  lr = LogReader(args.route, sort_by_time=True)
+  qlog = args.route.endswith('/q')
+  if qlog:
+    print('WARNING: Treating route as qlog!')
+
+  print('Finding events...')
+  events = find_events(lr, qlog=qlog)
+
+  print()
+  print(f'Found {len(events)} events')
+
+  perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0], 90)
+  perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0], 90)
+
+  CP = lr.first('carParams')
+
+  plt.ion()
+  plt.clf()
+  plt.suptitle(f'{CP.carFingerprint} - Max lateral acceleration events')
+  plt.title(args.route)
+  plt.scatter([ev.speed for ev in events], [ev.lateral_accel for ev in events], label='max lateral accel events')
+
+  plt.plot([0, 35], [3, 3], c='r', label='ISO 11270 - 3 m/s^2')
+  plt.plot([0, 35], [-3, -3], c='r')
+
+  plt.plot([0, 35], [perc_left_accel, perc_left_accel], c='g', linestyle='--', label='90th percentile left lateral accel')
+  plt.plot([0, 35], [perc_right_accel, perc_right_accel], c='#ff7f0e', linestyle='--', label='90th percentile right lateral accel')
+  plt.text(0.4, float(perc_left_accel + 0.4), f'{perc_left_accel:.2f} m/s^2', verticalalignment='center', fontsize=12)
+  plt.text(0.4, float(perc_right_accel - 0.4), f'{perc_right_accel:.2f} m/s^2', verticalalignment='center', fontsize=12)
+
+  plt.xlim(0, 35)
+  plt.ylim(-5, 5)
+  plt.xlabel('speed (m/s)')
+  plt.ylabel('lateral acceleration (m/s^2)')
+  plt.legend()
+  plt.show(block=True)

selfdrive/debug/read_dtc_status.py

@@ -4,7 +4,7 @@ import argparse
 from subprocess import check_output, CalledProcessError
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE, get_dtc_num_as_str, get_dtc_status_names
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda
 
 parser = argparse.ArgumentParser(description="read DTC status")
@@ -25,7 +25,7 @@ except CalledProcessError as e:
     raise e
 
 panda = Panda()
-panda.set_safety_mode(Safety.SAFETY_ELM327)
+panda.set_safety_mode(CarParams.SafetyModel.elm327)
 uds_client = UdsClient(panda, args.addr, bus=args.bus)
 print("extended diagnostic session ...")
 uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)

selfdrive/debug/vw_mqb_config.py

@@ -6,7 +6,7 @@ from enum import IntEnum
 from opendbc.car.carlog import carlog
 from opendbc.car.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\
   DATA_IDENTIFIER_TYPE, ACCESS_TYPE
-from opendbc.safety import Safety
+from opendbc.car.structs import CarParams
 from panda import Panda
 from datetime import date
 
@@ -39,7 +39,7 @@ if __name__ == "__main__":
     carlog.setLevel('DEBUG')
 
   panda = Panda()
-  panda.set_safety_mode(Safety.SAFETY_ELM327)
+  panda.set_safety_mode(CarParams.SafetyModel.elm327)
   bus = 1 if panda.has_obd() else 0
   uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2)
 

selfdrive/locationd/models/car_kf.py

@@ -5,7 +5,7 @@ from typing import Any
 
 import numpy as np
 
-from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog
 

selfdrive/locationd/paramsd.py

@@ -224,17 +224,21 @@ def main():
       liveParameters.posenetValid = True
       liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
+      liveParameters.steerRatioValid = min_sr <= liveParameters.steerRatio <= max_sr
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
+      liveParameters.stiffnessFactorValid = 0.2 <= liveParameters.stiffnessFactor <= 5.0
       liveParameters.roll = float(roll)
       liveParameters.angleOffsetAverageDeg = float(angle_offset_average)
+      liveParameters.angleOffsetAverageValid = bool(avg_offset_valid)
       liveParameters.angleOffsetDeg = float(angle_offset)
+      liveParameters.angleOffsetValid = bool(total_offset_valid)
       liveParameters.valid = all((
-        avg_offset_valid,
-        total_offset_valid,
+        liveParameters.angleOffsetAverageValid,
+        liveParameters.angleOffsetValid ,
         roll_valid,
         roll_std < ROLL_STD_MAX,
-        0.2 <= liveParameters.stiffnessFactor <= 5.0,
-        min_sr <= liveParameters.steerRatio <= max_sr,
+        liveParameters.stiffnessFactorValid,
+        liveParameters.steerRatioValid,
       ))
       liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())

selfdrive/locationd/torqued.py

@@ -4,11 +4,11 @@ from collections import deque, defaultdict
 
 import cereal.messaging as messaging
 from cereal import car, log
+from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
 
 HISTORY = 5  # secs
@@ -167,7 +167,7 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["lat_active"].append(msg.latActive)
     elif which == "carOutput":
       self.raw_points["carOutput_t"].append(t + self.lag)
-      self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
+      self.raw_points["steer_torque"].append(-msg.actuatorsOutput.torque)
     elif which == "carState":
       self.raw_points["carState_t"].append(t + self.lag)
       # TODO: check if high aEgo affects resulting lateral accel

selfdrive/modeld/SConscript

@@ -32,18 +32,22 @@ lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LI
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
 # Get model metadata
-fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+for model_name in ['driving_vision', 'driving_policy']:
+  fn = File(f"models/{model_name}").abspath
+  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+  cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
 
 # Compile tinygrad model
 pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
 if arch == 'larch64':
   device_string = 'QCOM=1'
-else:
+elif arch == 'Darwin':
   device_string = 'CLANG=1 IMAGE=0'
+else:
+  device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
 
-for model_name in ['supercombo', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
   lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)

selfdrive/modeld/__init__.py

@@ -1,5 +0,0 @@
-from pathlib import Path
-
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'

selfdrive/modeld/constants.py

@@ -15,7 +15,7 @@ class ModelConstants:
   # model inputs constants
   MODEL_FREQ = 20
   FEATURE_LEN = 512
-  FULL_HISTORY_BUFFER_LEN = 99
+  FULL_HISTORY_BUFFER_LEN = 100
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4

selfdrive/modeld/dmonitoringmodeld.py

@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
+from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
 if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
+  os.environ['LLVM'] = '1'
 import math
 import time
 import pickle
@@ -34,7 +34,6 @@ OUTPUT_SIZE = 84 + FEATURE_LEN
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
 
 
@@ -78,12 +77,9 @@ class ModelState:
       'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
     }
 
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+    self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+    with open(MODEL_PKL_PATH, "rb") as f:
+      self.model_run = pickle.load(f)
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
@@ -96,12 +92,10 @@ class ModelState:
       if 'input_img' not in self.tensor_inputs:
         self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
     else:
-      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
+      self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT)), dtype=dtypes.uint8).realize()
 
-    if TICI:
-      output = self.model_run(**self.tensor_inputs).numpy().flatten()
-    else:
-      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+
+    output = self.model_run(**self.tensor_inputs).numpy().flatten()
 
     t2 = time.perf_counter()
     return output, t2 - t1

selfdrive/modeld/fill_model_msg.py

@@ -2,33 +2,13 @@ import os
 import capnp
 import numpy as np
 from cereal import log
-from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2 * curv_from_psi - psi_rate / vego
-
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
-
-def get_curvature_from_output(output, vego, delay):
-  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
-    return float(desired_curv[0, 0])
-
-  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
-
-
 class PublishState:
   def __init__(self):
     self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
@@ -79,21 +59,19 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
-                   valid: bool, model_meta) -> None:
+                   valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = desired_curvature
+  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -128,7 +106,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  modelV2.action.desiredCurvature = desired_curvature
+  modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -178,25 +156,23 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta = modelV2.meta
   meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
   meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,model_meta.ENGAGED].item()
+  meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
   meta.init('disengagePredictions')
   disengage_predictions = meta.disengagePredictions
   disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,model_meta.HARD_BRAKE_5].tolist()
-
-  if hasattr(model_meta, 'GAS_PRESS') and hasattr(model_meta, 'BRAKE_PRESS'):
-    disengage_predictions.gasPressProbs = net_output_data['meta'][0,model_meta.GAS_PRESS].tolist()
-    disengage_predictions.brakePressProbs = net_output_data['meta'][0,model_meta.BRAKE_PRESS].tolist()
+  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
+  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
+  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
+  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
+  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
+  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
+  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_5][0]
+  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
   publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,model_meta.HARD_BRAKE_3][0]
+  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
   hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
     (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
   meta.hardBrakePredicted = hard_brake_predicted.item()
@@ -204,9 +180,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # confidence
   if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
     # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,model_meta.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,model_meta.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,model_meta.STEER_OVERRIDE]
+    brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
+    gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
+    steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
     any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
     # independent disengage prob for each 2s slice
     ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]

selfdrive/modeld/get_model_metadata.py

@@ -4,22 +4,31 @@ import pathlib
 import onnx
 import codecs
 import pickle
+from typing import Any
 
 def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
   shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
   name = value_info.name
   return name, shape
 
+def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
+  for prop in model.metadata_props:
+    if prop.key == name:
+      return prop.value
+  return None
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
   model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
+  output_slices = get_metadata_value_by_name(model, 'output_slices')
+  assert output_slices is not None, 'output_slices not found in metadata'
 
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+  metadata = {
+    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
+    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+  }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
   with open(metadata_path, 'wb') as f:

selfdrive/modeld/modeld.py

@@ -1,11 +1,19 @@
 #!/usr/bin/env python3
+import os
 from openpilot.system.hardware import TICI
-
-#
+from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
+if TICI:
+  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+  os.environ['QCOM'] = '1'
+else:
+  os.environ['LLVM'] = '1'
 import time
+import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
+from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -23,11 +31,14 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
-from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
+VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
+POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
+VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
+POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
 class FrameMeta:
   frame_id: int = 0
@@ -45,35 +56,46 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    try:
-      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
-    except Exception as e:
-      cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
-
-    buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
+    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if self.model_runner.is_20hz:
-      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+
+    # policy inputs
+    self.numpy_inputs = {
+      'desire': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
+      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
+      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
+      'prev_desired_curv': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
+      'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
+    }
+
+    with open(VISION_METADATA_PATH, 'rb') as f:
+      vision_metadata = pickle.load(f)
+      self.vision_input_shapes =  vision_metadata['input_shapes']
+      self.vision_output_slices = vision_metadata['output_slices']
+      vision_output_size = vision_metadata['output_shapes']['outputs'][1]
+
+    with open(POLICY_METADATA_PATH, 'rb') as f:
+      policy_metadata = pickle.load(f)
+      self.policy_input_shapes =  policy_metadata['input_shapes']
+      self.policy_output_slices = policy_metadata['output_slices']
+      policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
     # img buffers are managed in openCL transform code
-    self.numpy_inputs = {}
-
-    for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.frames: # Managed by opencl
-        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-
+    self.vision_inputs: dict[str, Tensor] = {}
+    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
+    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    if self.model_runner.is_20hz:
-      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-      self.output = np.zeros(net_output_size, dtype=np.float32)
+    with open(VISION_PKL_PATH, "rb") as f:
+      self.vision_run = pickle.load(f)
 
-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
+    with open(POLICY_PKL_PATH, "rb") as f:
+      self.policy_run = pickle.load(f)
+
+  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
+    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
+    return parsed_model_outputs
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -82,54 +104,45 @@ class ModelState:
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    if self.model_runner.is_20hz:
-      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-      self.desire_20Hz[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
-    else:
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
-
-    for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
-        self.numpy_inputs[key][:] = inputs[key]
+    self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+    self.numpy_inputs['desire'][0,-1] = new_desire
 
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
+    if TICI:
+      # The imgs tensors are backed by opencl memory, only need init once
+      for key in imgs_cl:
+        if key not in self.vision_inputs:
+          self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
+    else:
+      for key in imgs_cl:
+        frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
+        self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
 
     if prepare_only:
       return None
 
-    # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+    self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten()
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
 
-    if self.model_runner.is_20hz:
-      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
-    else:
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+    self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
+    self.numpy_inputs['features_buffer'][0,-1] = vision_outputs_dict['hidden_state'][0, :]
 
-    if "desired_curvature" in outputs:
-      input_name_prev = None
+    self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
 
-      if "prev_desired_curvs" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curvs'
-      elif "prev_desired_curv" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curv'
+    # TODO model only uses last value now
+    self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:]
+    self.numpy_inputs['prev_desired_curv'][0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
 
-      if input_name_prev is not None:
-        length = outputs['desired_curvature'][0].size
-        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
-    return outputs
+    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+    if SEND_RAW_PRED:
+      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+
+    return combined_outputs_dict
 
 
 def main(demo=False):
@@ -239,6 +252,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
     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))]
@@ -269,10 +283,8 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-    }
-
-    if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+      'lateral_control_params': lateral_control_params,
+      }
 
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
@@ -285,7 +297,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
-                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]

selfdrive/modeld/models/README.md

@@ -1,8 +1,8 @@
 ## Neural networks in openpilot
 To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
 
-## Supercombo
-### Supercombo input format (Full size: 799906 x float32)
+## Driving Model (vision model + temporal policy model)
+### Vision inputs (Full size: 799906 x float32)
 * **image stream**
   * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
     * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@@ -15,16 +15,21 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
       * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
       * Channel 4 represents the half-res U channel
       * Channel 5 represents the half-res V channel
+### Policy inputs
 * **desire**
   * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
 * **traffic convention**
   * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
+* **lateral control params**
+  * speed and steering delay for predicting the desired curvature: 2
+* **previous desired curvatures**
+  * vector of previously predicted desired curvatures: 100 * 1
 * **feature buffer**
-  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
+  * a buffer of intermediate features including the current feature to form a 5 seconds temporal context (at 20FPS) : 100 * 512
 
 
-### Supercombo output format (Full size: XXX x float32)
-Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
+### Driving Model output format (Full size: XXX x float32)
+Refer to **slice_outputs** and **parse_vision_outputs/parse_policy_outputs** in modeld.
 
 
 ## Driver Monitoring Model

selfdrive/modeld/models/commonmodel.cc

@@ -5,14 +5,13 @@
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
-  region.origin = (buffer_length - 1)  * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err));
+  region.origin = 1 * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
 
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
   init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
@@ -21,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context,
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < (buffer_length - 1); i++) {
+  for (int i = 0; i < 1; i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);

selfdrive/modeld/models/commonmodel.h

@@ -64,7 +64,7 @@ protected:
 
 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
+  DrivingModelFrame(cl_device_id device_id, cl_context context);
   ~DrivingModelFrame();
   cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
@@ -73,7 +73,6 @@ public:
   const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
   const int buf_size = MODEL_FRAME_SIZE * 2;
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-  const uint8_t buffer_length;
 
 private:
   LoadYUVState loadyuv;

selfdrive/modeld/models/commonmodel.pxd

@@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
 
   cppclass DrivingModelFrame:
     int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
+    DrivingModelFrame(cl_device_id, cl_context)
 
   cppclass MonitoringModelFrame:
     int buf_size

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -4,7 +4,7 @@
 import numpy as np
 cimport numpy as cnp
 from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t, uint8_t
+from libc.stdint cimport uintptr_t
 
 from msgq.visionipc.visionipc cimport cl_mem
 from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
@@ -59,8 +59,8 @@ cdef class ModelFrame:
 cdef class DrivingModelFrame(ModelFrame):
   cdef cppDrivingModelFrame * _frame
 
-  def __cinit__(self, CLContext context, int buffer_length=2):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
+  def __cinit__(self, CLContext context):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
 

selfdrive/modeld/parse_model_outputs.py

@@ -84,24 +84,32 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
+    return outs
+
+  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'sim_pose' in outs:
-      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob', 'meta']:
+    for k in ['lead_prob', 'lane_lines_prob']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    return outs
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_policy_outputs(outs)
     return outs

selfdrive/modeld/runners/ort_helpers.py

@@ -1,36 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])

selfdrive/selfdrived/events.py

@@ -132,6 +132,24 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert("Calibration Invalid", angles)
 
 
+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
+    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
+    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
+    title = "Abnormal tire stiffness"
+    text = f"Check tires, pressure, or alignment (Factor: {stiffness_factor:.1f})"
+  else:
+    return NoEntryAlert("paramsd Temporary Error")
+
+  return NoEntryAlert(alert_text_1=title, alert_text_2=text)
+
 def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   cpu = max(sm['deviceState'].cpuTempC, default=0.)
   gpu = max(sm['deviceState'].gpuTempC, default=0.)
@@ -161,7 +179,7 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
-  steer = sm['carControl'].actuators.steer
+  steer = sm['carControl'].actuators.torque
   vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
   return NormalPermanentAlert("Joystick Mode", vals)
 
@@ -444,7 +462,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # This alert is thrown when any of these values exceed a sanity check. This can be caused by
   # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
   EventName.paramsdTemporaryError: {
-    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
+    ET.NO_ENTRY: paramsd_invalid_alert,
     ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
   },
 

selfdrive/test/process_replay/migration.py

@@ -269,12 +269,12 @@ def migrate_carOutput(msgs):
 def migrate_pandaStates(msgs):
   # TODO: safety param migration should be handled automatically
   safety_param_migration = {
-    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.FLAG_TOYOTA_ALT_BRAKE,
-    "KIA_EV6": HyundaiSafetyFlags.FLAG_HYUNDAI_EV_GAS | HyundaiSafetyFlags.FLAG_HYUNDAI_CANFD_HDA2,
+    "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
+    "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
+    "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
   }
   # TODO: get new Ford route
-  safety_param_migration |= {car: FordSafetyFlags.FLAG_FORD_LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
+  safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))}
 
   # Migrate safety param base on carParams
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a0a1635c552b2909fe808726ca0cd9201fcaea6a
+7e5a84b897eb45fc3b677a8fde1418ce8b0e24e6

selfdrive/test/process_replay/test_processes.py

@@ -36,6 +36,7 @@ source_segments = [
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
+  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
 
   # Enable when port is tested and dashcamOnly is no longer set
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
@@ -59,10 +60,11 @@ segments = [
   ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
   ("FORD", "regen756F8230C21|2024-11-07--00-08-24--0"),
+  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock", "tesla", "rivian"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

selfdrive/test/setup_device_ci.sh

@@ -97,7 +97,7 @@ unsafe_checkout() {( set -e
   git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT
   git checkout --force --no-recurse-submodules $GIT_COMMIT
   git reset --hard $GIT_COMMIT
-  git clean -df
+  git clean -dff
   git submodule sync
   git submodule foreach --recursive "git reset --hard && git clean -df"
   git submodule update --init --recursive

selfdrive/test/test_onroad.py

@@ -119,7 +119,6 @@ class TestOnroad:
     if "DEBUG" in os.environ:
       segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog.zst")), Path(Paths.log_root()).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
-      print(segs[-3])
       cls.lr = list(LogReader(os.path.join(segs[-3], "rlog.zst")))
       return
 
@@ -186,7 +185,6 @@ class TestOnroad:
     for m in cls.lr:
       cls.msgs[m.which()].append(m)
 
-
   def test_service_frequencies(self, subtests):
     for s, msgs in self.msgs.items():
       if s in ('initData', 'sentinel'):
@@ -315,6 +313,7 @@ class TestOnroad:
     assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld", "selfdrive.modeld.dmonitoringmodeld"}
 
   def test_camera_frame_timings(self, subtests):
+    # test timing within a single camera
     result = "\n"
     result += "------------------------------------------------\n"
     result += "-----------------  SOF Timing ------------------\n"
@@ -331,6 +330,43 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     print(result)
 
+  def test_camera_sync(self, subtests):
+    cam_states = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
+    encode_cams = ['roadEncodeIdx', 'wideRoadEncodeIdx', 'driverEncodeIdx']
+    for cams in (cam_states, encode_cams):
+      with subtests.test(cams=cams):
+        # sanity checks within a single cam
+        for cam in cams:
+          with subtests.test(test="frame_skips", camera=cam):
+            cam_log = [getattr(x, x.which()) for x in self.msgs[cam]]
+            assert set(np.diff([x.frameId for x in cam_log])) == {1, }, "Frame ID skips"
+
+            # EOF > SOF
+            eof_sof_diff = np.array([x.timestampEof - x.timestampSof for x in cam_log])
+            assert np.all(eof_sof_diff > 0)
+            assert np.all(eof_sof_diff < 50*1e6)
+
+        fid = {c: [getattr(m, m.which()).frameId for m in self.msgs[c]] for c in cams}
+        first_fid = [min(x) for x in fid.values()]
+        if cam.endswith('CameraState'):
+          # camerad guarantees that all cams start on frame ID 0
+          # (note loggerd also needs to start up fast enough to catch it)
+          assert set(first_fid) == {0, }, "Cameras don't start on frame ID 0"
+        else:
+          # encoder guarantees all cams start on the same frame ID
+          assert len(set(first_fid)) == 1, "Cameras don't start on same frame ID"
+
+        # we don't do a full segment rotation, so these might not match exactly
+        last_fid = [max(x) for x in fid.values()]
+        assert max(last_fid) - min(last_fid) < 10
+
+        start, end = min(first_fid), min(last_fid)
+        all_ts = [[getattr(m, m.which()).timestampSof for m in self.msgs[c]] for c in cams]
+        for i in range(end-start):
+          ts = [round(x[i]/1e6, 1) for x in all_ts]
+          diff = max(ts) - min(ts)
+          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
+
   def test_mpc_execution_timings(self):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -348,7 +384,7 @@ class TestOnroad:
     result += "------------------------------------------------\n"
     print(result)
 
-  def test_model_execution_timings(self):
+  def test_model_execution_timings(self, subtests):
     result = "\n"
     result += "------------------------------------------------\n"
     result += "----------------- Model Timing -----------------\n"
@@ -361,11 +397,12 @@ class TestOnroad:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
       # TODO some init can happen in first iteration
       ts = ts[1:]
-      assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
-      assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
       result += f"'{s}' execution time: max {max(ts):.5f}s\n"
       result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n"
+      with subtests.test(s):
+        assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}"
+        assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}"
     result += "------------------------------------------------\n"
     print(result)
 

selfdrive/test/test_time_to_onroad.py

@@ -1,57 +0,0 @@
-import os
-import pytest
-import time
-import subprocess
-
-from cereal import log
-import cereal.messaging as messaging
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.test.helpers import set_params_enabled
-
-EventName = log.OnroadEvent.EventName
-
-
-@pytest.mark.tici
-def test_time_to_onroad():
-  # launch
-  set_params_enabled()
-  manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
-  proc = subprocess.Popen(["python", manager_path])
-
-  start_time = time.monotonic()
-  sm = messaging.SubMaster(['selfdriveState', 'deviceState', 'onroadEvents'])
-  try:
-    # wait for onroad. timeout assumes panda is up to date
-    with Timeout(10, "timed out waiting to go onroad"):
-      while not sm['deviceState'].started:
-        sm.update(100)
-
-    # wait for engageability
-    try:
-      with Timeout(10, "timed out waiting for engageable"):
-        initialized = False
-        while True:
-          sm.update(100)
-
-          if sm.seen['onroadEvents'] and not any(EventName.selfdriveInitializing == e.name for e in sm['onroadEvents']):
-            initialized = True
-
-          if initialized:
-            sm.update(100)
-            assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}"
-            break
-    finally:
-      print(f"onroad events: {sm['onroadEvents']}")
-    print(f"engageable after {time.monotonic() - start_time:.2f}s")
-
-    # once we're enageable, must stay for the next few seconds
-    st = time.monotonic()
-    while (time.monotonic() - st) < 10.:
-      sm.update(100)
-      assert sm.all_alive(), sm.alive
-      assert sm['selfdriveState'].engageable, f"events: {sm['onroadEvents']}"
-  finally:
-    proc.terminate()
-    if proc.wait(20) is None:
-      proc.kill()

selfdrive/ui/SConscript

@@ -36,7 +36,7 @@ qt_libs = [widgets, qt_util] + base_libs
 qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/offroad_home.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
-          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
+          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", "qt/offroad/firehose.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] + sp_qt_src
 

selfdrive/ui/qt/offroad/firehose.cc

@@ -0,0 +1,103 @@
+#include "selfdrive/ui/qt/offroad/firehose.h"
+#include <QLabel>
+#include <QPushButton>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QFrame>
+#include <QScrollArea>
+#include <QStackedLayout>
+#include <QProgressBar>
+
+FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) {
+  layout = new QVBoxLayout(this);
+  layout->setContentsMargins(40, 40, 40, 40);
+  layout->setSpacing(20);
+
+  // header
+  QLabel *title = new QLabel(tr("🔥 Firehose Mode 🔥"));
+  title->setStyleSheet("font-size: 100px; font-weight: 500; font-family: 'Noto Color Emoji';");
+  layout->addWidget(title, 0, Qt::AlignCenter);
+
+  // Create a container for the content
+  QFrame *content = new QFrame();
+  content->setStyleSheet("background-color: #292929; border-radius: 15px; padding: 20px;");
+  QVBoxLayout *content_layout = new QVBoxLayout(content);
+  content_layout->setSpacing(20);
+
+  // Top description
+  QLabel *description = new QLabel(tr("openpilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models with better Experimental Mode."));
+  description->setStyleSheet("font-size: 45px; padding-bottom: 20px;");
+  description->setWordWrap(true);
+  content_layout->addWidget(description);
+
+  // Add a separator
+  QFrame *line = new QFrame();
+  line->setFrameShape(QFrame::HLine);
+  line->setFrameShadow(QFrame::Sunken);
+  line->setStyleSheet("background-color: #444444; margin-top: 5px; margin-bottom: 5px;");
+  content_layout->addWidget(line);
+
+  enable_firehose = new ParamControl("FirehoseMode", tr("Enable Firehose Mode"), "", "");
+
+  content_layout->addWidget(enable_firehose);
+
+  // Create progress bar container
+  progress_container = new QFrame();
+  progress_container->hide();
+  QHBoxLayout *progress_layout = new QHBoxLayout(progress_container);
+  progress_layout->setContentsMargins(10, 0, 10, 10);
+  progress_layout->setSpacing(20);
+
+  progress_bar = new QProgressBar();
+  progress_bar->setRange(0, 100);
+  progress_bar->setValue(0);
+  progress_bar->setTextVisible(false);
+  progress_bar->setStyleSheet(R"(
+    QProgressBar {
+      background-color: #444444;
+      border-radius: 10px;
+      height: 20px;
+    }
+    QProgressBar::chunk {
+      background-color: #3498db;
+      border-radius: 10px;
+    }
+  )");
+  progress_bar->setFixedHeight(40);
+
+  // Progress text
+  progress_text = new QLabel(tr("0%"));
+  progress_text->setStyleSheet("font-size: 40px; font-weight: bold; color: white;");
+
+  progress_layout->addWidget(progress_text);
+
+  content_layout->addWidget(progress_container);
+
+  // Add a separator before detailed instructions
+  QFrame *line2 = new QFrame();
+  line2->setFrameShape(QFrame::HLine);
+  line2->setFrameShadow(QFrame::Sunken);
+  line2->setStyleSheet("background-color: #444444; margin-top: 10px; margin-bottom: 10px;");
+  content_layout->addWidget(line2);
+
+  // Detailed instructions at the bottom
+  detailed_instructions = new QLabel(tr(
+    "Follow these steps to get your device ready:<br>"
+    "\t1. Bring your device inside and connect to a good USB-C adapter<br>"
+    "\t2. Connect to Wi-Fi<br>"
+    "\t3. Enable the toggle<br>"
+    "\t4. Leave it connected for at least 30 minutes<br>"
+    "<br>"
+    "The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness."
+    "<br><br><b>FAQ</b><br>"
+    "<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br>"
+    "<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br>"
+    "<i>Do I need to be on Wi-Fi?</i> Yes.<br>"
+    "<i>Do I need to bring the device inside?</i> No, you can enable once you're parked, however your uploads will be limited by your car's battery.<br>"
+  ));
+  detailed_instructions->setStyleSheet("font-size: 40px; padding: 20px; color: #E4E4E4;");
+  detailed_instructions->setWordWrap(true);
+  content_layout->addWidget(detailed_instructions);
+
+  layout->addWidget(content, 1);
+}

selfdrive/ui/qt/offroad/firehose.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <QWidget>
+#include <QVBoxLayout>
+#include <QProgressBar>
+#include <QLabel>
+#include "common/params.h"
+
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/offroad/settings.h"
+#endif
+
+
+// Forward declarations
+class SettingsWindow;
+
+class FirehosePanel : public QWidget {
+  Q_OBJECT
+public:
+  explicit FirehosePanel(SettingsWindow *parent);
+
+private:
+  QVBoxLayout *layout;
+  
+  ParamControl *enable_firehose;
+  QFrame *progress_container;
+  QProgressBar *progress_bar;
+  QLabel *progress_text;
+  QLabel *detailed_instructions;
+  
+  void updateFirehoseState(bool enabled);
+};

selfdrive/ui/qt/offroad/settings.cc

@@ -14,6 +14,7 @@
 #include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
+// #include "selfdrive/ui/qt/offroad/firehose.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -42,20 +43,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
-    {
-      "FirehoseMode",
-      tr("FIREHOSE Mode"),
-      tr("Enable <b>FIREHOSE Mode</b> to get your driving data in the training set.<br><br>"
-         "Follow these steps to get your device ready:<br>"
-         "  1. Bring your device inside and connect to a good USB-C adapter<br>"
-         "  2. Connect to Wi-Fi<br>"
-         "  3. Enable this toggle<br>"
-         "  4. Leave it connected for at least 30 minutes<br>"
-         "<br>"
-         "This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness."
-         ""),
-      "../assets/offroad/icon_warning.png",
-    },
     {
       "IsLdwEnabled",
       tr("Enable Lane Departure Warnings"),
@@ -349,11 +336,26 @@ void SettingsWindow::showEvent(QShowEvent *event) {
 }
 
 void SettingsWindow::setCurrentPanel(int index, const QString &param) {
+  if (!param.isEmpty()) {
+    // Check if param ends with "Panel" to determine if it's a panel name
+    if (param.endsWith("Panel")) {
+      QString panelName = param;
+      panelName.chop(5); // Remove "Panel" suffix
+      
+      // Find the panel by name
+      for (int i = 0; i < nav_btns->buttons().size(); i++) {
+        if (nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) {
+          index = i;
+          break;
+        }
+      }
+    } else {
+      emit expandToggleDescription(param);
+    }
+  }
+  
   panel_widget->setCurrentIndex(index);
   nav_btns->buttons()[index]->setChecked(true);
-  if (!param.isEmpty()) {
-    emit expandToggleDescription(param);
-  }
 }
 
 SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
@@ -398,6 +400,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Network"), networking},
     {tr("Toggles"), toggles},
     {tr("Software"), new SoftwarePanel(this)},
+    {tr("Firehose"), new FirehosePanel(this)},
     {tr("Developer"), new DeveloperPanel(this)},
   };
 

selfdrive/ui/qt/offroad/settings.h

@@ -110,3 +110,6 @@ protected:
   Params params;
   ParamWatcher *fs_watch;
 };
+
+// Forward declaration
+class FirehosePanel;

selfdrive/ui/qt/widgets/wifi.cc

@@ -6,80 +6,35 @@
 #include <QPushButton>
 
 WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
-  stack = new QStackedLayout(this);
+  // Setup Firehose Mode
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(56, 40, 56, 40);
+  main_layout->setSpacing(42);  
+  
+  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
+  title->setStyleSheet("font-size: 64px; font-weight: 500;");
+  main_layout->addWidget(title);
 
-  // Setup Wi-Fi
-  QFrame *setup = new QFrame;
-  QVBoxLayout *setup_layout = new QVBoxLayout(setup);
-  setup_layout->setContentsMargins(56, 40, 56, 40);
-  setup_layout->setSpacing(20);
-  {
-    QHBoxLayout *title_layout = new QHBoxLayout;
-    title_layout->setSpacing(32);
-    {
-      QLabel *icon = new QLabel;
-      QPixmap pixmap("../assets/offroad/icon_wifi_strength_full.svg");
-      icon->setPixmap(pixmap.scaledToWidth(80, Qt::SmoothTransformation));
-      title_layout->addWidget(icon);
+  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
+  desc->setStyleSheet("font-size: 40px; font-weight: 400;");
+  desc->setWordWrap(true);
+  main_layout->addWidget(desc);
 
-      QLabel *title = new QLabel(tr("Setup Wi-Fi"));
-      title->setStyleSheet("font-size: 64px; font-weight: 600;");
-      title_layout->addWidget(title);
-      title_layout->addStretch();
+  QPushButton *settings_btn = new QPushButton(tr("Open"));
+  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
+  settings_btn->setStyleSheet(R"(
+    QPushButton {
+      font-size: 48px;
+      font-weight: 500;
+      border-radius: 10px;
+      background-color: #465BEA;
+      padding: 32px;
     }
-    setup_layout->addLayout(title_layout);
-
-    QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot"));
-    desc->setStyleSheet("font-size: 40px; font-weight: 400;");
-    desc->setWordWrap(true);
-    setup_layout->addWidget(desc);
-
-    QPushButton *settings_btn = new QPushButton(tr("Open Settings"));
-    connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); });
-    settings_btn->setStyleSheet(R"(
-      QPushButton {
-        font-size: 48px;
-        font-weight: 500;
-        border-radius: 10px;
-        background-color: #465BEA;
-        padding: 32px;
-      }
-      QPushButton:pressed {
-        background-color: #3049F4;
-      }
-    )");
-    setup_layout->addWidget(settings_btn);
-  }
-  stack->addWidget(setup);
-
-  // Uploading data
-  QWidget *uploading = new QWidget;
-  QVBoxLayout *uploading_layout = new QVBoxLayout(uploading);
-  uploading_layout->setContentsMargins(64, 56, 64, 56);
-  uploading_layout->setSpacing(36);
-  {
-    QHBoxLayout *title_layout = new QHBoxLayout;
-    {
-      QLabel *title = new QLabel(tr("Ready to upload"));
-      title->setStyleSheet("font-size: 64px; font-weight: 600;");
-      title->setWordWrap(true);
-      title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum);
-      title_layout->addWidget(title);
-      title_layout->addStretch();
-
-      QLabel *icon = new QLabel;
-      QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg");
-      icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation));
-      title_layout->addWidget(icon);
+    QPushButton:pressed {
+      background-color: #3049F4;
     }
-    uploading_layout->addLayout(title_layout);
-
-    QLabel *desc = new QLabel(tr("Training data will be pulled periodically while your device is on Wi-Fi"));
-    desc->setStyleSheet("font-size: 48px; font-weight: 400;");
-    desc->setWordWrap(true);
-    uploading_layout->addWidget(desc);
-  }
-  stack->addWidget(uploading);
+  )");
+  main_layout->addWidget(settings_btn);
 
   setStyleSheet(R"(
     WiFiPromptWidget {
@@ -87,17 +42,4 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
       border-radius: 10px;
     }
   )");
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState);
-}
-
-void WiFiPromptWidget::updateState(const UIState &s) {
-  if (!isVisible()) return;
-
-  auto &sm = *(s.sm);
-
-  auto network_type = sm["deviceState"].getDeviceState().getNetworkType();
-  auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI ||
-      network_type == cereal::DeviceState::NetworkType::ETHERNET;
-  stack->setCurrentIndex(uploading ? 1 : 0);
-}
+}

selfdrive/ui/qt/widgets/wifi.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <QFrame>
-#include <QStackedLayout>
 #include <QWidget>
 
 #ifdef SUNNYPILOT
@@ -19,10 +18,4 @@ public:
 
 signals:
   void openSettings(int index = 0, const QString &param = "");
-
-public slots:
-  void updateState(const UIState &s);
-
-protected:
-  QStackedLayout *stack;
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc

@@ -9,6 +9,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 #include "selfdrive/ui/qt/offroad/developer_panel.h"
+#include "selfdrive/ui/qt/offroad/firehose.h"
 #include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
@@ -80,6 +81,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
     PanelInfo("   " + tr("sunnypilot"), new SunnypilotPanel(this), "../assets/images/button_home.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
+    PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
     PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
   };
 

selfdrive/ui/tests/test_ui/run.py

@@ -1,4 +1,4 @@
-from collections import namedtuple
+#!/usr/bin/env python3
 import capnp
 import json
 import pathlib
@@ -9,6 +9,7 @@ import pywinctl
 import pyautogui
 import pickle
 import time
+from collections import namedtuple
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
@@ -59,6 +60,9 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
   click(278, 742)
   time.sleep(UI_DELAY)
 
+def setup_settings_firehose(click, pm: PubMaster, scroll=None):
+  click(278, 862)
+
 def setup_settings_developer(click, pm: PubMaster, scroll=None):
   CP = car.CarParams()
   CP.experimentalLongitudinalAvailable = True
@@ -230,7 +234,7 @@ def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
 
   setup_settings_device(click, pm)
   scroll(-400, 278, 862)
-  click(278, 862)
+  click(278, 770)
   time.sleep(UI_DELAY)
 
 CASES = {
@@ -242,6 +246,7 @@ CASES = {
   "settings_network_advanced": setup_settings_network_advanced,
   "settings_toggles": setup_settings_toggles,
   "settings_software": setup_settings_software,
+  "settings_firehose": setup_settings_firehose,
   "settings_developer": setup_settings_developer,
   "onroad": setup_onroad,
   "onroad_disengaged": setup_onroad_disengaged,

selfdrive/ui/translations/main_ar.ts

@@ -415,6 +415,31 @@
         <translation>تشغيل وضع الراحة</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -890,6 +915,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation>المطور</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -933,6 +962,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation type="unfinished">المطور</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1553,14 +1586,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1600,24 +1625,16 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>إعداد شبكة الواي فاي</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>الاتصال بشبكة الواي فاي لتحميل بيانات القيادة والمساهمة في تحسين openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>فتح الإعدادات</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>جاهز للتحميل</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_de.ts

@@ -415,6 +415,31 @@
         <translation>ENTSPANNTER MODUS AN</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -872,6 +897,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -915,6 +944,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1537,14 +1570,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1584,23 +1609,15 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <source>Open</source>
         <translation type="unfinished"></translation>
     </message>
 </context>

selfdrive/ui/translations/main_es.ts

@@ -415,6 +415,31 @@
         <translation>MODO CHILL</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -874,6 +899,10 @@ Esto puede tardar un minuto.</translation>
         <source>Developer</source>
         <translation>Desarrollador</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -917,6 +946,10 @@ Esto puede tardar un minuto.</translation>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1537,14 +1570,6 @@ Esto puede tardar un minuto.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1584,24 +1609,16 @@ Esto puede tardar un minuto.</translation>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>Configurar Wi-Fi</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>Conectarse al Wi-Fi para subir los datos de conducción y mejorar openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>Abrir Configuraciones</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>Listo para subir</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>Los datos de entrenamiento se extraerán periódicamente mientras tu dispositivo esté conectado a Wi-Fi</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_fr.ts

@@ -415,6 +415,31 @@
         <translation>MODE DÉTENTE ACTIVÉ</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -874,6 +899,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Developer</source>
         <translation>Dév.</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -917,6 +946,10 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1537,14 +1570,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1584,24 +1609,16 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>Configurer Wi-Fi</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>Connectez-vous au Wi-Fi pour publier les données de conduite et aider à améliorer openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>Ouvrir les paramètres</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>Prêt à uploader</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>Les données d&apos;entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ja.ts

@@ -415,6 +415,31 @@
         <translation>CHILLモード</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -870,6 +895,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation>開発</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -913,6 +942,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1533,14 +1566,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1580,24 +1605,16 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>Wi-Fiセットアップ</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>ドライブデータをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>設定を開く</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>アップロード準備完了</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>デバイスがWi-Fiに接続されている間、トレーニングデータが定期的に送信されます</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ko.ts

@@ -415,6 +415,31 @@
         <translation>안정 모드 사용</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -870,6 +895,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation>개발자</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -913,6 +942,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1533,14 +1566,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1580,24 +1605,16 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>Wi-Fi 설정</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>Wi-Fi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 기여하세요</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>설정 열기</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>업로드 준비 완료</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_pt-BR.ts

@@ -415,6 +415,31 @@
         <translation>MODO CHILL ON</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -874,6 +899,10 @@ Isso pode levar até um minuto.</translation>
         <source>Developer</source>
         <translation>Desenvdor</translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -917,6 +946,10 @@ Isso pode levar até um minuto.</translation>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1537,14 +1570,6 @@ Isso pode levar até um minuto.</translation>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1584,24 +1609,16 @@ Isso pode levar até um minuto.</translation>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>Configurar Wi-Fi</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>Conecte se ao Wi-Fi para realizar upload de dados de condução e ajudar a melhorar o openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>Abrir Configurações</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>Pronto para upload</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_th.ts

@@ -415,6 +415,31 @@
         <translation>คุณกำลังใช้โหมดชิล</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -870,6 +895,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -913,6 +942,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1533,14 +1566,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1580,24 +1605,16 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>ตั้งค่า Wi-Fi</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>เชื่อมต่อกับ Wi-Fi เพื่ออัปโหลดข้อมูลการขับขี่และช่วยปรับปรุง openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>เปิดการตั้งค่า</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>พร้อมจะอัปโหลด</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_tr.ts

@@ -415,6 +415,31 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -868,6 +893,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -911,6 +940,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1531,14 +1564,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1578,23 +1603,15 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <source>Open</source>
         <translation type="unfinished"></translation>
     </message>
 </context>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -415,6 +415,31 @@
         <translation>轻松模式运行</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -870,6 +895,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -913,6 +942,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1533,14 +1566,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1580,24 +1605,16 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>设置 Wi-Fi 连接</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>请连接至 Wi-Fi 上传驾驶数据以协助改进openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>打开设置</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>准备好上传</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>训练数据将定期通过 Wi-Fi 上载</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -415,6 +415,31 @@
         <translation>輕鬆模式 ON</translation>
     </message>
 </context>
+<context>
+    <name>FirehosePanel</name>
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
+
+Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models with better Experimental Mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable Firehose Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>0%</source>
+        <translation type="unfinished">5G {0%?}</translation>
+    </message>
+    <message>
+        <source>Follow these steps to get your device ready:&lt;br&gt;	1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;	2. Connect to Wi-Fi&lt;br&gt;	3. Enable the toggle&lt;br&gt;	4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;The toggle turns off once you restart your device. Repeat at least once a week for maximum effectiveness.&lt;br&gt;&lt;br&gt;&lt;b&gt;FAQ&lt;/b&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;i&gt;Do I need to be on Wi-Fi?&lt;/i&gt; Yes.&lt;br&gt;&lt;i&gt;Do I need to bring the device inside?&lt;/i&gt; No, you can enable once you&apos;re parked, however your uploads will be limited by your car&apos;s battery.&lt;br&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>HudRenderer</name>
     <message>
@@ -870,6 +895,10 @@ This may take up to a minute.</source>
         <source>Developer</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindowSP</name>
@@ -913,6 +942,10 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Firehose</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1533,14 +1566,6 @@ This may take up to a minute.</source>
         <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>FIREHOSE Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable &lt;b&gt;FIREHOSE Mode&lt;/b&gt; to get your driving data in the training set.&lt;br&gt;&lt;br&gt;Follow these steps to get your device ready:&lt;br&gt;  1. Bring your device inside and connect to a good USB-C adapter&lt;br&gt;  2. Connect to Wi-Fi&lt;br&gt;  3. Enable this toggle&lt;br&gt;  4. Leave it connected for at least 30 minutes&lt;br&gt;&lt;br&gt;This toggle turns off once you restart your device. Repeat once a week for maximum effectiveness.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1580,24 +1605,16 @@ This may take up to a minute.</source>
 <context>
     <name>WiFiPromptWidget</name>
     <message>
-        <source>Setup Wi-Fi</source>
-        <translation>設置 Wi-Fi 連接</translation>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation>請連接至 Wi-Fi 傳駕駛數據以協助改進 openpilot</translation>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Open Settings</source>
-        <translation>開啟設置</translation>
-    </message>
-    <message>
-        <source>Ready to upload</source>
-        <translation>準備好上傳</translation>
-    </message>
-    <message>
-        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation>訓練數據將定期經過 Wi-Fi 上傳</translation>
+        <source>Open</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>

sunnypilot/mads/mads.py

@@ -27,7 +27,6 @@ Last updated: July 29, 2024
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 from openpilot.sunnypilot.mads.helpers import MadsParams
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
@@ -57,7 +56,7 @@ class ModularAssistiveDrivingSystem:
     self.events_sp = self.selfdrive.events_sp
 
     if self.selfdrive.CP.brand == "hyundai":
-      if (self.selfdrive.CP_SP.flags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
+      if (self.selfdrive.CP.flags & HyundaiFlags.HAS_LDA_BUTTON) or \
             (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
         self.allow_always = True
 

sunnypilot/modeld/tests/model_hash

@@ -1 +0,0 @@
-d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a

sunnypilot/modeld/tests/test_default_model.py

@@ -1,11 +0,0 @@
-from openpilot.sunnypilot.modeld.default_model import get_hash, MODEL_HASH_PATH, ONNX_PATH
-
-
-class TestDefaultModel:
-  def test_compare_onnx_hashes(self):
-    new_hash = get_hash(ONNX_PATH)
-
-    with open(MODEL_HASH_PATH) as f:
-      current_hash = f.read().strip()
-
-    assert new_hash == current_hash, "Run sunnypilot/modeld/default_model.py to update the default model name and hash"

sunnypilot/models/default_model.py

@@ -5,11 +5,13 @@ import hashlib
 from openpilot.common.basedir import BASEDIR
 
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
-MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "modeld", "tests", "model_hash")
-ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.onnx")
+MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
+VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
+POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
 
 
-def get_hash(path: str) -> str:
+def get_file_hash(path: str) -> str:
+  """Compute SHA-256 hash of a file."""
   sha256_hash = hashlib.sha256()
   with open(path, "rb") as f:
     for byte_block in iter(lambda: f.read(4096), b""):
@@ -18,13 +20,21 @@ def get_hash(path: str) -> str:
 
 
 def update_model_hash():
-  new_hash = get_hash(ONNX_PATH)
+  """Compute and update the combined hash for both ONNX models."""
+  vision_hash = get_file_hash(VISION_ONNX_PATH)
+  policy_hash = get_file_hash(POLICY_ONNX_PATH)
+
+  # Combine both hashes into a single hash for consistency
+  combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
+
   with open(MODEL_HASH_PATH, "w") as f:
-    f.write(new_hash)
-  print(f"Generated and updated new hash to {MODEL_HASH_PATH}")
+    f.write(combined_hash)
+
+  print(f"Generated and updated new combined model hash to {MODEL_HASH_PATH}")
 
 
 def get_current_default_model_name():
+  """Read the current default model name from the header file."""
   print("[GET DEFAULT MODEL NAME]")
   with open(DEFAULT_MODEL_NAME_PATH) as f:
     name = f.read().split('"')[1]
@@ -34,6 +44,7 @@ def get_current_default_model_name():
 
 
 def update_default_model_name(name: str):
+  """Update the model name in the header file."""
   print("[CHANGE DEFAULT MODEL NAME]")
   with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
     f.write(f'#define DEFAULT_MODEL "{name}"\n')
@@ -53,9 +64,10 @@ if __name__ == "__main__":
 
   current_name = get_current_default_model_name()
   new_name = f"{args.new_name} (Default)"
+
   if current_name == new_name:
     print(f'Proposed default model name: "{new_name}"')
-    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n):").upper().strip()
+    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
     if confirm != "Y":
       print("Default model name and hash will not be updated! (aborted)")
       exit(0)

sunnypilot/models/tests/model_hash

@@ -0,0 +1 @@
+c0636e407aa49a3e227d63dd7bc9c625fa681c10a11af1ab4e11214cface123e

sunnypilot/models/tests/test_default_model.py

@@ -0,0 +1,19 @@
+from openpilot.sunnypilot.models.default_model import get_file_hash, MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
+import hashlib
+
+
+class TestDefaultModel:
+  def test_compare_onnx_hashes(self):
+    # Compute hashes for both ONNX models
+    vision_hash = get_file_hash(VISION_ONNX_PATH)
+    policy_hash = get_file_hash(POLICY_ONNX_PATH)
+
+    # Generate combined hash
+    combined_hash = hashlib.sha256((vision_hash + policy_hash).encode()).hexdigest()
+
+    # Read stored model hash
+    with open(MODEL_HASH_PATH) as f:
+      current_hash = f.read().strip()
+
+    # Assert combined hash matches the stored hash
+    assert combined_hash == current_hash, "Run sunnypilot/models/default_model.py to update the default model name and hash"

system/camerad/SConscript

@@ -1,6 +1,6 @@
 Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
 
-libs = ['pthread', common, 'OpenCL', messaging, visionipc, gpucommon]
+libs = [common, 'OpenCL', messaging, visionipc, gpucommon]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',

system/camerad/cameras/camera_common.cc

@@ -3,58 +3,10 @@
 #include <cassert>
 #include <string>
 
-#include "common/clutil.h"
 #include "common/swaglog.h"
-
 #include "system/camerad/cameras/spectra.h"
 
 
-class ImgProc {
-public:
-  ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const SensorInfo *sensor, int camera_num, int buf_width, int uv_offset) {
-    char args[4096];
-    snprintf(args, sizeof(args),
-             "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors "
-             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
-             "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ",
-             sensor->frame_width, sensor->frame_height, sensor->hdr_offset > 0 ? sensor->frame_stride * 2 : sensor->frame_stride, sensor->frame_offset,
-             b->out_img_width, b->out_img_height, buf_width, uv_offset,
-             static_cast<unsigned short>(sensor->image_sensor), sensor->hdr_offset, camera_num == 1);
-    const char *cl_file = "cameras/process_raw.cl";
-    cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args);
-    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
-    CL_CHECK(clReleaseProgram(prg_imgproc));
-
-    const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-    queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  }
-
-  void runKernel(cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
-    CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
-    CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
-    CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
-
-    const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
-    const int imgproc_local_worksize = 16;
-    const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
-
-    cl_event event;
-    CL_CHECK(clEnqueueNDRangeKernel(queue, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
-    clWaitForEvents(1, &event);
-    CL_CHECK(clReleaseEvent(event));
-  }
-
-  ~ImgProc() {
-    CL_CHECK(clReleaseKernel(krnl_));
-    CL_CHECK(clReleaseCommandQueue(queue));
-  }
-
-private:
-  cl_kernel krnl_;
-  cl_command_queue queue;
-};
-
 void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
   stream_type = type;
@@ -62,9 +14,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
   const SensorInfo *sensor = cam->sensor.get();
 
-  is_raw = cam->output_type == ISP_RAW_OUTPUT;
-  frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
-
   // RAW frames from ISP
   if (cam->output_type != ISP_IFE_PROCESSED) {
     camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
@@ -86,8 +35,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
 
   vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
-
-  if (is_raw) imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
 }
 
 CameraBuf::~CameraBuf() {
@@ -96,29 +43,16 @@ CameraBuf::~CameraBuf() {
       camera_bufs_raw[i].free();
     }
   }
-  if (imgproc) delete imgproc;
 }
 
-bool CameraBuf::acquire(int expo_time) {
-  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
+void CameraBuf::sendFrameToVipc() {
+  assert(cur_buf_idx >=0 && cur_buf_idx < frame_buf_count);
 
-  if (frame_metadata[cur_buf_idx].frame_id == -1) {
-    LOGE("no frame data? wtf");
-    return false;
+  if (camera_bufs_raw) {
+    cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
   }
 
-  cur_frame_data = frame_metadata[cur_buf_idx];
-  cur_camera_buf = &camera_bufs_raw[cur_buf_idx];
-  if (is_raw) {
-    cur_yuv_buf = vipc_server->get_buffer(stream_type);
-
-    double start_time = millis_since_boot();
-    imgproc->runKernel(camera_bufs_raw[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, out_img_width, out_img_height, expo_time);
-    cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
-  } else {
-    cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
-    cur_frame_data.processing_time = (double)(cur_frame_data.timestamp_end_of_isp - cur_frame_data.timestamp_eof)*1e-9;
-  }
+  cur_yuv_buf = vipc_server->get_buffer(stream_type, cur_buf_idx);
 
   VisionIpcBufExtra extra = {
     cur_frame_data.frame_id,
@@ -127,12 +61,6 @@ bool CameraBuf::acquire(int expo_time) {
   };
   cur_yuv_buf->set_frame_id(cur_frame_data.frame_id);
   vipc_server->send(cur_yuv_buf, &extra);
-
-  return true;
-}
-
-void CameraBuf::queue(size_t buf_idx) {
-  safe_queue.push(buf_idx);
 }
 
 // common functions
@@ -148,7 +76,7 @@ kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
   return kj::mv(frame_image);
 }
 
-float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) {
+float calculate_exposure_value(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) {
   int lum_med;
   uint32_t lum_binning[256] = {0};
   const uint8_t *pix_ptr = b->cur_yuv_buf->y;

system/camerad/cameras/camera_common.h

@@ -4,7 +4,6 @@
 
 #include "cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc_server.h"
-#include "common/queue.h"
 #include "common/util.h"
 
 
@@ -15,41 +14,33 @@ typedef struct FrameMetadata {
   uint32_t request_id;
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
-  uint64_t timestamp_end_of_isp;
   float processing_time;
 } FrameMetadata;
 
 class SpectraCamera;
-class CameraState;
-class ImgProc;
 
 class CameraBuf {
 private:
-  ImgProc *imgproc = nullptr;
-  int cur_buf_idx;
-  SafeQueue<int> safe_queue;
   int frame_buf_count;
-  bool is_raw;
 
 public:
   VisionIpcServer *vipc_server;
   VisionStreamType stream_type;
 
+  int cur_buf_idx;
   FrameMetadata cur_frame_data;
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  std::unique_ptr<FrameMetadata[]> frame_metadata;
   int out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
   void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
-  bool acquire(int expo_time);
-  void queue(size_t buf_idx);
+  void sendFrameToVipc();
 };
 
 void camerad_thread();
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
-float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
+float calculate_exposure_value(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
 int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK);

system/camerad/cameras/camera_qcom2.cc

@@ -37,7 +37,6 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != nullptr;
 class CameraState {
 public:
   SpectraCamera camera;
-  std::thread thread;
   int exposure_time = 5;
   bool dc_gain_enabled = false;
   int dc_gain_weight = 0;
@@ -54,6 +53,7 @@ public:
   float target_grey_fraction = 0.3;
 
   float fl_pix = 0;
+  std::unique_ptr<PubMaster> pm;
 
   CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_DRIVER ? ISP_BPS_PROCESSED : ISP_IFE_PROCESSED) {};
   ~CameraState();
@@ -61,7 +61,7 @@ public:
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
   void set_exposure_rect();
-  void run();
+  void sendState();
 
   float get_gain_factor() const {
     return (1 + dc_gain_weight * (camera.sensor->dc_gain_factor-1) / camera.sensor->dc_gain_max_weight);
@@ -80,12 +80,10 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
   gain_idx = camera.sensor->analog_gain_rec_idx;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time;
 
-  thread = std::thread(&CameraState::run, this);
+  pm = std::make_unique<PubMaster>(std::vector{camera.cc.publish_name});
 }
 
-CameraState::~CameraState() {
-  if (thread.joinable()) thread.join();
-}
+CameraState::~CameraState() {}
 
 void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
@@ -216,56 +214,43 @@ void CameraState::set_camera_exposure(float grey_frac) {
   float gain = analog_gain_frac * get_gain_factor();
   cur_ev[camera.buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
 
-  // Processing a frame takes right about 50ms, so we need to wait a few ms
-  // so we don't send i2c commands around the frame start.
-  int ms = (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof) / 1000000;
-  if (ms < 60) {
-    util::sleep_for(60 - ms);
-  }
   // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera.cc.camera_num, 1e-9 * nanos_since_boot(), 1e-9 * camera.buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - camera.buf.cur_frame_data.timestamp_sof));
 
   auto exp_reg_array = sensor->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled);
   camera.sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, camera.sensor->data_word);
 }
 
-void CameraState::run() {
-  util::set_thread_name(camera.cc.publish_name);
+void CameraState::sendState() {
+  camera.buf.sendFrameToVipc();
 
-  PubMaster pm(std::vector{camera.cc.publish_name});
+  MessageBuilder msg;
+  auto framed = (msg.initEvent().*camera.cc.init_camera_state)();
+  const FrameMetadata &meta = camera.buf.cur_frame_data;
+  framed.setFrameId(meta.frame_id);
+  framed.setRequestId(meta.request_id);
+  framed.setTimestampEof(meta.timestamp_eof);
+  framed.setTimestampSof(meta.timestamp_sof);
+  framed.setIntegLines(exposure_time);
+  framed.setGain(analog_gain_frac * get_gain_factor());
+  framed.setHighConversionGain(dc_gain_enabled);
+  framed.setMeasuredGreyFraction(measured_grey_fraction);
+  framed.setTargetGreyFraction(target_grey_fraction);
+  framed.setProcessingTime(meta.processing_time);
 
-  for (uint32_t cnt = 0; !do_exit; ++cnt) {
-    // Acquire the buffer; continue if acquisition fails
-    if (!camera.buf.acquire(exposure_time)) continue;
+  const float ev = cur_ev[meta.frame_id % 3];
+  const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f);
+  framed.setExposureValPercent(perc);
+  framed.setSensor(camera.sensor->image_sensor);
 
-    MessageBuilder msg;
-    auto framed = (msg.initEvent().*camera.cc.init_camera_state)();
-    const FrameMetadata &meta = camera.buf.cur_frame_data;
-    framed.setFrameId(meta.frame_id);
-    framed.setRequestId(meta.request_id);
-    framed.setTimestampEof(meta.timestamp_eof);
-    framed.setTimestampSof(meta.timestamp_sof);
-    framed.setIntegLines(exposure_time);
-    framed.setGain(analog_gain_frac * get_gain_factor());
-    framed.setHighConversionGain(dc_gain_enabled);
-    framed.setMeasuredGreyFraction(measured_grey_fraction);
-    framed.setTargetGreyFraction(target_grey_fraction);
-    framed.setProcessingTime(meta.processing_time);
-
-    const float ev = cur_ev[meta.frame_id % 3];
-    const float perc = util::map_val(ev, camera.sensor->min_ev, camera.sensor->max_ev, 0.0f, 100.0f);
-    framed.setExposureValPercent(perc);
-    framed.setSensor(camera.sensor->image_sensor);
-
-    // Log raw frames for road camera
-    if (env_log_raw_frames && camera.cc.stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
-      framed.setImage(get_raw_frame_image(&camera.buf));
-    }
-
-    set_camera_exposure(set_exposure_target(&camera.buf, ae_xywh, 2, camera.cc.stream_type != VISION_STREAM_DRIVER ? 2 : 4));
-
-    // Send the message
-    pm.send(camera.cc.publish_name, msg);
+  // 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
+    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));
+
+  // Send the message
+  pm->send(camera.cc.publish_name, msg);
 }
 
 void camerad_thread() {
@@ -321,7 +306,9 @@ void camerad_thread() {
 
         for (auto &cam : cams) {
           if (event_data->session_hdl == cam->camera.session_handle) {
-            cam->camera.handle_camera_event(event_data);
+            if (cam->camera.handle_camera_event(event_data)) {
+              cam->sendState();
+            }
             break;
           }
         }

system/camerad/cameras/hw.h

@@ -53,3 +53,5 @@ const CameraConfig DRIVER_CAMERA_CONFIG = {
   .phy = CAM_ISP_IFE_IN_RES_PHY_2,
   .vignetting_correction = false,
 };
+
+const CameraConfig ALL_CAMERA_CONFIGS[] = {WIDE_ROAD_CAMERA_CONFIG, ROAD_CAMERA_CONFIG, DRIVER_CAMERA_CONFIG};

system/camerad/cameras/process_raw.cl

@@ -1,252 +0,0 @@
-#include "ar0231_cl.h"
-#include "ox03c10_cl.h"
-#include "os04c10_cl.h"
-
-#define UV_WIDTH RGB_WIDTH / 2
-#define UV_HEIGHT RGB_HEIGHT / 2
-
-#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
-#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
-#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
-#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
-
-#if defined(BGGR)
-  #define ROW_READ_ORDER (int[]){3, 2, 1, 0}
-  #define RGB_WRITE_ORDER (int[]){2, 3, 0, 1}
-#else
-  #define ROW_READ_ORDER (int[]){0, 1, 2, 3}
-  #define RGB_WRITE_ORDER (int[]){0, 1, 2, 3}
-#endif
-
-float get_vignetting_s(float r) {
-#if defined(VIGNETTE_PROFILE_4DT6MM)
-  if (r < 100000) {
-    return 1.0f + 0.0000013f*r;
-  } else if (r < 250000) {
-    return 1.02f + 0.0000011f*r;
-  } else if (r < 400000) {
-    return 0.92f + 0.0000015f*r;
-  } else {
-    return 0.44f + 0.0000027f*r;
-  }
-#elif defined(VIGNETTE_PROFILE_8DT0MM)
-  if (r < 62500) {
-    return (1.0f + 0.0000008f*r);
-  } else if (r < 490000) {
-    return (0.9625f + 0.0000014f*r);
-  } else if (r < 1102500) {
-    return (1.26434f + 0.0000000000016f*r*r);
-  } else {
-    return (0.53503625f + 0.0000000000022f*r*r);
-  }
-#else
-  return 1.0f;
-#endif
-}
-
-int4 parse_12bit(uchar8 pvs) {
-  // lower bits scambled?
-  return (int4)(((int)pvs.s0<<4) + (pvs.s1>>4),
-                      ((int)pvs.s2<<4) + (pvs.s4&0xF),
-                      ((int)pvs.s3<<4) + (pvs.s4>>4),
-                      ((int)pvs.s5<<4) + (pvs.s7&0xF));
-}
-
-int4 parse_10bit(uchar8 pvs, uchar ext, bool aligned) {
-  if (aligned) {
-    return (int4)(((int)pvs.s0 << 2) + (pvs.s1 & 0b00000011),
-                        ((int)pvs.s2 << 2) + ((pvs.s6 & 0b11000000) / 64),
-                        ((int)pvs.s3 << 2) + ((pvs.s6 & 0b00110000) / 16),
-                        ((int)pvs.s4 << 2) + ((pvs.s6 & 0b00001100) / 4));
-  } else {
-    return (int4)(((int)pvs.s0 << 2) + ((pvs.s3 & 0b00110000) / 16),
-                        ((int)pvs.s1 << 2) + ((pvs.s3 & 0b00001100) / 4),
-                        ((int)pvs.s2 << 2) + ((pvs.s3 & 0b00000011)),
-                        ((int)pvs.s4 << 2) + ((ext & 0b11000000) / 64));
-  }
-}
-
-float get_k(float a, float b, float c, float d) {
-  return 2.0 - (fabs(a - b) + fabs(c - d));
-}
-
-__kernel void process_raw(const __global uchar * in, __global uchar * out, int expo_time)
-{
-  const int gid_x = get_global_id(0);
-  const int gid_y = get_global_id(1);
-
-  // estimate vignetting
-  #if VIGNETTING
-    int gx = (gid_x*2 - RGB_WIDTH/2);
-    int gy = (gid_y*2 - RGB_HEIGHT/2);
-    const float vignette_factor = get_vignetting_s(gx*gx + gy*gy);
-  #else
-    const float vignette_factor = 1.0;
-  #endif
-
-  const int row_before_offset = (gid_y == 0) ? 2 : 0;
-  const int row_after_offset = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1 : 3;
-
-  float3 rgb_tmp;
-  uchar3 rgb_out[4]; // output is 2x2 window
-
-  // read offset
-  int start_idx;
-  #if BIT_DEPTH == 10
-    bool aligned10;
-    if (gid_x % 2 == 0) {
-      aligned10 = true;
-      start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET);
-    } else {
-      aligned10 = false;
-      start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET);
-    }
-  #else
-    start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
-  #endif
-
-  // read in 4 rows, 8 uchars each
-  uchar8 dat[4];
-  // row_before
-  dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*row_before_offset);
-  // row_0
-  if (gid_x == 0 && gid_y == 0) {
-    // this wasn't a problem due to extra rows
-    dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1 + 2);
-    dat[1] = (uchar8)(0, 0, dat[1].s0, dat[1].s1, dat[1].s2, dat[1].s3, dat[1].s4, dat[1].s5);
-  } else {
-    dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1);
-  }
-  // row_1
-  dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2);
-  // row_after
-  dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset);
-  // need extra bit for 10-bit, 4 rows, 1 uchar each
-  #if BIT_DEPTH == 10
-    uchar extra_dat[4];
-    if (!aligned10) {
-      extra_dat[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8];
-      extra_dat[1] = in[start_idx + FRAME_STRIDE*1 + 8];
-      extra_dat[2] = in[start_idx + FRAME_STRIDE*2 + 8];
-      extra_dat[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8];
-    }
-  #endif
-
-  // read odd rows for staggered second exposure
-  #if HDR_OFFSET > 0
-    uchar8 short_dat[4];
-    short_dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
-    short_dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2);
-    short_dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2);
-    short_dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
-    #if BIT_DEPTH == 10
-      uchar short_extra_dat[4];
-      if (!aligned10) {
-        short_extra_dat[0] = in[start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
-        short_extra_dat[1] = in[start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
-        short_extra_dat[2] = in[start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
-        short_extra_dat[3] = in[start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
-      }
-    #endif
-  #endif
-
-  // parse into floats 0.0-1.0
-  float4 v_rows[4];
-  #if BIT_DEPTH == 10
-    // for now it's always HDR
-    int4 parsed = parse_10bit(dat[0], extra_dat[0], aligned10);
-    int4 short_parsed = parse_10bit(short_dat[0], short_extra_dat[0], aligned10);
-    v_rows[ROW_READ_ORDER[0]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
-    parsed = parse_10bit(dat[1], extra_dat[1], aligned10);
-    short_parsed = parse_10bit(short_dat[1], short_extra_dat[1], aligned10);
-    v_rows[ROW_READ_ORDER[1]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
-    parsed = parse_10bit(dat[2], extra_dat[2], aligned10);
-    short_parsed = parse_10bit(short_dat[2], short_extra_dat[2], aligned10);
-    v_rows[ROW_READ_ORDER[2]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
-    parsed = parse_10bit(dat[3], extra_dat[3], aligned10);
-    short_parsed = parse_10bit(short_dat[3], short_extra_dat[3], aligned10);
-    v_rows[ROW_READ_ORDER[3]] = normalize_pv_hdr(parsed, short_parsed, vignette_factor, expo_time);
-  #else
-    // no HDR here
-    int4 parsed = parse_12bit(dat[0]);
-    v_rows[ROW_READ_ORDER[0]] = normalize_pv(parsed, vignette_factor);
-    parsed = parse_12bit(dat[1]);
-    v_rows[ROW_READ_ORDER[1]] = normalize_pv(parsed, vignette_factor);
-    parsed = parse_12bit(dat[2]);
-    v_rows[ROW_READ_ORDER[2]] = normalize_pv(parsed, vignette_factor);
-    parsed = parse_12bit(dat[3]);
-    v_rows[ROW_READ_ORDER[3]] = normalize_pv(parsed, vignette_factor);
-  #endif
-
-  // mirror padding
-  if (gid_x == 0) {
-    v_rows[0].s0 = v_rows[0].s2;
-    v_rows[1].s0 = v_rows[1].s2;
-    v_rows[2].s0 = v_rows[2].s2;
-    v_rows[3].s0 = v_rows[3].s2;
-  } else if (gid_x == RGB_WIDTH/2 - 1) {
-    v_rows[0].s3 = v_rows[0].s1;
-    v_rows[1].s3 = v_rows[1].s1;
-    v_rows[2].s3 = v_rows[2].s1;
-    v_rows[3].s3 = v_rows[3].s1;
-  }
-
-  // debayering
-  // a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
-  const float k01 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[0].s2, v_rows[1].s1);
-  const float k02 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
-  const float k03 = get_k(v_rows[2].s0, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
-  const float k04 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[2].s0, v_rows[1].s1);
-  rgb_tmp.x = (k02*v_rows[1].s2+k04*v_rows[1].s0)/(k02+k04); // R_G1
-  rgb_tmp.y = v_rows[1].s1; // G1(R)
-  rgb_tmp.z = (k01*v_rows[0].s1+k03*v_rows[2].s1)/(k01+k03); // B_G1
-  rgb_out[RGB_WRITE_ORDER[0]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
-
-  const float k11 = get_k(v_rows[0].s1, v_rows[2].s1, v_rows[0].s3, v_rows[2].s3);
-  const float k12 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[1].s3, v_rows[2].s2);
-  const float k13 = get_k(v_rows[0].s1, v_rows[0].s3, v_rows[2].s1, v_rows[2].s3);
-  const float k14 = get_k(v_rows[0].s2, v_rows[1].s3, v_rows[2].s2, v_rows[1].s1);
-  rgb_tmp.x = v_rows[1].s2; // R
-  rgb_tmp.y = (k11*(v_rows[0].s2+v_rows[2].s2)*0.5+k13*(v_rows[1].s3+v_rows[1].s1)*0.5)/(k11+k13); // G_R
-  rgb_tmp.z = (k12*(v_rows[0].s3+v_rows[2].s1)*0.5+k14*(v_rows[0].s1+v_rows[2].s3)*0.5)/(k12+k14); // B_R
-  rgb_out[RGB_WRITE_ORDER[1]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
-
-  const float k21 = get_k(v_rows[1].s0, v_rows[3].s0, v_rows[1].s2, v_rows[3].s2);
-  const float k22 = get_k(v_rows[1].s1, v_rows[2].s0, v_rows[2].s2, v_rows[3].s1);
-  const float k23 = get_k(v_rows[1].s0, v_rows[1].s2, v_rows[3].s0, v_rows[3].s2);
-  const float k24 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s0);
-  rgb_tmp.x = (k22*(v_rows[1].s2+v_rows[3].s0)*0.5+k24*(v_rows[1].s0+v_rows[3].s2)*0.5)/(k22+k24); // R_B
-  rgb_tmp.y = (k21*(v_rows[1].s1+v_rows[3].s1)*0.5+k23*(v_rows[2].s2+v_rows[2].s0)*0.5)/(k21+k23); // G_B
-  rgb_tmp.z = v_rows[2].s1; // B
-  rgb_out[RGB_WRITE_ORDER[2]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
-
-  const float k31 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[1].s3, v_rows[2].s2);
-  const float k32 = get_k(v_rows[1].s3, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
-  const float k33 = get_k(v_rows[3].s1, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
-  const float k34 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s2);
-  rgb_tmp.x = (k31*v_rows[1].s2+k33*v_rows[3].s2)/(k31+k33); // R_G2
-  rgb_tmp.y = v_rows[2].s2; // G2(B)
-  rgb_tmp.z = (k32*v_rows[2].s3+k34*v_rows[2].s1)/(k32+k34); // B_G2
-  rgb_out[RGB_WRITE_ORDER[3]] = convert_uchar3_sat(apply_gamma(color_correct(clamp(rgb_tmp, 0.0, 1.0)), expo_time) * 255.0);
-
-  // rgb2yuv(nv12)
-  uchar2 yy = (uchar2)(
-    RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2),
-    RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2)
-  );
-  vstore2(yy, 0, out + mad24(gid_y * 2, YUV_STRIDE, gid_x * 2));
-  yy = (uchar2)(
-    RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2),
-    RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2)
-  );
-  vstore2(yy, 0, out + mad24(gid_y * 2 + 1, YUV_STRIDE, gid_x * 2));
-
-  const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0);
-  const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1);
-  const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2);
-  uchar2 uv = (uchar2)(
-    RGB_TO_U(ar, ag, ab),
-    RGB_TO_V(ar, ag, ab)
-  );
-  vstore2(uv, 0, out + UV_OFFSET + mad24(gid_y, YUV_STRIDE, gid_x * 2));
-}

system/camerad/cameras/spectra.cc

@@ -1,5 +1,6 @@
 #include "cdm.h"
 
+#include <algorithm>
 #include <stdint.h>
 #include <cassert>
 #include <sys/ioctl.h>
@@ -136,26 +137,23 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
 // *** MemoryManager ***
 
 void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
-  lock.lock();
   void *ptr;
-  if (!cached_allocations[size].empty()) {
-    ptr = cached_allocations[size].front();
-    cached_allocations[size].pop();
+  auto &cache = cached_allocations[size];
+  if (!cache.empty()) {
+    ptr = cache.front();
+    cache.pop();
     *handle = handle_lookup[ptr];
   } else {
     ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
     handle_lookup[ptr] = *handle;
     size_lookup[ptr] = size;
   }
-  lock.unlock();
   memset(ptr, 0, size);
   return ptr;
 }
 
 void MemoryManager::free(void *ptr) {
-  lock.lock();
   cached_allocations[size_lookup[ptr]].push(ptr);
-  lock.unlock();
 }
 
 MemoryManager::~MemoryManager() {
@@ -229,6 +227,8 @@ void SpectraMaster::init() {
   sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
   ret = HANDLE_EINTR(ioctl(video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
+
+  mem_mgr.init(video0_fd);
 }
 
 // *** SpectraCamera ***
@@ -238,9 +238,7 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config,
     enabled(config.enabled),
     cc(config),
     output_type(out) {
-  mm.init(m->video0_fd);
-
-  ife_buf_depth = (out != ISP_IFE_PROCESSED) ? 4 : VIPC_BUFFER_COUNT;
+  ife_buf_depth = (out == ISP_RAW_OUTPUT) ? 4 : VIPC_BUFFER_COUNT;
   assert(ife_buf_depth < MAX_IFE_BUFS);
 }
 
@@ -258,7 +256,7 @@ int SpectraCamera::clear_req_queue() {
   int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
   LOGD("flushed all req: %d", ret);
 
-  if (icp_dev_handle) {
+  if (icp_dev_handle > 0) {
     struct cam_flush_dev_cmd cmd = {
       .session_handle = session_handle,
       .dev_handle = icp_dev_handle,
@@ -305,14 +303,13 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   LOGD("camera init %d", cc.camera_num);
   buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
-  enqueue_req_multi(1, ife_buf_depth, 0);
+  enqueue_req_multi(1, ife_buf_depth);
 }
 
-void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
-  for (uint64_t i = start; i < start + n; ++i) {
-    uint64_t idx = (i - 1) % ife_buf_depth;
-    request_ids[idx] = i;
-    enqueue_buffer(idx, dp);
+void SpectraCamera::enqueue_req_multi(uint64_t start, int n) {
+  for (uint64_t request_id = start; request_id < start + n; ++request_id) {
+    uint64_t idx = (request_id - 1) % ife_buf_depth;
+    enqueue_buffer(idx, request_id);
   }
 }
 
@@ -325,7 +322,7 @@ void SpectraCamera::sensors_start() {
 void SpectraCamera::sensors_poke(int request_id) {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet);
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 0;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -344,7 +341,7 @@ void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 1;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -354,7 +351,7 @@ void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len
   buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
   buf_desc[0].type = CAM_CMD_BUF_I2C;
 
-  auto i2c_random_wr = mm.alloc<struct cam_cmd_i2c_random_wr>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto i2c_random_wr = m->mem_mgr.alloc<struct cam_cmd_i2c_random_wr>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@@ -373,7 +370,7 @@ void SpectraCamera::sensors_i2c(const struct i2c_random_wr_payload* dat, int len
 int SpectraCamera::sensors_init() {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.op_code = CSLDeviceTypeImageSensor | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
@@ -382,7 +379,7 @@ int SpectraCamera::sensors_init() {
 
   buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
   buf_desc[0].type = CAM_CMD_BUF_LEGACY;
-  auto i2c_info = mm.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto i2c_info = m->mem_mgr.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1);
 
   probe->camera_id = cc.camera_num;
@@ -403,7 +400,7 @@ int SpectraCamera::sensors_init() {
   //buf_desc[1].size = buf_desc[1].length = 148;
   buf_desc[1].size = buf_desc[1].length = 196;
   buf_desc[1].type = CAM_CMD_BUF_I2C;
-  auto power_settings = mm.alloc<struct cam_cmd_power>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  auto power_settings = m->mem_mgr.alloc<struct cam_cmd_power>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
 
   // power on
   struct cam_cmd_power *power = power_settings.get();
@@ -485,7 +482,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
   size += sizeof(struct cam_patch_desc)*9;
 
   uint32_t cam_packet_handle = 0;
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
 
   pkt->header.op_code = CSLDeviceTypeBPS | CAM_ICP_OPCODE_BPS_UPDATE;
   pkt->header.request_id = request_id;
@@ -621,7 +618,7 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
     buf_desc[1].type = CAM_CMD_BUF_GENERIC;
     buf_desc[1].meta_data = CAM_ICP_CMD_META_GENERIC_BLOB;
-    auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+    auto buf2 = m->mem_mgr.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
     memcpy(buf2.get(), &tmp, sizeof(tmp));
   }
 
@@ -717,7 +714,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   }
 
   uint32_t cam_packet_handle = 0;
-  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+  auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
 
   if (!init) {
     pkt->header.op_code =  CSLDeviceTypeIFE | OpcodesIFEUpdate;  // 0xf000001
@@ -821,7 +818,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
     buf_desc[1].type = CAM_CMD_BUF_GENERIC;
     buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-    auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+    auto buf2 = m->mem_mgr.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
     memcpy(buf2.get(), &tmp, sizeof(tmp));
   }
 
@@ -903,9 +900,10 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
   assert(ret == 0);
 }
 
-void SpectraCamera::enqueue_buffer(int i, bool dp) {
+// Enqueue buffer for the given index and return true if the frame is ready
+bool SpectraCamera::enqueue_buffer(int i, uint64_t request_id) {
   int ret;
-  uint64_t request_id = request_ids[i];
+  bool frame_ready = false;
 
   // Before queuing up a new frame, wait for the
   // previous one in this slot (index) to come in.
@@ -919,6 +917,9 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     // in IFE_PROCESSED mode, this is both frame readout and image processing (~1ms)
     sync_wait.sync_obj = sync_objs_ife[i];
     sync_wait.timeout_ms = 100;
+    if (stress_test("IFE sync")) {
+      sync_wait.timeout_ms = 1;
+    }
     ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     if (ret != 0) {
       LOGE("failed to wait for IFE sync: %d %d", ret, sync_wait.sync_obj);
@@ -928,19 +929,18 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     if (ret == 0 && sync_objs_bps[i]) {
       sync_wait.sync_obj = sync_objs_bps[i];
       sync_wait.timeout_ms = 50; // typically 7ms
+      if (stress_test("BPS sync")) {
+        sync_wait.timeout_ms = 1;
+      }
       ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
       if (ret != 0) {
         LOGE("failed to wait for BPS sync: %d %d", ret, sync_wait.sync_obj);
       }
     }
 
-    // in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time
-    buf.frame_metadata[i].timestamp_eof = buf.frame_metadata[i].timestamp_sof + sensor->readout_time_ns;
-    buf.frame_metadata[i].timestamp_end_of_isp = (uint64_t)nanos_since_boot();
-
     // all good, hand off frame
-    if (dp && ret == 0) {
-      buf.queue(i);
+    if (ret == 0) {
+      frame_ready = true;
     }
 
     if (ret != 0) {
@@ -956,15 +956,17 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
   if (ret != 0) {
     LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+  } else {
+    sync_objs_ife[i] = sync_create.sync_obj;
   }
-  sync_objs_ife[i] = sync_create.sync_obj;
 
   if (icp_dev_handle > 0) {
     ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
     if (ret != 0) {
       LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
+    } else {
+      sync_objs_bps[i] = sync_create.sync_obj;
     }
-    sync_objs_bps[i] = sync_create.sync_obj;
   }
 
   // schedule request with camera request manager
@@ -983,6 +985,8 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   // submit request to IFE and BPS
   config_ife(i, request_id);
   if (output_type == ISP_BPS_PROCESSED) config_bps(i, request_id);
+
+  return frame_ready;
 }
 
 void SpectraCamera::destroySyncObjectAt(int index) {
@@ -1143,26 +1147,18 @@ void SpectraCamera::configISP() {
   LOGD("acquire isp dev");
 
   // allocate IFE memory, then configure it
-  ife_cmd.init(m, 67984, 0x20,
-               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-               m->device_iommu, m->cdm_iommu, ife_buf_depth);
+  ife_cmd.init(m, 67984, 0x20, false, m->device_iommu, m->cdm_iommu, ife_buf_depth);
   if (output_type == ISP_IFE_PROCESSED) {
     assert(sensor->gamma_lut_rgb.size() == 64);
-    ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20,
-                       CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                       m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
+    ife_gamma_lut.init(m, sensor->gamma_lut_rgb.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu, 3); // 3 for RGB
     for (int i = 0; i < 3; i++) {
       memcpy(ife_gamma_lut.ptr + ife_gamma_lut.size*i, sensor->gamma_lut_rgb.data(), ife_gamma_lut.size);
     }
     assert(sensor->linearization_lut.size() == 36);
-    ife_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20,
-                               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                               m->device_iommu, m->cdm_iommu);
+    ife_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu);
     memcpy(ife_linearization_lut.ptr, sensor->linearization_lut.data(), ife_linearization_lut.size);
     assert(sensor->vignetting_lut.size() == 221);
-    ife_vignetting_lut.init(m, sensor->vignetting_lut.size()*sizeof(uint32_t), 0x20,
-                            CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
-                            m->device_iommu, m->cdm_iommu, 2);
+    ife_vignetting_lut.init(m, sensor->vignetting_lut.size()*sizeof(uint32_t), 0x20, false, m->device_iommu, m->cdm_iommu, 2);
     for (int i = 0; i < 2; i++) {
       memcpy(ife_vignetting_lut.ptr + ife_vignetting_lut.size*i, sensor->vignetting_lut.data(), ife_vignetting_lut.size);
     }
@@ -1212,40 +1208,28 @@ void SpectraCamera::configICP() {
   release(m->video0_fd, cfg_handle);
 
   // BPS has a lot of buffers to init
-  bps_cmd.init(m, 464, 0x20,
-               CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-               m->icp_device_iommu, 0, ife_buf_depth);
+  bps_cmd.init(m, 464, 0x20, true, m->icp_device_iommu, 0, ife_buf_depth);
 
   // BPSIQSettings struct
   uint32_t settings_size = sizeof(bps_settings[0]) / sizeof(bps_settings[0][0]);
-  bps_iq.init(m, settings_size, 0x20,
-              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-              m->icp_device_iommu);
+  bps_iq.init(m, settings_size, 0x20, true, m->icp_device_iommu);
   memcpy(bps_iq.ptr, bps_settings[sensor->num()], settings_size);
 
   // for cdm register writes, just make it bigger than you need
-  bps_cdm_program_array.init(m, 0x1000, 0x20,
-              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-              m->icp_device_iommu);
+  bps_cdm_program_array.init(m, 0x1000, 0x20, true, m->icp_device_iommu);
 
   // striping lib output
   uint32_t striping_size = sizeof(bps_striping_output[0]) / sizeof(bps_striping_output[0][0]);
-  bps_striping.init(m, striping_size, 0x20,
-              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-              m->icp_device_iommu);
+  bps_striping.init(m, striping_size, 0x20, true, m->icp_device_iommu);
   memcpy(bps_striping.ptr, bps_striping_output[sensor->num()], striping_size);
 
   // used internally by the BPS, we just allocate it.
   // size comes from the BPSStripingLib
-  bps_cdm_striping_bl.init(m, 0xa100, 0x20,
-                           CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-                           m->icp_device_iommu);
+  bps_cdm_striping_bl.init(m, 0xa100, 0x20, true, m->icp_device_iommu);
 
   // LUTs
   /*
-  bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20,
-              CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
-              m->icp_device_iommu);
+  bps_linearization_lut.init(m, sensor->linearization_lut.size()*sizeof(uint32_t), 0x20, true, m->icp_device_iommu);
   memcpy(bps_linearization_lut.ptr, sensor->linearization_lut.data(), bps_linearization_lut.size);
   */
 }
@@ -1266,7 +1250,7 @@ void SpectraCamera::configCSIPHY() {
   {
     uint32_t cam_packet_handle = 0;
     int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
+    auto pkt = m->mem_mgr.alloc<struct cam_packet>(size, &cam_packet_handle);
     pkt->num_cmd_buf = 1;
     pkt->kmd_cmd_buf_index = -1;
     pkt->header.size = size;
@@ -1275,7 +1259,7 @@ void SpectraCamera::configCSIPHY() {
     buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
     buf_desc[0].type = CAM_CMD_BUF_GENERIC;
 
-    auto csiphy_info = mm.alloc<struct cam_csiphy_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    auto csiphy_info = m->mem_mgr.alloc<struct cam_csiphy_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
     csiphy_info->lane_mask = 0x1f;
     csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
     csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@@ -1387,53 +1371,120 @@ void SpectraCamera::camera_close() {
   LOGD("destroyed session %d: %d", cc.camera_num, ret);
 }
 
-void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
-  if (!enabled) return;
+// Processes camera events and returns true if the frame is ready for further processing
+bool SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
+  if (stress_test("skipping handling camera event")) {
+    LOGW("skipping event");
+    return false;
+  }
 
-  uint64_t timestamp = event_data->u.frame_msg.timestamp;
-  uint64_t main_id = event_data->u.frame_msg.frame_id;
-  uint64_t real_id = event_data->u.frame_msg.request_id;
+  if (!enabled) return false;
 
-  if (real_id != 0) { // next ready
-    if (real_id == 1) {
-      idx_offset = main_id;
-    }
-    int buf_idx = (real_id - 1) % ife_buf_depth;
+  // ID from the qcom camera request manager
+  uint64_t request_id = event_data->u.frame_msg.request_id;
 
-    // check for skipped frames
-    if (main_id > frame_id_last + 1 && !skipped) {
+  // raw as opposed to our re-indexed frame ID
+  uint64_t frame_id_raw = event_data->u.frame_msg.frame_id;
+
+  if (request_id != 0) { // next ready
+    // check for skipped_last frames
+    if (frame_id_raw > frame_id_raw_last + 1 && !skipped_last) {
       LOGE("camera %d realign", cc.camera_num);
       clear_req_queue();
-      enqueue_req_multi(real_id + 1, ife_buf_depth - 1, 0);
-      skipped = true;
-    } else if (main_id == frame_id_last + 1) {
-      skipped = false;
+      enqueue_req_multi(request_id + 1, ife_buf_depth - 1);
+      skipped_last = true;
+    } else if (frame_id_raw == frame_id_raw_last + 1) {
+      skipped_last = false;
     }
 
     // check for dropped requests
-    if (real_id > request_id_last + 1) {
-      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
-      enqueue_req_multi(request_id_last + 1 + ife_buf_depth, real_id - (request_id_last + 1), 0);
+    if (request_id > request_id_last + 1) {
+      LOGE("camera %d dropped requests %ld %ld", cc.camera_num, request_id, request_id_last);
+      enqueue_req_multi(request_id_last + 1 + ife_buf_depth, request_id - (request_id_last + 1));
     }
 
     // metas
-    frame_id_last = main_id;
-    request_id_last = real_id;
+    frame_id_raw_last = frame_id_raw;
+    request_id_last = request_id;
 
-    auto &meta_data = buf.frame_metadata[buf_idx];
-    meta_data.frame_id = main_id - idx_offset;
-    meta_data.request_id = real_id;
-    meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback
+    int buf_idx = (request_id - 1) % ife_buf_depth;
+    uint64_t timestamp = event_data->u.frame_msg.timestamp;  // this is timestamped in the kernel's SOF IRQ callback
+    if (syncFirstFrame(cc.camera_num, request_id, frame_id_raw, timestamp)) {
+      // wait for this frame's EOF, then queue up the next one
+      if (enqueue_buffer(buf_idx, request_id + ife_buf_depth)) {
+        // Frame is ready
 
-    // dispatch
-    enqueue_req_multi(real_id + ife_buf_depth, 1, 1);
+        // in IFE_PROCESSED mode, we can't know the true EOF, so recover it with sensor readout time
+        uint64_t timestamp_eof = timestamp + sensor->readout_time_ns;
+
+        // 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),
+          .request_id = (uint32_t)request_id,
+          .timestamp_sof = timestamp,
+          .timestamp_eof = timestamp_eof,
+          .processing_time = float((nanos_since_boot() - timestamp_eof) * 1e-9)
+        };
+        return true;
+      }
+      // LOGW("camerad %d synced req %d fid %d, publishing ts %.2f cereal_frame_id %d", cc.camera_num, (int)request_id, (int)frame_id_raw, (double)(timestamp)*1e-6, meta_data.frame_id);
+    } else {
+      // Frames not yet synced
+      enqueue_req_multi(request_id + ife_buf_depth, 1);
+      // LOGW("camerad %d not synced req %d fid %d", cc.camera_num, (int)request_id, (int)frame_id_raw);
+    }
   } else { // not ready
-    if (main_id > frame_id_last + 10) {
+    if (frame_id_raw > frame_id_raw_last + 10) {
       LOGE("camera %d reset after half second of no response", cc.camera_num);
       clear_req_queue();
-      enqueue_req_multi(request_id_last + 1, ife_buf_depth, 0);
-      frame_id_last = main_id;
-      skipped = true;
+      enqueue_req_multi(request_id_last + 1, ife_buf_depth);
+      frame_id_raw_last = frame_id_raw;
+      skipped_last = true;
     }
   }
+
+  return false;
+}
+
+bool SpectraCamera::syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp) {
+  if (first_frame_synced) return true;
+
+  // OX and OS cameras require a few frames for the FSIN to sync up
+  if (request_id < 3) {
+    return false;
+  }
+
+  // Store the frame data for this camera
+  camera_sync_data[camera_id] = SyncData{timestamp, raw_id + 1};
+
+  // Ensure all cameras are up
+  int enabled_camera_count = std::count_if(std::begin(ALL_CAMERA_CONFIGS), std::end(ALL_CAMERA_CONFIGS),
+                                           [](const auto &config) { return config.enabled; });
+  bool all_cams_up = camera_sync_data.size() == enabled_camera_count;
+
+  // Wait until the timestamps line up
+  bool all_cams_synced = true;
+  for (const auto &[_, sync_data] : camera_sync_data) {
+    uint64_t diff = std::max(timestamp, sync_data.timestamp) -
+                    std::min(timestamp, sync_data.timestamp);
+    if (diff > 0.5*1e6) {  // within 0.5ms
+      all_cams_synced = false;
+    }
+  }
+
+  if (all_cams_up && all_cams_synced) {
+    first_frame_synced = true;
+    for (const auto&[cam, sync_data] : camera_sync_data) {
+      LOGW("camera %d synced on frame_id_offset %ld timestamp %lu", cam, sync_data.frame_id_offset, sync_data.timestamp);
+    }
+  }
+
+  // Timeout in case the timestamps never line up
+  if (raw_id > 40) {
+    LOGE("camera first frame sync timed out");
+    first_frame_synced = true;
+  }
+
+  return false;
 }

system/camerad/cameras/spectra.h

@@ -3,12 +3,14 @@
 #include <sys/mman.h>
 #include <functional>
 #include <memory>
+#include <queue>
 #include <optional>
 #include <utility>
 
 #include "media/cam_req_mgr.h"
 
 #include "common/util.h"
+#include "common/swaglog.h"
 #include "system/camerad/cameras/hw.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "system/camerad/sensors/sensor.h"
@@ -57,7 +59,6 @@ private:
   void *alloc_buf(int len, uint32_t *handle);
   void free(void *ptr);
 
-  std::mutex lock;
   std::map<void *, uint32_t> handle_lookup;
   std::map<void *, int> size_lookup;
   std::map<int, std::queue<void *> > cached_allocations;
@@ -75,6 +76,7 @@ public:
   int device_iommu = -1;
   int cdm_iommu = -1;
   int icp_device_iommu = -1;
+  MemoryManager mem_mgr;
 };
 
 class SpectraBuf {
@@ -88,11 +90,17 @@ public:
     }
   }
 
-  void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) {
+  void init(SpectraMaster *m, int s, int a, bool shared_access, int mmu_hdl = 0, int mmu_hdl2 = 0, int count = 1) {
     video_fd = m->video0_fd;
     size = s;
     alignment = a;
     mmap_size = aligned_size() * count;
+
+    uint32_t flags = CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE;
+    if (shared_access) {
+      flags |= CAM_MEM_FLAG_HW_SHARED_ACCESS;
+    }
+
     void *p = alloc_w_mmu_hdl(video_fd, mmap_size, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
     ptr = (unsigned char*)p;
     assert(ptr != NULL);
@@ -113,15 +121,15 @@ public:
   ~SpectraCamera();
 
   void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
-  void handle_camera_event(const cam_req_mgr_message *event_data);
+  bool handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
   void config_bps(int idx, int request_id);
   void config_ife(int idx, int request_id, bool init=false);
 
   int clear_req_queue();
-  void enqueue_buffer(int i, bool dp);
-  void enqueue_req_multi(uint64_t start, int n, bool dp);
+  bool enqueue_buffer(int i, uint64_t request_id);
+  void enqueue_req_multi(uint64_t start, int n);
 
   int sensors_init();
   void sensors_start();
@@ -180,15 +188,32 @@ 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_ids[MAX_IFE_BUFS] = {};
   uint64_t request_id_last = 0;
-  uint64_t frame_id_last = 0;
-  uint64_t idx_offset = 0;
-  bool skipped = true;
+  uint64_t frame_id_raw_last = 0;
+  int64_t frame_id_offset = 0;
+  bool skipped_last = true;
 
   SpectraOutputType output_type;
 
   CameraBuf buf;
-  MemoryManager mm;
   SpectraMaster *m;
+
+private:
+  static bool syncFirstFrame(int camera_id, uint64_t request_id, uint64_t raw_id, uint64_t timestamp);
+  struct SyncData {
+    uint64_t timestamp;
+    uint64_t frame_id_offset = 0;
+  };
+  inline static std::map<int, SyncData> camera_sync_data;
+  inline static bool first_frame_synced = false;
+
+  // a mode for stressing edge cases: realignment, sync failures, etc.
+  inline bool stress_test(const char* log, float prob=0.01) {
+    static bool enable = getenv("SPECTRA_STRESS_TEST") != nullptr;
+    bool triggered = enable && ((static_cast<double>(rand()) / RAND_MAX) < prob);
+    if (triggered) {
+      LOGE("stress test: %s", log);
+    }
+    return triggered;
+  }
 };

system/camerad/sensors/ox03c10_registers.h

@@ -64,21 +64,8 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3007, 0x01}, // io_pad_sel
   {0x3008, 0x80}, // io_pad_sel
 
-  // FSIN first frame
-  /*
-  {0x3009, 0x2},
-  {0x3015, 0x2},
-  {0x3822, 0x20},
-  {0x3823, 0x58},
-
-  {0x3826, 0x0}, {0x3827, 0x8},
-  {0x3881, 0x4},
-
-  {0x3882, 0x8}, {0x3883, 0x0D},
-  {0x3836, 0x1F}, {0x3837, 0x40},
-  */
-
-  // FSIN with external pulses
+  // FSIN (frame sync) with external pulses
+  {0x3822, 0x33},  // wait for pulse before first frame
   {0x3009, 0x2},
   {0x3015, 0x2},
   {0x383E, 0x80},
@@ -87,7 +74,7 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3836, 0x1F}, {0x3837, 0x40},
 
   {0x3892, 0x44},
-  {0x3823, 0x48},
+  {0x3823, 0x41},
 
   {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
   {0x3020, 0x05}, // SC_CTRL_20