Update exp_button.py

ui: update non-inline action button positioning in `ListViewSP`

.github/workflows/mici_raylib_ui_preview.yaml

@@ -24,7 +24,7 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -64,7 +64,7 @@ jobs:
       - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
         uses: actions/checkout@v4
         with:
-          repository: commaai/ci-artifacts
+          repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui_raylib
           ref: ${{ env.MASTER_BRANCH_NAME }}
@@ -100,7 +100,7 @@ jobs:
 
           # Run report
           export PYTHONPATH=${{ github.workspace }}
-          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
           diff_exit_code=0
           python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
@@ -108,7 +108,7 @@ jobs:
           cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
           cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
 
-          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
+          REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
           if [ $diff_exit_code -eq 0 ]; then
             DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
           else

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -49,6 +49,7 @@ jobs:
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
+          persist-credentials: false
 
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
@@ -173,11 +174,20 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - uses: actions/create-github-app-token@v2
+        id: ci-token
+        with:
+          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
+          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
+
       - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
+        id: push-changes
         run: |
           TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
 
+          # Use the App Token to set the remote URL with authentication
+          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
+
           # Fetch the latest from remote
           git fetch origin $TARGET_BRANCH
 
@@ -188,7 +198,7 @@ jobs:
             exit 0
           fi
 
-          # If we get here, there are diffs, so push
+          # Push with the authenticated origin
           if ! git push origin $TARGET_BRANCH --force; then
             echo "Failed to push changes to $TARGET_BRANCH"
             exit 1

.github/workflows/tests.yaml

@@ -108,6 +108,7 @@ jobs:
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    if: false  # There'll be one day that this works. That day is not today.
     steps:
     - uses: actions/checkout@v4
       with:
@@ -115,14 +116,13 @@ jobs:
     - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
-      if: false # disabling the cache for now because it is breaking macos builds...
       with:
         save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
         restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
+          brew-macos-${{ hashFiles('tools/Brewfile') }}
+          brew-macos-
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
@@ -133,7 +133,7 @@ jobs:
       if: github.ref == 'refs/heads/master'
       with:
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
     - run: git lfs pull
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache

RELEASES.md

@@ -1,5 +1,11 @@
-Version 0.10.3 (2025-12-10)
+Version 0.10.3 (2025-12-17)
 ========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
 
 Version 0.10.2 (2025-11-19)
 ========================

cereal/log.capnp

@@ -2524,13 +2524,10 @@ struct Event {
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
-    gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
-    accelerometer2 @101 :SensorEventData;
     magnetometer @95 :SensorEventData;
     lightSensor @96 :SensorEventData;
     temperatureSensor @97 :SensorEventData;
-    temperatureSensor2 @123 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
@@ -2693,5 +2690,8 @@ struct Event {
     liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
+    gyroscope2DEPRECATED @100 :SensorEventData;
+    accelerometer2DEPRECATED @101 :SensorEventData;
+    temperatureSensor2DEPRECATED @123 :SensorEventData;
   }
 }

cereal/messaging/__init__.py

@@ -2,7 +2,7 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw
 import msgq
 
 import os
@@ -18,6 +18,20 @@ from openpilot.common.util import MovingAverage
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
+def pub_sock(endpoint: str) -> PubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.pub_sock(endpoint, segment_size)
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
+                       timeout=timeout, segment_size=segment_size)
+
+
 def reset_context():
   msgq.context = Context()
 

cereal/messaging/socketmaster.cc

@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
@@ -187,7 +187,8 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(services.count(name) > 0);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
+    service serv = services.at(std::string(name));
+    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/services.py

@@ -1,37 +1,44 @@
 #!/usr/bin/env python3
+from enum import IntEnum
 from typing import Optional
 
 
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
+
+
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
+    self.queue_size = queue_size
 
 
 _services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
   "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
   "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
@@ -43,7 +50,7 @@ _services: dict[str, tuple] = {
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
   "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15),
+  "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
@@ -65,7 +72,7 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
@@ -77,10 +84,14 @@ _services: dict[str, tuple] = {
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
+  "roadEncodeData": (False, 20., None, QueueSize.BIG),
+  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
+  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
+  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
@@ -88,23 +99,19 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20.),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
   "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
-  "roadEncodeData": (False, 20.),
-  "driverEncodeData": (False, 20.),
-  "wideRoadEncodeData": (False, 20.),
-  "qRoadEncodeData": (False, 20.),
   "livestreamWideRoadEncodeIdx": (False, 20.),
   "livestreamRoadEncodeIdx": (False, 20.),
   "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20.),
-  "livestreamRoadEncodeData": (False, 20.),
-  "livestreamDriverEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
@@ -122,13 +129,13 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
 
   h += "#endif\n"

common/params_keys.h

@@ -139,6 +139,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
     {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
     {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"CarList", {PERSISTENT, JSON}},
     {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
@@ -212,6 +213,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

common/prefix.py

@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 class OpenpilotPrefix:
   def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
+    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

docs/CARS.md

@@ -14,12 +14,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
@@ -34,7 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -48,8 +48,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -82,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
@@ -202,171 +202,170 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
 |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
 |Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
-<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

selfdrive/car/car_specific.py

@@ -90,7 +90,8 @@ class CarSpecificEvents:
       events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       if self.CP.openpilotLongitudinalControl:
-        if CS.cruiseState.standstill and not CS.brakePressed:
+        # Only can leave standstill when planner wants to move
+        if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)

selfdrive/controls/lib/latcontrol_torque.py

@@ -22,17 +22,15 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 0.8
-KI = 0.15
-
+KP = 1.0
+KI = 0.3
+KD = 0.0
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
-JERK_LOOKAHEAD_SECONDS = 0.19
-JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 1
+VERSION = 0
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
@@ -40,13 +38,13 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
-    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
@@ -78,15 +76,17 @@ class LatControlTorque(LatControl):
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
-      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
-      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      setpoint = expected_lateral_accel
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
 
       measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,10 +94,15 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # Lateral acceleration torque controller extension updates

selfdrive/debug/analyze-msg-size.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import argparse
+from tqdm import tqdm
+
+from cereal.services import SERVICE_LIST, QueueSize
+from openpilot.tools.lib.logreader import LogReader
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
+  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
+                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
+  args = parser.parse_args()
+
+  lr = LogReader(args.route)
+
+  szs = {}
+  for msg in tqdm(lr):
+    sz = len(msg.as_builder().to_bytes())
+    msg_type = msg.which()
+    if msg_type not in szs:
+      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
+    else:
+      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
+      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
+      szs[msg_type]['sum'] += sz
+      szs[msg_type]['count'] += 1
+
+  print()
+  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
+  print("-" * 132)
+  def sort_key(x):
+    k, v = x
+    avg = v['sum'] / v['count']
+    freq = SERVICE_LIST.get(k, None)
+    freq_val = freq.frequency if freq else 0.0
+    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
+    return kb_per_min
+  total_kb_per_min = 0.0
+  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
+  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
+    avg = v['sum'] / v['count']
+    service = SERVICE_LIST.get(k, None)
+    freq_val = service.frequency if service else 0.0
+    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
+    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
+    kb_per_sec = kb_per_min / 60
+    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
+    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
+    total_kb_per_min += kb_per_min
+    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
+    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
+    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
+
+  # Summary section
+  print()
+  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
+
+  # Calculate memory usage: old (10MB for all) vs new (from services.py)
+  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
+  old_total = len(SERVICE_LIST) * OLD_SIZE
+
+  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
+
+  # Count by queue size
+  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
+  for s in SERVICE_LIST.values():
+    size_counts[s.queue_size] += 1
+
+  savings_pct = (1 - new_total / old_total) * 100
+
+  print()
+  print(f"{'Queue Size Comparison':<40}")
+  print("-" * 60)
+  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
+  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
+  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
+  print()
+  print(f"{'Breakdown:':<30}")
+  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
+  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
+  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")

selfdrive/monitoring/helpers.py

@@ -449,7 +449,8 @@ class DriverMonitoring:
       rpyCalib = [0., 0., 0.]
     else:
       highway_speed = sm['carState'].vEgo
-      enabled = sm['selfdriveState'].enabled
+      # TODO-SP: unit test to assert both control checks are always present
+      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
       wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
       standstill = sm['carState'].standstill
       driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed

selfdrive/pandad/pandad.cc

@@ -11,6 +11,7 @@
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
@@ -103,7 +104,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 
   AlignedBuffer aligned_buf;
   std::unique_ptr<Context> context(Context::create());
-  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan"));
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size));
   assert(subscriber != NULL);
   subscriber->setTimeout(100);
 

selfdrive/selfdrived/events.py

@@ -87,15 +87,6 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
 
 
-def steer_saturated_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  steer_text2 = "Steer Left" if sm['carControl'].actuators.torque > 0 else "Steer Right"
-  return Alert(
-    "Take Control",
-    steer_text2,
-    AlertStatus.userPrompt, AlertSize.mid,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.)
-
-
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
   return Alert(
@@ -901,7 +892,11 @@ if HARDWARE.get_device_type() == 'mici':
         Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
     },
     EventName.steerSaturated: {
-      ET.WARNING: steer_saturated_alert,
+      ET.WARNING: Alert(
+        "take control",
+        "turn exceeds limit",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
     },
     EventName.calibrationIncomplete: {
       ET.PERMANENT: calibration_incomplete_alert,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e0ad86508edb61b3eaa1b84662c515d2c3368295
+b508f43fb0481bce0859c9b6ab4f45ee690b8dab

selfdrive/test/process_replay/test_processes.py

@@ -46,7 +46,8 @@ segments = [
   ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
   ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
   ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
-  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
+  # TODO: get new RAV4 route without enableDsu
+  # ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
   ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
   ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
   ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),

selfdrive/test/test_onroad.py

@@ -121,6 +121,7 @@ class TestOnroad:
     params.put_bool("RecordFront", True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
+    os.environ['MSGQ_PREALLOC'] = '1'
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
@@ -283,11 +284,12 @@ class TestOnroad:
     print("------------------------------------------------")
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
     mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
-    print("Memory usage: ", mems)
+    print("Overall memory usage: ", mems)
+    print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode())
 
     # check for big leaks. note that memory usage is
     # expected to go up while the MSGQ buffers fill up
-    assert np.average(mems) <= 85, "Average memory usage above 85%"
+    assert np.average(mems) <= 80, "Average memory usage too high"
     assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
     assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
 

selfdrive/ui/mici/layouts/main.py

@@ -11,6 +11,9 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.lib.application import gui_app
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+
 
 ONROAD_DELAY = 2.5  # seconds
 

selfdrive/ui/mici/layouts/onboarding.py

@@ -1,11 +1,14 @@
 from enum import IntEnum
-from collections.abc import Callable
 
 import weakref
+import math
+import numpy as np
 import pyray as rl
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import SmallButton
+from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.slider import SmallSlider
 from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
@@ -24,11 +27,12 @@ class OnboardingState(IntEnum):
 
 
 class DriverCameraSetupDialog(DriverCameraDialog):
-  def __init__(self, confirm_callback: Callable):
+  def __init__(self):
     super().__init__(no_escape=True)
-    self.driver_state_renderer = DriverStateRenderer(confirm_mode=True, confirm_callback=confirm_callback)
-    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
+    self.driver_state_renderer = DriverStateRenderer(inset=True)
+    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
     self.driver_state_renderer.load_icons()
+    self.driver_state_renderer.set_force_active(True)
 
   def _render(self, rect):
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
@@ -41,15 +45,15 @@ class DriverCameraSetupDialog(DriverCameraDialog):
       return -1
 
     # Position dmoji on opposite side from driver
-    # TODO: we don't have design for RHD yet
-    is_rhd = False
-    driver_state_rect = (
-      rect.x if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
-      rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
+    is_rhd = self.driver_state_renderer.is_rhd
+    self.driver_state_renderer.set_position(
+      rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8,
+      rect.y + 8,
     )
-    self.driver_state_renderer.set_position(*driver_state_rect)
     self.driver_state_renderer.render()
 
+    self._draw_face_detection(rect)
+
     rl.end_scissor_mode()
     return -1
 
@@ -88,18 +92,54 @@ class TrainingGuidePreDMTutorial(SetupTermsPage):
     ))
 
 
+class DMBadFaceDetected(SetupTermsPage):
+  def __init__(self, continue_callback, back_callback):
+    super().__init__(continue_callback, back_callback, continue_text="power off")
+    self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
+    self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
+
+  @property
+  def _content_height(self):
+    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
+
+  def _render_content(self, scroll_offset):
+    self._title_header.render(rl.Rectangle(
+      self._rect.x + 16,
+      self._rect.y + 16 + scroll_offset,
+      self._title_header.rect.width,
+      self._title_header.rect.height,
+    ))
+
+    self._dm_label.render(rl.Rectangle(
+      self._rect.x + 16,
+      self._title_header.rect.y + self._title_header.rect.height + 16,
+      self._rect.width - 32,
+      self._dm_label.get_content_height(int(self._rect.width - 32)),
+    ))
+
+
 class TrainingGuideDMTutorial(Widget):
+  PROGRESS_DURATION = 4
+  LOOKING_THRESHOLD_DEG = 30.0
+
   def __init__(self, continue_callback):
     super().__init__()
-    self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
+    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48))
+    self._back_button.set_click_callback(self._show_bad_face_page)
+    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35))
 
     # Wrap the continue callback to restore settings
     def wrapped_continue_callback():
       device.set_offroad_brightness(None)
-      device.reset_interactive_timeout()
       continue_callback()
 
-    self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
+    self._good_button.set_click_callback(wrapped_continue_callback)
+    self._good_button.set_enabled(False)
+
+    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
+    self._dialog = DriverCameraSetupDialog()
+    self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, self._hide_bad_face_page)
+    self._should_show_bad_face_page = False
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
@@ -107,31 +147,113 @@ class TrainingGuideDMTutorial(Widget):
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
+  def _show_bad_face_page(self):
+    self._bad_face_page.show_event()
+    self.hide_event()
+    self._should_show_bad_face_page = True
+
+  def _hide_bad_face_page(self):
+    self._bad_face_page.hide_event()
+    self.show_event()
+    self._should_show_bad_face_page = False
+
   def show_event(self):
     super().show_event()
     self._dialog.show_event()
+    self._progress.x = 0.0
 
     device.set_offroad_brightness(100)
-    device.reset_interactive_timeout(300)  # 5 minutes
 
   def _update_state(self):
     super()._update_state()
     if device.awake:
       ui_state.params.put_bool("IsDriverViewEnabled", True)
 
+    sm = ui_state.sm
+    if sm.recv_frame.get("driverMonitoringState", 0) == 0:
+      return
+
+    dm_state = sm["driverMonitoringState"]
+    driver_data = self._dialog.driver_state_renderer.get_driver_data()
+
+    if len(driver_data.faceOrientation) == 3:
+      pitch, yaw, _ = driver_data.faceOrientation
+      looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG
+    else:
+      looking_center = False
+
+    # stay at 100% once reached
+    if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
+      slow = self._progress.x < 0.25
+      duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
+      self._progress.x += 1.0 / (duration * gui_app.target_fps)
+      self._progress.x = min(1.0, self._progress.x)
+    else:
+      self._progress.update(0.0)
+
+    self._good_button.set_enabled(self._progress.x >= 0.999)
+
   def _render(self, _):
+    if self._should_show_bad_face_page:
+      return self._bad_face_page.render(self._rect)
+
     self._dialog.render(self._rect)
 
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - self._title_header.rect.height * 1.5 - 32),
-                                 int(self._rect.width), int(self._title_header.rect.height * 1.5 + 32),
-                                 rl.BLANK, rl.Color(0, 0, 0, 150))
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + self._rect.height - self._title_header.rect.height - 16,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
+    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
+                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
+
+    # draw white ring around dm icon to indicate progress
+    ring_thickness = 8
+
+    # DM icon is 120x120, positioned on opposite side from driver
+    dm_size = 120
+    is_rhd = self._dialog.driver_state_renderer._is_rhd
+    dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8)
+    dm_center_y = self._rect.y + dm_size / 2 + 8
+    icon_edge_radius = dm_size / 2
+    outer_radius = icon_edge_radius + 1  # 2px outward from icon edge
+    inner_radius = outer_radius - ring_thickness  # Inset by ring_thickness
+    start_angle = 90.0  # Start from bottom
+    end_angle = start_angle + self._progress.x * 360.0  # Clockwise
+
+    # Fade in alpha
+    current_angle = end_angle - start_angle
+    alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255]))
+
+    # White to green
+    color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0)
+    r = int(np.interp(color_t, [0.0, 1.0], [255, 0]))
+    g = int(np.interp(color_t, [0.0, 1.0], [255, 255]))
+    b = int(np.interp(color_t, [0.0, 1.0], [255, 64]))
+    ring_color = rl.Color(r, g, b, alpha)
+
+    rl.draw_ring(
+      rl.Vector2(dm_center_x, dm_center_y),
+      inner_radius,
+      outer_radius,
+      start_angle,
+      end_angle,
+      36,
+      ring_color,
+    )
+
+    self._back_button.render(rl.Rectangle(
+      self._rect.x + 8,
+      self._rect.y + self._rect.height - self._back_button.rect.height,
+      self._back_button.rect.width,
+      self._back_button.rect.height,
     ))
 
+    self._good_button.render(rl.Rectangle(
+      self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+      self._rect.y + self._rect.height - self._good_button.rect.height,
+      self._good_button.rect.width,
+      self._good_button.rect.height,
+    ))
+
+    # rounded border
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+
 
 class TrainingGuideRecordFront(SetupTermsPage):
   def __init__(self, continue_callback):
@@ -223,6 +345,14 @@ class TrainingGuide(Widget):
       TrainingGuideRecordFront(continue_callback=on_continue),
     ]
 
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+
   def _advance_step(self):
     if self._step < len(self._steps) - 1:
       self._step += 1
@@ -319,6 +449,14 @@ class OnboardingWindow(Widget):
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
     self._decline_page = DeclinePage(back_callback=self._on_decline_back)
 
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+
   @property
   def completed(self) -> bool:
     return self._accepted_terms and self._training_done

selfdrive/ui/mici/layouts/settings/network/__init__.py

@@ -171,6 +171,8 @@ class NetworkLayoutMici(NavWidget):
       }.get(self._wifi_manager.current_network_metered, 'default'))
 
   def _switch_to_panel(self, panel_type: NetworkPanelType):
+    if panel_type == NetworkPanelType.WIFI:
+      self._wifi_ui.show_event()
     self._current_panel = panel_type
 
   def _render(self, rect: rl.Rectangle):

selfdrive/ui/mici/layouts/settings/network/wifi_ui.py

@@ -83,8 +83,6 @@ class WifiIcon(Widget):
 
 class WifiItem(BigDialogOptionButton):
   LEFT_MARGIN = 20
-  HEIGHT = 54
-  SELECTED_HEIGHT = 74
 
   def __init__(self, network: Network):
     super().__init__(network.ssid)
@@ -97,10 +95,6 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon = WifiIcon()
     self._wifi_icon.set_current_network(network)
 
-  def set_selected(self, selected: bool):
-    super().set_selected(selected)
-    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
-
   def set_current_network(self, network: Network):
     self._network = network
     self._wifi_icon.set_current_network(network)
@@ -120,11 +114,11 @@ class WifiItem(BigDialogOptionButton):
     ))
 
     if self._selected:
-      self._label.set_font_size(74)
+      self._label.set_font_size(self.SELECTED_HEIGHT)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(54)
+      self._label.set_font_size(self.HEIGHT)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -322,6 +316,9 @@ class NetworkInfoPage(NavWidget):
 
 
 class WifiUIMici(BigMultiOptionDialog):
+  # Wait this long after user interacts with widget to update network list
+  INACTIVITY_TIMEOUT = 1
+
   def __init__(self, wifi_manager: WifiManager, back_callback: Callable):
     super().__init__([], None, None, right_btn_callback=None)
 
@@ -330,7 +327,6 @@ class WifiUIMici(BigMultiOptionDialog):
 
     self._network_info_page = NetworkInfoPage(wifi_manager, self._connect_to_network, self._forget_network, self._open_network_manage_page)
     self._network_info_page.set_connecting(lambda: self._connecting)
-    self._should_open_network_info_page = False  # wait for scroll_to animation
 
     self._loading_animation = LoadingAnimation()
 
@@ -338,6 +334,10 @@ class WifiUIMici(BigMultiOptionDialog):
     self._connecting: str | None = None
     self._networks: dict[str, Network] = {}
 
+    # widget state
+    self._last_interaction_time = -float('inf')
+    self._restore_selection = False
+
     self._wifi_manager.add_callbacks(
       need_auth=self._on_need_auth,
       activated=self._on_activated,
@@ -350,18 +350,12 @@ class WifiUIMici(BigMultiOptionDialog):
     # Call super to prepare scroller; selection scroll is handled dynamically
     super().show_event()
     self._wifi_manager.set_active(True)
-    self._scroller.show_event()
+    self._last_interaction_time = -float('inf')
 
   def hide_event(self):
     super().hide_event()
     self._wifi_manager.set_active(False)
 
-  def _update_state(self):
-    super()._update_state()
-    if self._should_open_network_info_page:
-      self._should_open_network_info_page = False
-      self._open_network_manage_page()
-
   def _open_network_manage_page(self, result=None):
     self._network_info_page.update_networks(self._networks)
     gui_app.set_modal_overlay(self._network_info_page)
@@ -380,6 +374,10 @@ class WifiUIMici(BigMultiOptionDialog):
     self._network_info_page.update_networks(self._networks)
 
   def _update_buttons(self):
+    # Don't update buttons while user is actively interacting
+    if rl.get_time() - self._last_interaction_time < self.INACTIVITY_TIMEOUT:
+      return
+
     for network in self._networks.values():
       # pop and re-insert to eliminate stuttering on update (prevents position lost for a frame)
       network_button_idx = next((i for i, btn in enumerate(self._scroller._items) if btn.option == network.ssid), None)
@@ -390,23 +388,28 @@ class WifiUIMici(BigMultiOptionDialog):
       else:
         network_button = WifiItem(network)
 
-        def show_network_info_page(_network):
-          self._network_info_page.set_current_network(_network)
-          self._should_open_network_info_page = True
-
-        network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
-
       self.add_button(network_button)
 
     # remove networks no longer present
     self._scroller._items[:] = [btn for btn in self._scroller._items if btn.option in self._networks]
 
+    # try to restore previous selection to prevent jumping from adding/removing/reordering buttons
+    self._restore_selection = True
+
   def _connect_with_password(self, ssid: str, password: str):
     if password:
       self._connecting = ssid
       self._wifi_manager.connect_to_network(ssid, password)
       self._update_buttons()
 
+  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
+    super()._on_option_selected(option, smooth_scroll)
+
+    # only open if button is already selected
+    if option in self._networks and option == self._selected_option:
+      self._network_info_page.set_current_network(self._networks[option])
+      self._open_network_manage_page()
+
   def _connect_to_network(self, ssid: str):
     network = self._networks.get(ssid)
     if network is None:
@@ -440,7 +443,19 @@ class WifiUIMici(BigMultiOptionDialog):
   def _on_disconnected(self):
     self._connecting = None
 
+  def _update_state(self):
+    super()._update_state()
+    if self.is_pressed:
+      self._last_interaction_time = rl.get_time()
+
   def _render(self, _):
+    # Update Scroller layout and restore current selection whenever buttons are updated, before first render
+    current_selection = self.get_selected_option()
+    if self._restore_selection and current_selection in self._networks:
+      self._scroller._layout()
+      BigMultiOptionDialog._on_option_selected(self, current_selection, smooth_scroll=False)
+      self._restore_selection = None
+
     super()._render(_)
 
     if not self._networks:

selfdrive/ui/mici/layouts/settings/toggles.py

@@ -78,13 +78,13 @@ class TogglesLayoutMici(NavWidget):
     # CP gating for experimental mode
     if ui_state.CP is not None:
       if ui_state.has_longitudinal_control:
-        self._experimental_btn.set_enabled(True)
-        self._personality_toggle.set_enabled(True)
+        self._experimental_btn.set_visible(True)
+        self._personality_toggle.set_visible(True)
       else:
         # no long for now
-        self._experimental_btn.set_enabled(False)
+        self._experimental_btn.set_visible(False)
         self._experimental_btn.set_checked(False)
-        self._personality_toggle.set_enabled(False)
+        self._personality_toggle.set_visible(False)
         ui_state.params.remove("ExperimentalMode")
 
     # Refresh toggles from params to mirror external changes

selfdrive/ui/mici/onroad/confidence_ball.py

@@ -6,6 +6,8 @@ from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.filter_simple import FirstOrderFilter
 
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP
+
 
 def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                          top: rl.Color, bottom: rl.Color) -> None:
@@ -21,9 +23,10 @@ def draw_circle_gradient(center_x: float, center_y: float, radius: int,
                20, rl.BLACK)
 
 
-class ConfidenceBall(Widget):
+class ConfidenceBall(Widget, ConfidenceBallSP):
   def __init__(self, demo: bool = False):
-    super().__init__()
+    Widget.__init__(self)
+    ConfidenceBallSP.__init__(self)
     self._demo = demo
     self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
 
@@ -37,6 +40,8 @@ class ConfidenceBall(Widget):
     # animate status dot in from bottom
     if ui_state.status == UIStatus.DISENGAGED:
       self._confidence_filter.update(-0.5)
+    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
+      self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1]))
     else:
       self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) *
                                                         (1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1])))
@@ -65,6 +70,9 @@ class ConfidenceBall(Widget):
         top_dot_color = rl.Color(255, 0, 21, 255)
         bottom_dot_color = rl.Color(255, 0, 89, 255)
 
+    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
+      top_dot_color = bottom_dot_color = self.get_lat_long_dot_color()
+
     elif ui_state.status == UIStatus.OVERRIDE:
       top_dot_color = rl.Color(255, 255, 255, 255)
       bottom_dot_color = rl.Color(82, 82, 82, 255)

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -51,14 +51,14 @@ class DriverCameraDialog(NavWidget):
     super().show_event()
     ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
-    device.reset_interactive_timeout(300)
+    device.set_override_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
     self._pm = messaging.PubMaster(['selfdriveState'])
 
   def hide_event(self):
     super().hide_event()
     ui_state.params.put_bool("IsDriverViewEnabled", False)
-    device.reset_interactive_timeout()
+    device.set_override_interactive_timeout(None)
 
   def _handle_mouse_release(self, _):
     ui_state.params.remove("DriverTooDistracted")
@@ -89,12 +89,13 @@ class DriverCameraDialog(NavWidget):
       self._publish_alert_sound(None)
       return -1
 
-    self._draw_face_detection(rect)
+    driver_data = self._draw_face_detection(rect)
+    if driver_data is not None:
+      self._draw_eyes(rect, driver_data)
 
     # Position dmoji on opposite side from driver
-    dm_state = ui_state.sm["driverMonitoringState"]
     driver_state_rect = (
-      rect.x if dm_state.isRHD else rect.x + rect.width - self.driver_state_renderer.rect.width,
+      rect.x if self.driver_state_renderer.is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
       rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
     )
     self.driver_state_renderer.set_position(*driver_state_rect)
@@ -138,7 +139,7 @@ class DriverCameraDialog(NavWidget):
 
     # Show first event (only one should be active at a time)
     event_name_str = str(dm_state.events[0].name).split('.')[-1]
-    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if dm_state.isRHD else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
+    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
 
     shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
     gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
@@ -159,12 +160,10 @@ class DriverCameraDialog(NavWidget):
     if self._glasses_texture is None:
       self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
 
-  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
-    driver_state = ui_state.sm["driverStateV2"]
-    is_rhd = driver_state.wheelOnRightProb > 0.5
-    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
-    face_detect = driver_data.faceProb > 0.7
-    if not face_detect:
+  def _draw_face_detection(self, rect: rl.Rectangle):
+    dm_state = ui_state.sm["driverMonitoringState"]
+    driver_data = self.driver_state_renderer.get_driver_data()
+    if not dm_state.faceDetected:
       return
 
     # Get face position and orientation
@@ -188,7 +187,7 @@ class DriverCameraDialog(NavWidget):
     scale_y = rect.height / 1080.0
     fbox_x = rect.x + rect.width / 2 + offset_x * scale_x
     fbox_y = rect.y + rect.height / 2 + offset_y * scale_y
-    box_size = 50
+    box_size = 75
     line_thickness = 3
 
     line_color = rl.Color(255, 255, 255, int(alpha * 255))
@@ -199,7 +198,9 @@ class DriverCameraDialog(NavWidget):
       line_thickness,
       line_color,
     )
+    return driver_data
 
+  def _draw_eyes(self, rect: rl.Rectangle, driver_data):
     # Draw eye indicators based on eye probabilities
     eye_offset_x = 10
     eye_offset_y = 10

selfdrive/ui/mici/onroad/driver_state.py

@@ -1,9 +1,7 @@
 import pyray as rl
-from collections.abc import Callable
 import numpy as np
 import math
 from cereal import log
-from openpilot.system.hardware import PC
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
@@ -22,15 +20,11 @@ class DriverStateRenderer(Widget):
   LINES_ANGLE_INCREMENT = 5
   LINES_STALE_ANGLES = 3.0  # seconds
 
-  def __init__(self, lines: bool = False, confirm_mode: bool = False, confirm_callback: Callable | None = None):
+  def __init__(self, lines: bool = False, inset: bool = False):
     super().__init__()
     self.set_rect(rl.Rectangle(0, 0, self.BASE_SIZE, self.BASE_SIZE))
-    self._lines = lines or confirm_mode
-
-    # In confirm mode, user must fill out the circle to confirm some action in the UI
-    self._confirm_mode = confirm_mode
-    self._confirm_callback = confirm_callback
-    self._confirm_angles: dict[int, float] = {}  # angle: timestamp
+    self._lines = lines
+    self._inset = inset
 
     # In line mode, track smoothed angles
     assert 360 % self.LINES_ANGLE_INCREMENT == 0
@@ -54,12 +48,20 @@ class DriverStateRenderer(Widget):
 
   def load_icons(self):
     """Load or reload the driver face icon texture"""
-    self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", self._rect.width, self._rect.height)
-    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", self._rect.width, self._rect.height)
+    cone_and_person_size = round(52 / self.BASE_SIZE * self._rect.width)
+
+    # If inset is enabled, push cone and person smaller by 2x the current inset space
+    if self._inset:
+      # Current inset space = (rect.width - cone_and_person_size) / 2
+      current_inset = (self._rect.width - cone_and_person_size) / 2
+      # Reduce size by 2x the current inset (1x on each side)
+      cone_and_person_size = round(cone_and_person_size - current_inset * 2)
+
+    self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
+    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
     center_size = round(36 / self.BASE_SIZE * self._rect.width)
     self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
-    background_size = round(52 / self.BASE_SIZE * self._rect.width)
-    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", background_size, background_size)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
 
   def set_should_draw(self, should_draw: bool):
     self._should_draw = should_draw
@@ -78,16 +80,22 @@ class DriverStateRenderer(Widget):
     """Returns True if dmoji should appear active (either actually active or forced)"""
     return bool(self._force_active or self._is_active)
 
+  @property
+  def is_rhd(self) -> bool:
+    return self._is_rhd
+
   def _render(self, _):
     if DEBUG:
       rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
 
     rl.draw_texture(self._dm_background,
-                    int(self._rect.x + (self._rect.width - self._dm_background.width) / 2),
-                    int(self._rect.y + (self._rect.height - self._dm_background.height) / 2),
+                    int(self._rect.x),
+                    int(self._rect.y),
                     rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
 
-    rl.draw_texture(self._dm_person, int(self._rect.x), int(self._rect.y),
+    rl.draw_texture(self._dm_person,
+                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
+                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
                     rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
 
     if self.effective_active:
@@ -120,38 +128,18 @@ class DriverStateRenderer(Widget):
 
       else:
         # remove old angles
-        now = rl.get_time()
-        self._confirm_angles = {angle: t for angle, t in self._confirm_angles.items() if now - t < self.LINES_STALE_ANGLES}
-
-        looking_center = self._looking_center_filter.x > 0.2
         for angle, f in self._head_angles.items():
           dst_from_current = ((angle - self._rotation_filter.x) % 360) - 180
           target = 1.0 if abs(dst_from_current) <= self.LINES_ANGLE_INCREMENT * 5 else 0.0
           if not self._face_detected:
             target = 0.0
 
-          if self._confirm_mode:
-            # Extra careful to not add angles when looking near center
-            if target > 0 and not looking_center:
-              self._confirm_angles[angle] = now
-
-            # User is looking at area already confirmed, reduce target to indicate where they are
-            if angle in self._confirm_angles and target == 0:
-              target = 0.65
-
           # Reduce all line lengths when looking center
           if self._looking_center:
             target = np.interp(self._looking_center_filter.x, [0.0, 1.0], [target, 0.45])
 
           f.update(target)
-          self._draw_line(angle, f, self._looking_center and angle not in self._confirm_angles)
-
-        # if all lines placed, reset for next time and call callback
-        if self._confirm_mode:
-          if len(self._confirm_angles) >= 360 // self.LINES_ANGLE_INCREMENT:
-            self._confirm_angles = {}
-            if self._confirm_callback is not None:
-              self._confirm_callback()
+          self._draw_line(angle, f, self._looking_center)
 
   def _draw_line(self, angle: int, f: FirstOrderFilter, grey: bool):
     line_length = self._rect.width / 6
@@ -171,10 +159,9 @@ class DriverStateRenderer(Widget):
     if f.x > 0.01:
       rl.draw_line_ex((start_x, start_y), (end_x, end_y), 12, color)
 
-  def _update_state(self):
+  def get_driver_data(self):
     sm = ui_state.sm
 
-    # Get monitoring state
     dm_state = sm["driverMonitoringState"]
     self._is_active = dm_state.isActiveMode
     self._is_rhd = dm_state.isRHD
@@ -182,6 +169,11 @@ class DriverStateRenderer(Widget):
 
     driverstate = sm["driverStateV2"]
     driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
+    return driver_data
+
+  def _update_state(self):
+    # Get monitoring state
+    driver_data = self.get_driver_data()
     driver_orient = driver_data.faceOrientation
 
     if len(driver_orient) != 3:
@@ -218,10 +210,7 @@ class DriverStateRenderer(Widget):
     rotation = math.degrees(math.atan2(pitch, yaw))
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
-    if PC and self._confirm_mode:
-      self._rotation_filter.x += 2
-    else:
-      self._rotation_filter.update(self._rotation_filter.x + angle_diff)
+    self._rotation_filter.update(self._rotation_filter.x + angle_diff)
 
     if not self.should_draw:
       self._fade_filter.update(0.0)

selfdrive/ui/mici/onroad/model_renderer.py

@@ -12,6 +12,8 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP
+
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -32,6 +34,7 @@ LANE_LINE_COLORS = {
   UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
   UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
   UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
+  **LANE_LINE_COLORS_SP,
 }
 
 

selfdrive/ui/mici/onroad/torque_bar.py

@@ -185,13 +185,13 @@ class TorqueBar(Widget):
 
     # animate alpha and angle span
     if not self._demo:
-      self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+      self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY))
     else:
       self._torque_line_alpha_filter.update(1.0)
 
     torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
     torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
-    if ui_state.status != UIStatus.ENGAGED and not self._demo:
+    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
       torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
 
     # draw curved line polygon torque bar
@@ -234,7 +234,7 @@ class TorqueBar(Widget):
       max(0, abs(self._torque_filter.x) - 0.75) * 4,
     )
 
-    if ui_state.status != UIStatus.ENGAGED and not self._demo:
+    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
       start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
 
     gradient = Gradient(

selfdrive/ui/mici/widgets/dialog.py

@@ -274,10 +274,13 @@ class BigInputDialog(BigDialogBase):
 
 
 class BigDialogOptionButton(Widget):
+  HEIGHT = 64
+  SELECTED_HEIGHT = 74
+
   def __init__(self, option: str):
     super().__init__()
     self.option = option
-    self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), 64))
+    self.set_rect(rl.Rectangle(0, 0, int(gui_app.width / 2 + 220), self.HEIGHT))
 
     self._selected = False
 
@@ -285,8 +288,13 @@ class BigDialogOptionButton(Widget):
                                font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
                                scroll=True)
 
+  def show_event(self):
+    super().show_event()
+    self._label.reset_scroll()
+
   def set_selected(self, selected: bool):
     self._selected = selected
+    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
 
   def _render(self, _):
     if DEBUG:
@@ -294,11 +302,11 @@ class BigDialogOptionButton(Widget):
 
     # FIXME: offset x by -45 because scroller centers horizontally
     if self._selected:
-      self._label.set_font_size(74)
+      self._label.set_font_size(self.SELECTED_HEIGHT)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(70)
+      self._label.set_font_size(self.HEIGHT)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -319,7 +327,7 @@ class BigMultiOptionDialog(BigDialogBase):
     self._selected_option: str = self._default_option
     self._last_selected_option: str = self._selected_option
 
-    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0)
+    self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True)
     if self._right_btn is not None:
       self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed)
 
@@ -327,14 +335,10 @@ class BigMultiOptionDialog(BigDialogBase):
       self.add_button(BigDialogOptionButton(option))
 
   def add_button(self, button: BigDialogOptionButton):
-    og_callback = button._click_callback
+    def click_callback(_btn=button):
+      self._on_option_selected(_btn.option)
 
-    def wrapped_callback(btn=button):
-      self._on_option_selected(btn.option)
-      if og_callback:
-        og_callback()
-
-    button.set_click_callback(wrapped_callback)
+    button.set_click_callback(click_callback)
     self._scroller.add_widget(button)
 
   def show_event(self):
@@ -345,13 +349,23 @@ class BigMultiOptionDialog(BigDialogBase):
   def get_selected_option(self) -> str:
     return self._selected_option
 
-  def _on_option_selected(self, option: str):
+  def _on_option_selected(self, option: str, smooth_scroll: bool = True):
     y_pos = 0.0
     for btn in self._scroller._items:
-      if cast(BigDialogOptionButton, btn).option == option:
-        y_pos = btn.rect.y
+      btn = cast(BigDialogOptionButton, btn)
+      if btn.option == option:
+        rect_center_y = self._rect.y + self._rect.height / 2
+        if btn._selected:
+          height = btn.rect.height
+        else:
+          # when selecting an option under current, account for changing heights
+          btn_center_y = btn.rect.y + btn.rect.height / 2  # not accurate, just to determine direction
+          height_offset = BigDialogOptionButton.SELECTED_HEIGHT - BigDialogOptionButton.HEIGHT
+          height = (BigDialogOptionButton.HEIGHT - height_offset) if rect_center_y < btn_center_y else BigDialogOptionButton.SELECTED_HEIGHT
+        y_pos = rect_center_y - (btn.rect.y + height / 2)
+        break
 
-    self._scroller.scroll_to(y_pos, smooth=True)
+    self._scroller.scroll_to(-y_pos, smooth=smooth_scroll)
 
   def _selected_option_changed(self):
     pass

selfdrive/ui/onroad/augmented_road_view.py

@@ -14,6 +14,11 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
+
+from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP
+
 OpState = log.SelfdriveState.OpenpilotState
 CALIBRATED = log.LiveCalibrationData.Status.calibrated
 ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
@@ -24,6 +29,7 @@ BORDER_COLORS = {
   UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF),  # Blue for disengaged state
   UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF),  # Gray for override state
   UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF),  # Green for engaged state
+  **BORDER_COLORS_SP,
 }
 
 WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)

selfdrive/ui/onroad/driver_camera_dialog.py

@@ -14,16 +14,20 @@ class DriverCameraDialog(CameraView):
     super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer()
     # TODO: this can grow unbounded, should be given some thought
-    device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
+    device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
     ui_state.params.put_bool("IsDriverViewEnabled", True)
 
-  def stop_dmonitoringmodeld(self):
+  def hide_event(self):
+    super().hide_event()
     ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.set_modal_overlay(None)
+    self.close()
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    self.stop_dmonitoringmodeld()
+    gui_app.set_modal_overlay(None)
+
+  def __del__(self):
+    self.close()
 
   def _render(self, rect):
     super()._render(rect)

selfdrive/ui/onroad/exp_button.py

@@ -50,7 +50,12 @@ class ExpButton(Widget):
 
     texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
     rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
-    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+
+    src_rect = rl.Rectangle(0.0, 0.0, texture.width, texture.height)
+    dest_rect = rl.Rectangle(center_x, center_y, texture.width, texture.height)
+    origin = rl.Vector2(texture.width / 2.0, texture.height / 2.0)
+    rotation = -ui_state.sm['carState'].steeringAngleDeg
+    rl.draw_texture_pro(texture, src_rect, dest_rect, origin, rotation, self._white_color)
 
   def _held_or_actual_mode(self):
     now = time.monotonic()

selfdrive/ui/onroad/model_renderer.py

@@ -11,6 +11,8 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget
 
+from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
+
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
@@ -41,9 +43,11 @@ class LeadVehicle:
   fill_alpha: int = 0
 
 
-class ModelRenderer(Widget):
+class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
   def __init__(self):
-    super().__init__()
+    Widget.__init__(self)
+    ChevronMetrics.__init__(self)
+    ModelRendererSP.__init__(self)
     self._longitudinal_control = False
     self._experimental_mode = False
     self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
@@ -128,6 +132,7 @@ class ModelRenderer(Widget):
 
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
+      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
@@ -281,6 +286,10 @@ class ModelRenderer(Widget):
     allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
     self._blend_filter.update(int(allow_throttle))
 
+    if ui_state.rainbow_path:
+      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
+      return
+
     if self._experimental_mode:
       # Draw with acceleration coloring
       if len(self._exp_gradient.colors) > 1:

selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -74,7 +74,7 @@ class ModelsLayout(Widget):
 
     self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
                                                   tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
-                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
+                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                                   lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
                                                             f" {'km/h' if ui_state.is_metric else 'mph'}")
 
@@ -86,7 +86,7 @@ class ModelsLayout(Widget):
 
     self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
                                         tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
-                                        1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
+                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
 
     self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
 
@@ -153,7 +153,7 @@ class ModelsLayout(Widget):
       self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
 
     if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
-      device.reset_interactive_timeout()
+      device._reset_interactive_timeout()
 
     for model in bundle.models:
       if label := labels.get(getattr(model.type, 'raw', model.type)):

selfdrive/ui/sunnypilot/layouts/settings/osm.py

@@ -165,7 +165,7 @@ class OSMLayout(Widget):
     pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
     if downloading or pending:
       if downloading:
-        device.reset_interactive_timeout()
+        device._reset_interactive_timeout()
         self._update_map_size()
       self._progress.set_visible(True)
       progress = ui_state.params.get("OSMDownloadProgress")

selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py

@@ -23,7 +23,7 @@ class VehicleLayout(Widget):
     self._current_brand = None
     self._platform_selector = PlatformSelector(self._update_brand_settings)
 
-    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("Select")),
+    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("SELECT")),
                                     callback=self._platform_selector._on_clicked)
     self._vehicle_item.title_color = self._platform_selector.color
     self._legend_widget = LegendWidget(self._platform_selector)
@@ -42,7 +42,7 @@ class VehicleLayout(Widget):
   def _update_brand_settings(self):
     self._vehicle_item._title = self._platform_selector.text
     self._vehicle_item.title_color = self._platform_selector.color
-    vehicle_text = tr("Remove") if ui_state.params.get("CarPlatformBundle") else tr("Select")
+    vehicle_text = tr("REMOVE") if ui_state.params.get("CarPlatformBundle") else tr("SELECT")
     self._vehicle_item.action_item.set_text(vehicle_text)
 
     brand = self.get_brand()

selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py

@@ -5,11 +5,55 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+DESCRIPTIONS = {
+  'enforce_stock_longitudinal': tr_noop(
+    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
+  ),
+}
 
 
 class ToyotaSettings(BrandSettings):
   def __init__(self):
     super().__init__()
 
+    self.enforce_stock_longitudinal = toggle_item_sp(
+      lambda: tr("Enforce Factory Longitudinal Control"),
+      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
+      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
+      callback=self._on_enable_enforce_stock_longitudinal,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [self.enforce_stock_longitudinal, ]
+
+  def _on_enable_enforce_stock_longitudinal(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
+          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
+            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.enforce_stock_longitudinal.action_item.set_state(False)
+
+      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
+                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True)
+      gui_app.set_modal_overlay(dlg, callback=confirm_callback)
+
+    else:
+      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
   def update_settings(self):
     pass

selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -0,0 +1,39 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
+
+ICON_SIZE = 70
+
+OP.PanelType = IntEnum(  # type: ignore
+  "PanelType",
+  [es.name for es in OP.PanelType] + [
+    "SUNNYLINK",
+  ],
+  start=0,
+)
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+
+    sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
+    sunnylink_btn.set_click_callback(lambda: self._set_current_panel(OP.PanelType.SUNNYLINK))
+    self._panels.update({
+      OP.PanelType.SUNNYLINK: OP.PanelInfo("sunnylink", SunnylinkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
+    })
+
+    items = self._scroller._items.copy()
+
+    items.insert(1, sunnylink_btn)
+    self._scroller._items.clear()
+    for item in items:
+      self._scroller.add_widget(item)

selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py

@@ -0,0 +1,192 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from cereal import custom
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.multilang import tr
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+class SunnylinkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+    self._restore_in_progress = False
+    self._backup_in_progress = False
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+
+    self._sunnylink_toggle = BigToggle(text="",
+                                       initial_state=self._sunnylink_enabled,
+                                       toggle_callback=SunnylinkLayoutMici._sunnylink_toggle_callback)
+    self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
+    self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
+    self._backup_btn = BigButton(tr("backup settings"), "", "")
+    self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False))
+    self._restore_btn = BigButton(tr("restore settings"), "", "")
+    self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
+    self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
+                                                toggle_callback=SunnylinkLayoutMici._sunnylink_uploader_callback)
+
+    self._scroller = Scroller([
+      self._sunnylink_toggle,
+      self._sunnylink_sponsor_button,
+      self._sunnylink_pair_button,
+      self._backup_btn,
+      self._restore_btn,
+      self._sunnylink_uploader_toggle
+    ], snap_items=False)
+
+  def _update_state(self):
+    super()._update_state()
+    self._sunnylink_enabled = ui_state.sunnylink_enabled
+    self._sunnylink_toggle.set_text(tr("enable sunnylink"))
+    self._sunnylink_pair_button.set_visible(self._sunnylink_enabled)
+    self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled)
+    self._backup_btn.set_visible(self._sunnylink_enabled)
+    self._restore_btn.set_visible(self._sunnylink_enabled)
+    self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
+    self.handle_backup_restore_progress()
+
+    if ui_state.sunnylink_state.is_sponsor():
+      self._sunnylink_sponsor_button.set_text(tr("thanks"))
+      self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
+      self._sunnylink_sponsor_button.set_enabled(False)
+    else:
+      self._sunnylink_sponsor_button.set_text(tr("sponsor"))
+      self._sunnylink_sponsor_button.set_value("")
+
+    if ui_state.sunnylink_state.is_paired():
+      self._sunnylink_pair_button.set_text(tr("paired"))
+    else:
+      self._sunnylink_pair_button.set_text(tr("pair"))
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+    ui_state.update_params()
+
+  def _render(self, rect: rl.Rectangle):
+    self._scroller.render(rect)
+
+  @staticmethod
+  def _sunnylink_toggle_callback(state: bool):
+    ui_state.params.put_bool("SunnylinkEnabled", state)
+    ui_state.update_params()
+
+  @staticmethod
+  def _sunnylink_uploader_callback(state: bool):
+    ui_state.params.put_bool("EnableSunnylinkUploader", state)
+
+  def _handle_backup_restore_btn(self, restore: bool = False):
+    lbl = tr("slide to restore") if restore else tr("slide to backup")
+    icon = "icons_mici/settings/device/update.png"
+    dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
+    gui_app.set_modal_overlay(dlg)
+
+  def _backup_handler(self):
+    self._backup_in_progress = True
+    self._backup_btn.set_enabled(False)
+    ui_state.params.put_bool("BackupManager_CreateBackup", True)
+
+  def _restore_handler(self):
+    self._restore_in_progress = True
+    self._restore_btn.set_enabled(False)
+    ui_state.params.put("BackupManager_RestoreVersion", "latest")
+
+  def handle_backup_restore_progress(self):
+    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
+
+    backup_status = sunnylink_backup_manager.backupStatus
+    restore_status = sunnylink_backup_manager.restoreStatus
+    backup_progress = sunnylink_backup_manager.backupProgress
+    restore_progress = sunnylink_backup_manager.restoreProgress
+
+    if self._backup_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if backup_status == custom.BackupManagerSP.Status.inProgress:
+        self._backup_in_progress = True
+        self._backup_btn.set_text(tr("backing up"))
+        text = tr(f"{backup_progress}%")
+        self._backup_btn.set_value(text)
+
+      elif backup_status == custom.BackupManagerSP.Status.failed:
+        self._backup_in_progress = False
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+        self._backup_btn.set_text(tr("backup"))
+        self._backup_btn.set_value(tr("failed"))
+
+      elif (backup_status == custom.BackupManagerSP.Status.completed or
+            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
+        self._backup_in_progress = False
+        gui_app.set_modal_overlay(BigDialog(title=tr("settings backed up"), description=""))
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+
+    elif self._restore_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if restore_status == custom.BackupManagerSP.Status.inProgress:
+        self._restore_in_progress = True
+        self._restore_btn.set_text(tr("restoring"))
+        text = tr(f"{restore_progress}%")
+        self._restore_btn.set_value(text)
+
+      elif restore_status == custom.BackupManagerSP.Status.failed:
+        self._restore_in_progress = False
+        self._restore_btn.set_enabled(not ui_state.is_onroad())
+        self._restore_btn.set_text(tr("restore"))
+        self._restore_btn.set_value(tr("failed"))
+        gui_app.set_modal_overlay(BigDialog(title=tr("unable to restore"), description="try again later."))
+
+      elif (restore_status == custom.BackupManagerSP.Status.completed or
+            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
+        self._restore_in_progress = False
+        gui_app.set_modal_overlay(BigConfirmationDialogV2(
+          title="slide to restart", icon="icons_mici/settings/device/reboot.png",
+          confirm_callback=lambda: gui_app.request_close()))
+
+    else:
+      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
+      self._backup_btn.set_enabled(can_enable)
+      self._backup_btn.set_text(tr("backup settings"))
+      self._backup_btn.set_value("")
+      self._restore_btn.set_enabled(can_enable)
+      self._restore_btn.set_text(tr("restore settings"))
+      self._restore_btn.set_value("")
+
+
+class SunnylinkPairBigButton(BigButton):
+  def __init__(self, sponsor_pairing: bool = False):
+    self.sponsor_pairing = sponsor_pairing
+    super().__init__("", "", "")
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    dlg: BigDialog | SunnylinkPairingDialog | None = None
+    if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
+    elif self.sponsor_pairing:
+      dlg = SunnylinkPairingDialog(sponsor_pairing=True)
+    elif not self.sponsor_pairing:
+      dlg = SunnylinkPairingDialog(sponsor_pairing=False)
+    if dlg:
+      gui_app.set_modal_overlay(dlg)

selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py

@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+
+
+class ConfidenceBallSP:
+  @staticmethod
+  def get_animate_status_probs():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs
+
+    # UIStatus.LONG_ONLY
+    return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs
+
+  @staticmethod
+  def get_lat_long_dot_color():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return BORDER_COLORS[UIStatus.LAT_ONLY]
+
+    # UIStatus.LONG_ONLY
+    return BORDER_COLORS[UIStatus.LONG_ONLY]

selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py

@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import UIStatus
+
+LANE_LINE_COLORS_SP = {
+  UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
+  UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255),
+}

selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py

@@ -0,0 +1,57 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import base64
+
+import pyray as rl
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.widgets.label import MiciLabel
+
+
+class SunnylinkPairingDialog(PairingDialog):
+  """Dialog for device pairing with QR code."""
+
+  def __init__(self, sponsor_pairing: bool = False):
+    PairingDialog.__init__(self)
+    self._sponsor_pairing = sponsor_pairing
+    label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
+    self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD,
+                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+
+  def _get_pairing_url(self) -> str:
+    qr_string = "https://github.com/sponsors/sunnyhaibin"
+
+    if self._sponsor_pairing:
+      try:
+        sl_dongle_id = self._params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
+        token = SunnylinkApi(sl_dongle_id).get_token()
+        inner_string = f"1|{sl_dongle_id}|{token}"
+        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
+        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
+      except Exception:
+        cloudlog.exception("Failed to get pairing token")
+
+    return qr_string
+
+  def _update_state(self):
+    NavWidget._update_state(self)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
+  try:
+    for _ in gui_app.render():
+      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      if result != -1:
+        break
+  finally:
+    del pairing

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import UIStatus
+
+BORDER_COLORS_SP = {
+  UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
+  UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF),  # Purple for longitudinal-only state
+}

selfdrive/ui/sunnypilot/onroad/chevron_metrics.py

@@ -0,0 +1,147 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+import pyray as rl
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class ChevronOptions:
+  OFF = 0
+  DISTANCE_ONLY = 1
+  SPEED_ONLY = 2
+  TTC_ONLY = 3
+  ALL = 4
+
+
+class ChevronMetrics:
+  def __init__(self):
+    self._lead_status_alpha: float = 0.0
+    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+
+  def update_alpha(self, has_lead: bool):
+    """Update the alpha value for fade in/out animation"""
+    if not has_lead:
+      self._lead_status_alpha = max(0.0, self._lead_status_alpha - 0.05)
+    else:
+      self._lead_status_alpha = min(1.0, self._lead_status_alpha + 0.1)
+
+  def should_render(self) -> bool:
+    """Check if dev UI should be rendered"""
+    return ui_state.chevron_metrics != ChevronOptions.OFF and self._lead_status_alpha > 0.0
+
+  def _draw_lead(self, lead_data, lead_vehicle, v_ego: float, rect: rl.Rectangle):
+    """Draw lead vehicle status information (distance, speed, TTC)"""
+    if not self.should_render():
+      return
+
+    d_rel = lead_data.dRel
+    v_rel = lead_data.vRel
+
+    if not lead_vehicle.chevron or len(lead_vehicle.chevron) < 2:
+      return
+
+    chevron_x = lead_vehicle.chevron[1][0]
+    chevron_y = lead_vehicle.chevron[1][1]
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
+
+    text_lines = self._build_text_lines(d_rel, v_rel, v_ego)
+    if not text_lines:
+      return
+
+    self._render_text_lines(text_lines, chevron_x, chevron_y, sz, rect)
+
+  @staticmethod
+  def _build_text_lines(d_rel: float, v_rel: float, v_ego: float) -> list[str]:
+    """Build text lines based on chevron info setting"""
+    text_lines = []
+
+    # Distance
+    if ui_state.chevron_metrics == ChevronOptions.DISTANCE_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      val = max(0.0, d_rel)
+      unit = "m" if ui_state.is_metric else "ft"
+      if not ui_state.is_metric:
+        val *= 3.28084
+      text_lines.append(f"{val:.0f} {unit}")
+
+    # Speed
+    if ui_state.chevron_metrics == ChevronOptions.SPEED_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      multiplier = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+      val = max(0.0, (v_rel + v_ego) * multiplier)
+      unit = "km/h" if ui_state.is_metric else "mph"
+      text_lines.append(f"{val:.0f} {unit}")
+
+    # Time to collision
+    if ui_state.chevron_metrics == ChevronOptions.TTC_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      val = (d_rel / v_ego) if (d_rel > 0 and v_ego > 0) else 0.0
+      ttc_text = f"{val:.1f} s" if (0 < val < 200) else "---"
+      text_lines.append(ttc_text)
+
+    return text_lines
+
+  def _render_text_lines(self, text_lines: list[str], chevron_x: float, chevron_y: float,
+                         sz: float, rect: rl.Rectangle):
+    """Render text lines with proper centering and positioning"""
+    font_size = 40
+    line_height = 50
+    margin = 20
+
+    text_y = chevron_y + sz + 15
+    total_height = len(text_lines) * line_height
+
+    # Adjust Y position if text would go off screen
+    if text_y + total_height > rect.height - margin:
+      y_max = min(chevron_y, rect.height - margin)
+      text_y = y_max - 15 - total_height
+      text_y = max(margin, text_y)
+
+    alpha = int(255 * self._lead_status_alpha)
+    text_color = rl.Color(255, 255, 255, alpha)
+    shadow_color = rl.Color(0, 0, 0, int(200 * self._lead_status_alpha))
+
+    for i, line in enumerate(text_lines):
+      y = int(text_y + (i * line_height))
+      if y + line_height > rect.height - margin:
+        break
+
+      # Measure actual text width for proper centering
+      text_size = measure_text_cached(self._font, line, font_size, 0)
+      text_width = text_size.x
+
+      # Center the text horizontally on the chevron
+      x = int(chevron_x - text_width / 2)
+      x = int(np.clip(x, margin, rect.width - text_width - margin))
+
+      # Draw shadow
+      rl.draw_text_ex(self._font, line, rl.Vector2(x + 2, y + 2), font_size, 0, shadow_color)
+      # Draw text
+      rl.draw_text_ex(self._font, line, rl.Vector2(x, y), font_size, 0, text_color)
+
+  def draw_lead_status(self, sm, radar_state, rect, lead_vehicles):
+    lead_one = radar_state.leadOne
+    lead_two = radar_state.leadTwo
+
+    has_lead_one = lead_one.status if lead_one else False
+    has_lead_two = lead_two.status if lead_two else False
+
+    self.update_alpha(has_lead_one or has_lead_two)
+
+    if not self.should_render():
+      return
+
+    v_ego = sm['carState'].vEgo
+
+    if has_lead_one and lead_vehicles[0].chevron:
+      self._draw_lead(lead_one, lead_vehicles[0], v_ego, rect)
+
+    if has_lead_two and lead_vehicles[1].chevron:
+      d_rel_diff = abs(lead_one.dRel - lead_two.dRel) if has_lead_one else float('inf')
+      if d_rel_diff > 3.0:
+        self._draw_lead(lead_two, lead_vehicles[1], v_ego, rect)

selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py

@@ -0,0 +1,164 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
+  UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
+  DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
+  AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
+  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement
+)
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class DeveloperUiRenderer(Widget):
+  DEV_UI_OFF = 0
+  DEV_UI_RIGHT = 1
+  DEV_UI_BOTTOM = 2
+  DEV_UI_BOTH = 3
+
+  def __init__(self):
+    super().__init__()
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self.dev_ui_mode = self.DEV_UI_OFF
+
+    self.rel_dist_elem = RelDistElement()
+    self.rel_speed_elem = RelSpeedElement()
+    self.steering_angle_elem = SteeringAngleElement()
+    self.desired_lat_accel_elem = DesiredLateralAccelElement()
+    self.actual_lat_accel_elem = ActualLateralAccelElement()
+    self.desired_steer_elem = DesiredSteeringAngleElement()
+    self.a_ego_elem = AEgoElement()
+    self.lead_speed_elem = LeadSpeedElement()
+    self.friction_elem = FrictionCoefficientElement()
+    self.lat_accel_factor_elem = LatAccelFactorElement()
+    self.steering_torque_elem = SteeringTorqueEpsElement()
+    self.bearing_elem = BearingDegElement()
+    self.altitude_elem = AltitudeElement()
+
+  def _update_state(self) -> None:
+    self.dev_ui_mode = ui_state.developer_ui
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    if self.dev_ui_mode == self.DEV_UI_OFF:
+      return
+
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if self.dev_ui_mode == self.DEV_UI_RIGHT:
+      self._draw_right_dev_ui(rect)
+    elif self.dev_ui_mode == self.DEV_UI_BOTTOM:
+      self._draw_bottom_dev_ui(rect)
+    elif self.dev_ui_mode == self.DEV_UI_BOTH:
+      self._draw_right_dev_ui(rect)
+      self._draw_bottom_dev_ui(rect)
+
+  def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    controls_state = sm['controlsState']
+
+    UI_BORDER_SIZE = 20
+    container_width = 184
+    x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2)
+    y = int(rect.y + UI_BORDER_SIZE * 1.5)
+
+    elements = [
+      self.rel_dist_elem.update(sm, ui_state.is_metric),
+      self.rel_speed_elem.update(sm, ui_state.is_metric),
+      self.steering_angle_elem.update(sm, ui_state.is_metric),
+    ]
+    if controls_state.lateralControlState.which() == 'torqueState':
+      elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
+      elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
+    else:
+      elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
+
+    current_y = y
+    for element in elements:
+      current_y += self._draw_right_dev_ui_element(x, current_y, element)
+
+  def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
+    x += 0
+    y += 230
+    container_width = 184
+    label_size = 28
+    value_size = 60
+    unit_size = 28
+    label_width = measure_text_cached(self._font_bold, element.label, label_size, 0).x
+    centered_label_x = x + (container_width - label_width) / 2
+    rl.draw_text_ex(self._font_bold, element.label, rl.Vector2(centered_label_x, y), label_size, 0, rl.WHITE)
+
+    y += 45
+    value_width = measure_text_cached(self._font_bold, element.value, value_size, 0).x
+    centered_value_x = x + (container_width - value_width) / 2
+    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(centered_value_x, y), value_size, 0, element.color)
+
+    if element.unit:
+      units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
+
+      units_x = x + container_width - 10
+      units_y = y + (value_size / 2) + (units_height / 2)
+
+      rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
+
+    return 130
+
+  def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    bar_height = 61
+    y = int(rect.y + rect.height - bar_height)
+
+    rl.draw_rectangle(int(rect.x), y, int(rect.width), bar_height,
+                      rl.Color(0, 0, 0, 100))
+
+    elements = [
+      self.a_ego_elem.update(sm, ui_state.is_metric),
+      self.lead_speed_elem.update(sm, ui_state.is_metric),
+    ]
+
+    # Add torque-specific elements if using torque control
+    if sm['controlsState'].lateralControlState.which() == 'torqueState':
+      if sm.valid['liveTorqueParameters']:
+        elements.extend([
+          self.friction_elem.update(sm, ui_state.is_metric),
+          self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
+        ])
+    else:
+      # Non-torque: show steering torque and GPS data
+      elements.append(self.steering_torque_elem.update(sm, ui_state.is_metric))
+
+      if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
+        elements.append(self.bearing_elem.update(sm, ui_state.is_metric))
+
+    # Add altitude if GPS available
+    if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
+      elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
+
+    current_x = int(rect.x + 90)
+    center_y = y + bar_height // 2
+    for element in elements:
+      current_x += self._draw_bottom_dev_ui_element(current_x, center_y, element)
+
+  def _draw_bottom_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
+    font_size = 38
+
+    label_text = f"{element.label} "
+    label_width = measure_text_cached(self._font_bold, label_text, font_size, 0).x
+    rl.draw_text_ex(self._font_bold, label_text, rl.Vector2(x, y - font_size // 2), font_size, 0, rl.WHITE)
+
+    value_width = measure_text_cached(self._font_bold, element.value, font_size, 0).x
+    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(x + label_width + 10, y - font_size // 2), font_size, 0, element.color)
+
+    if element.unit:
+      rl.draw_text_ex(self._font_bold, element.unit, rl.Vector2(x + label_width + value_width + 20, y - font_size // 2), font_size, 0, rl.WHITE)
+
+    return 400

selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py

@@ -0,0 +1,303 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from dataclasses import dataclass
+
+from openpilot.common.constants import CV
+
+
+@dataclass
+class UiElement:
+  value: str
+  label: str
+  unit: str
+  color: rl.Color
+
+
+class LeadInfoElement:
+  @staticmethod
+  def get_lead_status(sm):
+    lead_one = sm['radarState'].leadOne
+    return lead_one.status, lead_one.dRel, lead_one.vRel
+
+  @staticmethod
+  def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
+    if use_v_rel:
+      if lead_v_rel < -4.4704:
+        return rl.RED
+      elif lead_v_rel < 0:
+        return rl.Color(255, 188, 0, 255)  # Orange
+    else:
+      if lead_d_rel < 5:
+        return rl.RED
+      elif lead_d_rel < 15:
+        return rl.Color(255, 188, 0, 255)  # Orange
+    return rl.WHITE
+
+
+class LateralControlElement:
+  @staticmethod
+  def get_lat_color(lat_active: bool, steer_override: bool, angle_steers: float = 0.0,
+                    check_angle: bool = False) -> rl.Color:
+    color = rl.WHITE
+    if lat_active:
+      color = rl.Color(145, 155, 149, 255) if steer_override else rl.Color(0, 255, 0, 255)
+
+    if check_angle and lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        # Keep green/grey from above
+        pass
+    elif check_angle and not lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+
+    return color
+
+
+class RelDistElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "m"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, lead_d_rel, _ = self.get_lead_status(sm)
+    value = f"{lead_d_rel:.0f}" if lead_status else "-"
+    color = self.get_lead_color(lead_d_rel) if lead_status else rl.WHITE
+    return UiElement(value, "REL DIST", self.unit, color)
+
+
+class RelSpeedElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "km/h"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, _, lead_v_rel = self.get_lead_status(sm)
+
+    self.unit = "km/h" if is_metric else "mph"
+
+    conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+    value = f"{lead_v_rel * conversion:.0f}" if lead_status else "-"
+    color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
+
+    return UiElement(value, "REL SPEED", self.unit, color)
+
+
+class SteeringAngleElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    angle_steers = car_state.steeringAngleDeg
+    lat_active = sm['carControl'].latActive
+    steer_override = car_state.steeringPressed
+
+    value = f"{angle_steers:.1f}°"
+    color = self.get_lat_color(lat_active, steer_override, angle_steers, check_angle=True)
+
+    return UiElement(value, "REAL STEER", self.unit, color)
+
+
+class DesiredSteeringAngleElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    controls_state = sm['controlsState']
+    lat_active = sm['carControl'].latActive
+    angle_steers = car_state.steeringAngleDeg
+    steer_angle_desired = controls_state.lateralControlState.angleState.steeringAngleDeg
+
+    value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
+
+    color = rl.WHITE
+    if lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        color = rl.Color(0, 255, 0, 255)
+
+    return UiElement(value, "DESIRED STEER", self.unit, color)
+
+
+class ActualLateralAccelElement(LateralControlElement):
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    controls_state = sm['controlsState']
+    curvature = controls_state.curvature
+    v_ego = sm['carState'].vEgo
+    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    lat_active = sm['carControl'].latActive
+    steer_override = sm['carState'].steeringPressed
+
+    actual_lat_accel = (curvature * v_ego ** 2) - (roll * 9.81)
+    value = f"{actual_lat_accel:.2f}"
+    color = self.get_lat_color(lat_active, steer_override)
+
+    return UiElement(value, "ACTUAL L.A.", self.unit, color)
+
+
+class DesiredLateralAccelElement(LateralControlElement):
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    controls_state = sm['controlsState']
+    desired_curvature = controls_state.desiredCurvature
+    v_ego = sm['carState'].vEgo
+    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    lat_active = sm['carControl'].latActive
+    steer_override = sm['carState'].steeringPressed
+
+    desired_lat_accel = (desired_curvature * v_ego ** 2) - (roll * 9.81)
+    value = f"{desired_lat_accel:.2f}" if lat_active else "-"
+    color = self.get_lat_color(lat_active, steer_override)
+
+    return UiElement(value, "DESIRED L.A.", self.unit, color)
+
+
+class AEgoElement:
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    a_ego = sm['carState'].aEgo
+    value = f"{a_ego:.1f}"
+    return UiElement(value, "ACC.", self.unit, rl.WHITE)
+
+
+class LeadSpeedElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "km/h"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, _, lead_v_rel = self.get_lead_status(sm)
+    v_ego = sm['carState'].vEgo
+
+    self.unit = "km/h" if is_metric else "mph"
+
+    conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+    value = f"{(lead_v_rel + v_ego) * conversion:.0f}" if lead_status else "-"
+    color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
+
+    return UiElement(value, "L.S.", self.unit, color)
+
+
+class FrictionCoefficientElement:
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    ltp = sm['liveTorqueParameters']
+    friction_coef = ltp.frictionCoefficientFiltered
+    live_valid = ltp.liveValid
+
+    value = f"{friction_coef:.3f}"
+    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    return UiElement(value, "FRIC.", self.unit, color)
+
+
+class LatAccelFactorElement:
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    ltp = sm['liveTorqueParameters']
+    lat_accel_factor = ltp.latAccelFactorFiltered
+    live_valid = ltp.liveValid
+
+    value = f"{lat_accel_factor:.3f}"
+    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    return UiElement(value, "L.A.F.", self.unit, color)
+
+
+class SteeringTorqueEpsElement:
+  def __init__(self):
+    self.unit = "N·dm"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    steering_torque_eps = sm['carState'].steeringTorqueEps
+    value = f"{abs(steering_torque_eps):.1f}"
+    return UiElement(value, "E.T.", self.unit, rl.WHITE)
+
+
+class GpsInfoElement:
+  @staticmethod
+  def get_gps_data(sm):
+    if sm.valid['gpsLocationExternal']:
+      return sm['gpsLocationExternal'], True
+    elif sm.valid['gpsLocation']:
+      return sm['gpsLocation'], True
+    return None, False
+
+
+class BearingDegElement(GpsInfoElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    gps_data, valid = self.get_gps_data(sm)
+    if not valid:
+      return UiElement("OFF | -", "B.D.", self.unit, rl.WHITE)
+
+    bearing_accuracy_deg = gps_data.bearingAccuracyDeg
+    bearing_deg = gps_data.bearingDeg
+
+    if bearing_accuracy_deg != 180.0:
+      value = f"{bearing_deg:.0f}°"
+      if (337.5 <= bearing_deg <= 360) or (0 <= bearing_deg <= 22.5):
+        dir_value = "N"
+      elif 22.5 < bearing_deg < 67.5:
+        dir_value = "NE"
+      elif 67.5 <= bearing_deg <= 112.5:
+        dir_value = "E"
+      elif 112.5 < bearing_deg < 157.5:
+        dir_value = "SE"
+      elif 157.5 <= bearing_deg <= 202.5:
+        dir_value = "S"
+      elif 202.5 < bearing_deg < 247.5:
+        dir_value = "SW"
+      elif 247.5 <= bearing_deg <= 292.5:
+        dir_value = "W"
+      else:  # 292.5 < bearing_deg < 337.5
+        dir_value = "NW"
+    else:
+      value = "-"
+      dir_value = "OFF"
+
+    return UiElement(f"{dir_value} | {value}", "B.D.", self.unit, rl.WHITE)
+
+
+class AltitudeElement(GpsInfoElement):
+  def __init__(self):
+    self.unit = "m"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    gps_data, valid = self.get_gps_data(sm)
+
+    gps_accuracy = 0.0
+    altitude = 0.0
+
+    if valid:
+      altitude = gps_data.altitude
+      if sm.valid['gpsLocationExternal']:
+        gps_accuracy = gps_data.horizontalAccuracy
+      else:
+        gps_accuracy = 1.0  # Simulate valid for legacy check
+
+    value = f"{altitude:.1f}" if gps_accuracy != 0.0 else "-"
+    return UiElement(value, "ALT.", self.unit, rl.WHITE)

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -0,0 +1,20 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.developer_ui = DeveloperUiRenderer()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    self.developer_ui.render(rect)

selfdrive/ui/sunnypilot/onroad/model_renderer.py

@@ -0,0 +1,14 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
+from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+
+
+class ModelRendererSP:
+  def __init__(self):
+    self.rainbow_path = RainbowPath()
+    self.chevron_metrics = ChevronMetrics()

selfdrive/ui/sunnypilot/onroad/rainbow_path.py

@@ -0,0 +1,78 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+import colorsys
+import pyray as rl
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+
+
+class RainbowPath:
+  DEFAULT_NUM_SEGMENTS = 8
+  DEFAULT_SPEED = 50.0  # degrees per second
+  DEFAULT_SATURATION = 0.9
+  DEFAULT_LIGHTNESS = 0.6
+  BASE_ALPHA = 0.8
+  ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
+
+  def __init__(self, num_segments: int = None, speed: float = None, saturation: float = None, lightness: float = None):
+    self.num_segments = num_segments if num_segments is not None else self.DEFAULT_NUM_SEGMENTS
+    self.speed = speed if speed is not None else self.DEFAULT_SPEED
+    self.saturation = saturation if saturation is not None else self.DEFAULT_SATURATION
+    self.lightness = lightness if lightness is not None else self.DEFAULT_LIGHTNESS
+
+  def set_speed(self, speed: float):
+    self.speed = speed
+
+  def set_num_segments(self, num_segments: int):
+    self.num_segments = num_segments
+
+  def set_saturation(self, saturation: float):
+    self.saturation = max(0.0, min(1.0, saturation))
+
+  def set_lightness(self, lightness: float):
+    self.lightness = max(0.0, min(1.0, lightness))
+
+  def get_gradient(self) -> Gradient:
+    time_offset = time.monotonic()
+    hue_offset = (time_offset * self.speed) % 360.0
+
+    segment_colors = []
+    gradient_stops = []
+
+    for i in range(self.num_segments):
+      position = i / (self.num_segments - 1)
+      hue = (hue_offset + position * 360.0) % 360.0
+      alpha = self.BASE_ALPHA * (1.0 - position * self.ALPHA_FADE)
+      color = self._hsla_to_color(
+        hue / 360.0,
+        self.saturation,
+        self.lightness,
+        alpha
+      )
+      gradient_stops.append(position)
+      segment_colors.append(color)
+
+    return Gradient(
+      start=(0.0, 1.0),  # Bottom of path
+      end=(0.0, 0.0),  # Top of path
+      colors=segment_colors,
+      stops=gradient_stops,
+    )
+
+  @staticmethod
+  def _hsla_to_color(h: float, s: float, l: float, a: float) -> rl.Color:
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
+    )
+
+  def draw_rainbow_path(self, rect, path):
+    gradient = self.get_gradient()
+    draw_polygon(rect, path.projected_points, gradient=gradient)

selfdrive/ui/sunnypilot/ui_state.py

@@ -4,10 +4,13 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import messaging, custom
+from cereal import messaging, log, custom
 from openpilot.common.params import Params
 from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
 
+OpenpilotState = log.SelfdriveState.OpenpilotState
+MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+
 
 class UIStateSP:
   def __init__(self):
@@ -22,8 +25,48 @@ class UIStateSP:
   def update(self) -> None:
     self.sunnylink_state.start()
 
+  @staticmethod
+  def update_status(ss, ss_sp, onroad_evt) -> str:
+    state = ss.state
+    mads = ss_sp.mads
+    mads_state = mads.state
+
+    if state == OpenpilotState.preEnabled:
+      return "override"
+
+    if state == OpenpilotState.overriding:
+      if not mads.available:
+        return "override"
+
+      if any(e.overrideLongitudinal for e in onroad_evt):
+        return "override"
+
+    if mads_state in (MADSState.paused, MADSState.overriding):
+      return "override"
+
+    # MADS specific statuses
+    if not mads.available:
+      return "engaged" if ss.enabled else "disengaged"
+
+    if not mads.enabled and not ss.enabled:
+      return "disengaged"
+
+    if mads.enabled and ss.enabled:
+      return "engaged"
+
+    if mads.enabled:
+      return "lat_only"
+
+    if ss.enabled:
+      return "long_only"
+
+    return "disengaged"
+
   def update_params(self) -> None:
     CP_SP_bytes = self.params.get("CarParamsSPPersistent")
     if CP_SP_bytes is not None:
       self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
     self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
+    self.developer_ui = self.params.get("DevUIInfo")
+    self.rainbow_path = self.params.get_bool("RainbowMode")
+    self.chevron_metrics = self.params.get("ChevronInfo")

selfdrive/ui/ui_state.py

@@ -21,6 +21,8 @@ class UIStatus(Enum):
   DISENGAGED = "disengaged"
   ENGAGED = "engaged"
   OVERRIDE = "override"
+  LAT_ONLY = "lat_only"
+  LONG_ONLY = "long_only"
 
 
 class UIState(UIStateSP):
@@ -98,7 +100,7 @@ class UIState(UIStateSP):
 
   @property
   def engaged(self) -> bool:
-    return self.started and self.sm["selfdriveState"].enabled
+    return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
 
   def is_onroad(self) -> bool:
     return self.started
@@ -156,6 +158,8 @@ class UIState(UIStateSP):
       else:
         self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
 
+      self.status = UIStatus(UIStateSP.update_status(ss, self.sm["selfdriveStateSP"], self.sm["onroadEvents"]))
+
     # Check for engagement state changes
     if self.engaged != self._engaged_prev:
       for callback in self._engaged_transition_callbacks:
@@ -192,6 +196,7 @@ class Device:
   def __init__(self):
     self._ignition = False
     self._interaction_time: float = -1
+    self._override_interactive_timeout: int | None = None
     self._interactive_timeout_callbacks: list[Callable] = []
     self._prev_timed_out = False
     self._awake: bool = True
@@ -205,11 +210,21 @@ class Device:
   def awake(self) -> bool:
     return self._awake
 
-  def reset_interactive_timeout(self, timeout: int = -1) -> None:
-    if timeout == -1:
-      ignition_timeout = 10 if gui_app.big_ui() else 5
-      timeout = ignition_timeout if ui_state.ignition else 30
-    self._interaction_time = time.monotonic() + timeout
+  def set_override_interactive_timeout(self, timeout: int | None) -> None:
+    # Override the interactive timeout duration temporarily
+    self._override_interactive_timeout = timeout
+    self._reset_interactive_timeout()
+
+  @property
+  def interactive_timeout(self) -> int:
+    if self._override_interactive_timeout is not None:
+      return self._override_interactive_timeout
+
+    ignition_timeout = 10 if gui_app.big_ui() else 5
+    return ignition_timeout if ui_state.ignition else 30
+
+  def _reset_interactive_timeout(self) -> None:
+    self._interaction_time = time.monotonic() + self.interactive_timeout
 
   def add_interactive_timeout_callback(self, callback: Callable):
     self._interactive_timeout_callbacks.append(callback)
@@ -217,7 +232,7 @@ class Device:
   def update(self):
     # do initial reset
     if self._interaction_time <= 0:
-      self.reset_interactive_timeout()
+      self._reset_interactive_timeout()
 
     self._update_brightness()
     self._update_wakefulness()
@@ -257,7 +272,7 @@ class Device:
     self._ignition = ui_state.ignition
 
     if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
-      self.reset_interactive_timeout()
+      self._reset_interactive_timeout()
 
     interaction_timeout = time.monotonic() > self._interaction_time
     if interaction_timeout and not self._prev_timed_out:

sunnypilot/selfdrive/car/interfaces.py

@@ -102,7 +102,10 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
   _cleanup_unsupported_params(CP, CP_SP)
 
-  STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  try:
+    STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  except RuntimeError:
+    pass  # to_dict fails on macOS due to library issues.
   # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
 
 
@@ -111,7 +114,7 @@ def initialize_params(params) -> list[dict[str, Any]]:
 
   # hyundai
   keys.extend([
-    "HyundaiLongitudinalTuning"
+    "HyundaiLongitudinalTuning",
   ])
 
   # subaru
@@ -125,4 +128,9 @@ def initialize_params(params) -> list[dict[str, Any]]:
     "TeslaCoopSteering",
   ])
 
+  # toyota
+  keys.extend([
+    "ToyotaEnforceStockLongitudinal",
+  ])
+
   return [{k: params.get(k, return_default=True)} for k in keys]

sunnypilot/selfdrive/car/sync_car_list_param.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+
+
+def update_car_list_param():
+  with open(CAR_LIST_JSON_OUT) as f:
+    current_car_list = json.load(f)
+
+  params = Params()
+  if params.get("CarList") != current_car_list:
+    params.put("CarList", current_car_list)
+    cloudlog.warning("Updated CarList param with latest platform list")
+  else:
+    cloudlog.warning("CarList param is up to date, no need to update")
+
+
+if __name__ == "__main__":
+  update_car_list_param()

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -28,6 +28,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
+from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 
@@ -41,6 +42,12 @@ METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__f
 
 params = Params()
 
+# Parameters that should never be remotely modified for security reasons
+BLOCKED_PARAMS = {
+  "GithubUsername",  # Could grant SSH access
+  "GithubSshKeys",   # Direct SSH key injection
+}
+
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
   cloudlog.info("sunnylinkd.handle_long_poll started")
@@ -247,6 +254,11 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
   for key, value in params_to_update.items():
+    # disallow modifications to blocked parameters
+    if key in BLOCKED_PARAMS:
+      cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
+      continue
+
     try:
       save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:
@@ -279,6 +291,8 @@ def main(exit_event: threading.Event = None):
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   UploadQueueCache.initialize(upload_queue)
 
+  update_car_list_param()
+
   ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
   conn_start = None
   conn_retries = 0

sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py

@@ -0,0 +1,59 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+
+
+class TestSunnylinkdMethods:
+  def setup_method(self):
+    self.saved_params = []
+
+    self.original_save = sunnylinkd.save_param_from_base64_encoded_string
+
+    def mock_save_param(key, value, compression=False):
+      self.saved_params.append((key, value, compression))
+
+    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param
+
+  def teardown_method(self):
+    sunnylinkd.save_param_from_base64_encoded_string = self.original_save
+
+  def test_saveParams_blocked(self):
+    blocked_params = {
+      "GithubUsername": "attacker",
+      "GithubSshKeys": "ssh-rsa attacker_key",
+    }
+
+    sunnylinkd.saveParams(blocked_params)
+
+    assert len(self.saved_params) == 0
+
+  def test_saveParams_allowed(self):
+    allowed_params = {
+      "SpeedLimitOffset": "5",
+      "MyCustomParam": "123"
+    }
+
+    sunnylinkd.saveParams(allowed_params)
+
+    # verify content
+    assert len(self.saved_params) == 2
+    keys_saved = [p[0] for p in self.saved_params]
+    assert "SpeedLimitOffset" in keys_saved
+    assert "MyCustomParam" in keys_saved
+
+  def test_saveParams_mixed(self):
+    mixed_params = {
+      "GithubUsername": "attacker",
+      "SpeedLimitOffset": "10"
+    }
+
+    sunnylinkd.saveParams(mixed_params)
+
+    # should save allowed one
+    assert len(self.saved_params) == 1
+    assert self.saved_params[0][0] == "SpeedLimitOffset"
+    assert self.saved_params[0][1] == "10"

sunnypilot/sunnylink/backups/manager.py

@@ -19,7 +19,7 @@ from openpilot.system.version import get_version
 
 from cereal import messaging, custom
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
-from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder
 from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
@@ -95,7 +95,7 @@ class BackupManagerSP:
 
       # Serialize and encrypt config data
       config_json = json.dumps(config_data)
-      encrypted_config = encrypt_compress_data(config_json, use_aes_256=True)
+      encrypted_config = encrypt_compressed_data(config_json, use_aes_256=True)
       self._update_progress(50.0, OperationType.BACKUP)
 
       backup_info = custom.BackupManagerSP.BackupInfo()

sunnypilot/sunnylink/backups/utils.py

@@ -4,9 +4,9 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-
 import base64
 import hashlib
+import os
 import zlib
 import re
 import json
@@ -14,8 +14,9 @@ from pathlib import Path
 
 from cryptography.hazmat.backends import default_backend
 from cryptography.hazmat.primitives import serialization
-from cryptography.hazmat.primitives.asymmetric import rsa
+from cryptography.hazmat.primitives.asymmetric import rsa, ec
 
+from openpilot.common.api.base import KEYS
 from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher
 from openpilot.system.hardware.hw import Paths
 
@@ -27,37 +28,43 @@ class KeyDerivation:
       return f.read()
 
   @staticmethod
-  def derive_aes_key_iv_from_rsa(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
-    rsa_key_pem: bytes = KeyDerivation._load_key(key_path)
-    key_plain = rsa_key_pem.decode(errors="ignore")
+  def derive_aes_key_iv(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
+    key_pem: bytes = KeyDerivation._load_key(key_path)
+    key_plain = key_pem.decode(errors="ignore")
 
     if "private" in key_plain.lower():
-      private_key = serialization.load_pem_private_key(rsa_key_pem, password=None, backend=default_backend())
-      if not isinstance(private_key, rsa.RSAPrivateKey):
-        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
-
-      der_data = private_key.private_bytes(
-        encoding=serialization.Encoding.DER,
-        format=serialization.PrivateFormat.TraditionalOpenSSL,
-        encryption_algorithm=serialization.NoEncryption()
-      )
+      private_key = serialization.load_pem_private_key(key_pem, password=None, backend=default_backend())
+      if isinstance(private_key, (rsa.RSAPrivateKey, ec.EllipticCurvePrivateKey)):
+        public_key = private_key.public_key()
+      else:
+        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     elif "public" in key_plain.lower():
-      public_key = serialization.load_pem_public_key(rsa_key_pem, backend=default_backend())
-      if not isinstance(public_key, rsa.RSAPublicKey):
-        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
-
-      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
+      public_key = serialization.load_pem_public_key(key_pem, backend=default_backend())  # type: ignore[assignment]
+      if not isinstance(public_key, (rsa.RSAPublicKey, ec.EllipticCurvePublicKey)):
+        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     else:
-      raise ValueError("Unknown key format: Unable to determine if key is public or private.")
+      raise ValueError("Invalid key format: Unable to determine if key is public or private.")
 
-    sha256_hash = hashlib.sha256(der_data).digest()
-    aes_key = sha256_hash[:32] if use_aes_256 else sha256_hash[:16]
-    aes_iv = sha256_hash[16:32]
+    if isinstance(public_key, rsa.RSAPublicKey):
+      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
+    elif isinstance(public_key, ec.EllipticCurvePublicKey):
+      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.SubjectPublicKeyInfo)
+    else:
+      raise ValueError("Unsupported key type.")
 
-    return aes_key, aes_iv
+    if use_aes_256:
+      # AES-256-CBC
+      key = hashlib.sha256(der_data).digest()
+      iv = hashlib.md5(der_data).digest()
+    else:
+      # AES-128-CBC
+      key = hashlib.md5(der_data).digest()
+      iv = hashlib.md5(der_data).digest()  # Insecure IV reuse, kept for compatibility
+
+    return key, iv
 
 
-def qUncompress(data):
+def uncompress_dat(data):
   """
   Decompress data using zlib.
 
@@ -71,7 +78,7 @@ def qUncompress(data):
   return zlib.decompress(data_stripped_4)
 
 
-def qCompress(data):
+def compress_dat(data):
   """
   Compress data using zlib.
 
@@ -85,6 +92,19 @@ def qCompress(data):
   return b"ZLIB" + compressed_data
 
 
+def get_key_path(use_aes_256=False) -> str:
+  key_path = ""
+  for key in KEYS:
+    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+      key_path = str(Path(Paths.persist_root() + f'/comma/{key}') if use_aes_256 else Path(Paths.persist_root() + f'/comma/{key}.pub'))
+      break
+
+  if not key_path:
+    raise FileNotFoundError("No valid key pair found in persist storage.")
+
+  return key_path
+
+
 def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   """
   Decrypt and decompress data from base64 string.
@@ -96,18 +116,17 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   Returns:
       str: Decrypted and decompressed string
   """
-  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Decode base64
     encrypted_data = base64.b64decode(encrypted_base64)
 
     # Decrypt
-    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
     cipher = AESCipher(key, iv)
     decrypted_data = cipher.decrypt(encrypted_data)
 
     # Decompress
-    decompressed_data = qUncompress(decrypted_data)
+    decompressed_data = uncompress_dat(decrypted_data)
 
     # Decode UTF-8
     result = decompressed_data.decode('utf-8')
@@ -117,7 +136,7 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
     return ""
 
 
-def encrypt_compress_data(text, use_aes_256=True):
+def encrypt_compressed_data(text, use_aes_256=True):
   """
   Compress and encrypt string data to base64.
 
@@ -128,16 +147,15 @@ def encrypt_compress_data(text, use_aes_256=True):
   Returns:
       str: Base64 encoded encrypted data
   """
-  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Encode to UTF-8
     text_bytes = text.encode('utf-8')
 
     # Compress
-    compressed_data = qCompress(text_bytes)
+    compressed_data = compress_dat(text_bytes)
 
     # Encrypt
-    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
     cipher = AESCipher(key, iv)
     encrypted_data = cipher.encrypt(compressed_data)
 

sunnypilot/sunnylink/params_metadata.json

@@ -125,6 +125,10 @@
     "title": "Car Battery Capacity",
     "description": ""
   },
+  "CarList": {
+    "title": "Supported Car List",
+    "description": "All supported platform in sunnypilot"
+  },
   "CarParams": {
     "title": "Car Params",
     "description": ""
@@ -1033,6 +1037,10 @@
     "max": 5.0,
     "step": 0.1
   },
+  "ToyotaEnforceStockLongitudinal": {
+    "title": "Toyota: Enforce Factory Longitudinal Control",
+    "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
+  },
   "TrainingVersion": {
     "title": "Training Version",
     "description": ""

system/loggerd/loggerd.cc

@@ -238,7 +238,7 @@ void loggerd_thread() {
     if (it.should_log || (encoder && !livestream_encoder) || record_audio) {
       LOGD("logging %s", it.name.c_str());
 
-      SubSocket * sock = SubSocket::create(ctx.get(), it.name);
+      SubSocket * sock = SubSocket::create(ctx.get(), it.name, "127.0.0.1", false, true, it.queue_size);
       assert(sock != NULL);
       poller->registerSocket(sock);
       service_state[sock] = {

system/loggerd/tests/test_loggerd.py

@@ -24,7 +24,6 @@ from openpilot.system.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -99,13 +98,17 @@ class TestLoggerd:
     return sent_msgs
 
   def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
-    d = DEVICE_CAMERAS[("tici", "ar0231")]
+    # Use small frame sizes for testing (width, height, size, stride, uv_offset)
+    # NV12 format: size = stride * height * 1.5, uv_offset = stride * height
+    w, h = 320, 240
+    frame_spec = (w, h, w * h * 3 // 2, w, w * h)
     streams = [
-      (VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048 * 2346, 2048, 2048 * 1216), "roadCameraState"),
-      (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048 * 2346, 2048, 2048 * 1216), "driverCameraState"),
-      (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048 * 2346, 2048, 2048 * 1216), "wideRoadCameraState"),
+      (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
+      (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
     ]
 
+    sm = messaging.SubMaster(["roadEncodeData"])
     pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
@@ -139,6 +142,8 @@ class TestLoggerd:
       for _, _, state in streams:
         assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
 
+      sm.update(100)  # wait for encode data publish
+
     managed_processes["loggerd"].stop()
     managed_processes["encoderd"].stop()
 

system/sensord/tests/test_sensord.py

@@ -56,8 +56,7 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
-                  'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
+  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)

system/ui/lib/application.py

@@ -81,7 +81,7 @@ void main() {
 """
 
 DEFAULT_TEXT_SIZE = 60
-DEFAULT_TEXT_COLOR = rl.WHITE
+DEFAULT_TEXT_COLOR = rl.Color(255, 255, 255, int(255 * 0.9))
 
 # Qt draws fonts accounting for ascent/descent differently, so compensate to match old styles
 # The real scales for the fonts below range from 1.212 to 1.266
@@ -221,6 +221,7 @@ class GuiApplication(GuiApplicationExt):
     self._trace_log_callback = None
     self._modal_overlay = ModalOverlay()
     self._modal_overlay_shown = False
+    self._modal_overlay_tick: Callable[[], None] | None = None
 
     self._mouse = MouseState(self._scale)
     self._mouse_events: list[MouseEvent] = []
@@ -352,6 +353,9 @@ class GuiApplication(GuiApplicationExt):
 
     self._modal_overlay = ModalOverlay(overlay=overlay, callback=callback)
 
+  def set_modal_overlay_tick(self, tick_function: Callable | None):
+    self._modal_overlay_tick = tick_function
+
   def set_should_render(self, should_render: bool):
     self._should_render = should_render
 
@@ -490,6 +494,9 @@ class GuiApplication(GuiApplicationExt):
 
         # Handle modal overlay rendering and input processing
         if self._handle_modal_overlay():
+          # Allow a Widget to still run a function while overlay is shown
+          if self._modal_overlay_tick is not None:
+            self._modal_overlay_tick()
           yield False
         else:
           yield True

system/ui/lib/scroll_panel2.py

@@ -175,7 +175,8 @@ class GuiScrollPanel2:
         # Do not update velocity on the same frame the mouse was released
         previous_mouse_pos = self._get_mouse_pos(cast(MouseEvent, self._previous_mouse_event))
         delta_x = mouse_pos - previous_mouse_pos
-        self._velocity = delta_x / (mouse_event.t - cast(MouseEvent, self._previous_mouse_event).t)
+        delta_t = max((mouse_event.t - cast(MouseEvent, self._previous_mouse_event).t), 1e-6)
+        self._velocity = delta_x / delta_t
         self._velocity = max(-MAX_SPEED, min(MAX_SPEED, self._velocity))
         self._velocity_buffer.append(self._velocity)
 

system/ui/lib/wifi_manager.py

@@ -630,7 +630,8 @@ class WifiManager:
 
       known_connections = self._get_connections()
       networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()]
-      networks.sort(key=lambda n: (-n.is_connected, n.ssid.lower()))
+      # sort with quantized strength to reduce jumping
+      networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 4), n.ssid.lower()))
       self._networks = networks
 
       self._update_ipv4_address()

system/ui/mici_setup.py

@@ -18,14 +18,13 @@ from openpilot.common.utils import run_cmd
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.selfdrive.ui.ui_state import device
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.widgets import Widget, DialogResult
 from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton,
                                                 SmallCircleIconButton, WidishRoundedButton, SmallRedPillButton,
                                                 FullRoundedButton)
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import LargerSlider
+from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider
 from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
 
@@ -199,15 +198,20 @@ class TermsPage(Widget):
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
 
     self._continue_text = continue_text
-    self._continue_button: WideRoundedButton | FullRoundedButton
-    if back_callback is not None:
+    self._continue_slider: bool = continue_text in ("reboot", "power off")
+    self._continue_button: WideRoundedButton | FullRoundedButton | SmallSlider
+    if self._continue_slider:
+      self._continue_button = SmallSlider(continue_text, confirm_callback=continue_callback)
+      self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
+    elif back_callback is not None:
       self._continue_button = WideRoundedButton(continue_text)
     else:
       self._continue_button = FullRoundedButton(continue_text)
     self._continue_button.set_enabled(False)
     self._continue_button.set_opacity(0.0)
     self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    self._continue_button.set_click_callback(continue_callback)
+    if not self._continue_slider:
+      self._continue_button.set_click_callback(continue_callback)
 
     self._enable_back = back_callback is not None
     self._back_button = SmallButton(back_text)
@@ -228,7 +232,7 @@ class TermsPage(Widget):
 
   def show_event(self):
     super().show_event()
-    device.reset_interactive_timeout(300)
+    self.reset()
 
   @property
   @abstractmethod
@@ -270,6 +274,11 @@ class TermsPage(Widget):
     rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20),
                                  int(self._rect.width), 20, rl.BLANK, rl.BLACK)
 
+    # fade out back button as slider is moved
+    if self._continue_slider and scroll_offset <= self._scrolled_down_offset:
+      self._back_button.set_opacity(1.0 - self._continue_button.slider_percentage)
+      self._back_button.set_visible(self._continue_button.slider_percentage < 0.99)
+
     self._back_button.render(rl.Rectangle(
       self._rect.x + 8,
       self._rect.y + self._rect.height - self._back_button.rect.height,
@@ -280,6 +289,8 @@ class TermsPage(Widget):
     continue_x = self._rect.x + 8
     if self._enable_back:
       continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8
+    if self._continue_slider:
+      continue_x += 8
     self._continue_button.render(rl.Rectangle(
       continue_x,
       self._rect.y + self._rect.height - self._continue_button.rect.height,
@@ -443,9 +454,12 @@ class NetworkSetupPage(Widget):
     self._continue_button.set_click_callback(continue_callback)
 
     self._state = NetworkSetupState.MAIN
+    self._prev_has_internet = False
 
   def set_state(self, state: NetworkSetupState):
     self._state = state
+    if state == NetworkSetupState.WIFI_PANEL:
+      self._wifi_ui.show_event()
 
   def set_has_internet(self, has_internet: bool):
     if has_internet:
@@ -457,6 +471,10 @@ class NetworkSetupPage(Widget):
       self._network_header.set_icon(self._no_wifi_txt)
       self._continue_button.set_enabled(False)
 
+    if has_internet and not self._prev_has_internet:
+      self.set_state(NetworkSetupState.MAIN)
+    self._prev_has_internet = has_internet
+
   def show_event(self):
     super().show_event()
     self._state = NetworkSetupState.MAIN
@@ -513,6 +531,8 @@ class Setup(Widget):
     self._network_monitor = NetworkConnectivityMonitor(
       lambda: self.state in (SetupState.NETWORK_SETUP, SetupState.NETWORK_SETUP_CUSTOM_SOFTWARE)
     )
+    self._prev_has_internet = False
+    gui_app.set_modal_overlay_tick(self._modal_overlay_tick)
 
     self._start_page = StartPage()
     self._start_page.set_click_callback(self._getting_started_button_callback)
@@ -530,6 +550,12 @@ class Setup(Widget):
 
     self._downloading_page = DownloadingPage()
 
+  def _modal_overlay_tick(self):
+    has_internet = self._network_monitor.network_connected.is_set()
+    if has_internet and not self._prev_has_internet:
+      gui_app.set_modal_overlay(None)
+    self._prev_has_internet = has_internet
+
   def _update_state(self):
     self._wifi_manager.process_callbacks()
 
@@ -603,7 +629,9 @@ class Setup(Widget):
 
   def render_network_setup(self, rect: rl.Rectangle):
     self._network_setup_page.render(rect)
-    self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set())
+    has_internet = self._network_monitor.network_connected.is_set()
+    self._prev_has_internet = has_internet
+    self._network_setup_page.set_has_internet(has_internet)
 
   def render_downloading(self, rect: rl.Rectangle):
     self._downloading_page.set_progress(self.download_progress)

system/ui/sunnypilot/lib/styles.py

@@ -28,9 +28,13 @@ class Base:
   TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
 
   # Button Control
-  BUTTON_WIDTH = 300
+  BUTTON_ACTION_WIDTH = 300
   BUTTON_HEIGHT = 120
 
+  # Simple Button Control
+  SIMPLE_BUTTON_WIDTH = 800
+  SIMPLE_BUTTON_HEIGHT = 150
+
 
 @dataclass
 class DefaultStyleSP(Base):
@@ -81,5 +85,11 @@ class DefaultStyleSP(Base):
   BLUE = rl.Color(0, 134, 233, 255)
   YELLOW = rl.Color(255, 213, 0, 255)
 
+  # Button Colors
+  BUTTON_ENABLED_OFF = rl.Color(0x39, 0x39, 0x39, 0xFF)
+  BUTTON_OFF_PRESSED = rl.Color(0x4A, 0x4A, 0x4A, 0xFF)
+  BUTTON_DISABLED = rl.Color(0x12, 0x12, 0x12, 0xFF)
+  BUTTON_TEXT_DISABLED = rl.Color(0x5C, 0x5C, 0x5C, 0xFF)
+
 
 style = DefaultStyleSP

system/ui/sunnypilot/widgets/list_view.py

@@ -11,9 +11,11 @@ from openpilot.common.params import Params
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
                                                   _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
+from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
 
@@ -25,8 +27,37 @@ class ToggleActionSP(ToggleAction):
     self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
 
 
+class ButtonSP(Button):
+  def _update_state(self):
+    super()._update_state()
+    if self.enabled:
+      if self.is_pressed:
+        self._background_color = style.BUTTON_OFF_PRESSED
+      else:
+        self._background_color = style.BUTTON_ENABLED_OFF
+    else:
+      self._background_color = style.BUTTON_DISABLED
+      self._label.set_text_color(style.BUTTON_TEXT_DISABLED)
+
+
+class SimpleButtonActionSP(ItemAction):
+  def __init__(self, button_text: str | Callable[[], str], callback: Callable = None,
+               enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH):
+    super().__init__(width=button_width, enabled=enabled)
+    self.button_action = ButtonSP(button_text, click_callback=callback, button_style=ButtonStyle.NORMAL,
+                                  border_radius=20)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self.button_action.set_touch_valid_callback(touch_callback)
+
+  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+    self.button_action.set_enabled(self.enabled)
+    return self.button_action.render(rect)
+
+
 class ButtonActionSP(ButtonAction):
-  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True):
+  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH, enabled: bool | Callable[[], bool] = True):
     super().__init__(text=text, width=width, enabled=enabled)
     self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
 
@@ -149,13 +180,8 @@ class ListItemSP(ListItem):
       return rl.Rectangle(0, 0, 0, 0)
 
     if not self.inline:
-      has_description = bool(self.description) and self.description_visible
-
-      if has_description:
-        action_y = item_rect.y + self._text_size.y + style.ITEM_PADDING * 3
-      else:
-        action_y = item_rect.y + item_rect.height - style.BUTTON_HEIGHT - style.ITEM_PADDING * 1.5
-
+      text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+      action_y = item_rect.y + text_size.y + style.ITEM_PADDING * 3
       return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
 
     right_width = self.action_item.get_width_hint()
@@ -165,7 +191,7 @@ class ListItemSP(ListItem):
     content_width = item_rect.width - (style.ITEM_PADDING * 2)
     title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
     right_width = min(content_width - title_width, right_width)
-    if isinstance(self.action_item, ToggleAction):
+    if isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP):
       action_x = item_rect.x
     else:
       action_x = item_rect.x + item_rect.width - right_width
@@ -182,14 +208,15 @@ class ListItemSP(ListItem):
 
     content_x = self._rect.x + style.ITEM_PADDING
     text_x = content_x
-    left_action_item = isinstance(self.action_item, ToggleAction)
+    left_action_item = isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP)
 
     if left_action_item:
+      item_height = style.SIMPLE_BUTTON_HEIGHT if isinstance(self.action_item, SimpleButtonActionSP) else style.TOGGLE_HEIGHT
       left_rect = rl.Rectangle(
         content_x,
-        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
-        style.TOGGLE_WIDTH,
-        style.TOGGLE_HEIGHT
+        self._rect.y + (style.ITEM_BASE_HEIGHT - item_height) // 2,
+        self.action_item.rect.width,
+        item_height
       )
       text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
 
@@ -245,6 +272,12 @@ class ListItemSP(ListItem):
       self._html_renderer.render(description_rect)
 
 
+def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callable | None = None,
+                          enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH) -> ListItemSP:
+  action = SimpleButtonActionSP(button_text=button_text, enabled=enabled, callback=callback, button_width=button_width)
+  return ListItemSP(title="", callback=callback, description="", action_item=action)
+
+
 def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
                    callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
   action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
@@ -252,7 +285,7 @@ def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[
 
 
 def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
-                            selected_index: int = 0, button_width: int = style.BUTTON_WIDTH, callback: Callable = None,
+                            selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable = None,
                             icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
   action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
   return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)
@@ -275,3 +308,15 @@ def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[
                    callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP:
   action = ButtonActionSP(text=button_text, enabled=enabled)
   return ListItemSP(title=title, description=description, action_item=action, callback=callback)
+
+
+class LineSeparatorSP(LineSeparator):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def _render(self, _):
+    line_y = int(self._rect.y + self._rect.height // 2)
+    rl.draw_line(int(self._rect.x) + LINE_PADDING, line_y,
+                 int(self._rect.x + self._rect.width) - LINE_PADDING, line_y,
+                 LINE_COLOR)

system/ui/widgets/__init__.py

@@ -100,6 +100,7 @@ class Widget(abc.ABC):
     if not self.is_visible:
       return None
 
+    self._layout()
     ret = self._render(self._rect)
 
     # Keep track of whether mouse down started within the widget's rectangle
@@ -151,13 +152,16 @@ class Widget(abc.ABC):
         self.__is_pressed[mouse_event.slot] = False
         self._handle_mouse_event(mouse_event)
 
-  @abc.abstractmethod
-  def _render(self, rect: rl.Rectangle) -> bool | int | None:
-    """Render the widget within the given rectangle."""
+  def _layout(self) -> None:
+    """Optionally lay out child widgets separately. This is called before rendering."""
 
   def _update_state(self):
     """Optionally update the widget's non-layout state. This is called before rendering."""
 
+  @abc.abstractmethod
+  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+    """Render the widget within the given rectangle."""
+
   def _update_layout_rects(self) -> None:
     """Optionally update any layout rects on Widget rect change."""
 
@@ -270,13 +274,17 @@ class NavWidget(Widget, abc.ABC):
       in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
 
       scroller_at_top = False
+      vertical_scroller = False
       # TODO: -20? snapping in WiFi dialog can make offset not be positive at the top
       if hasattr(self, '_scroller'):
         scroller_at_top = self._scroller.scroll_panel.get_offset() >= -20 and not self._scroller._horizontal
+        vertical_scroller = not self._scroller._horizontal
       elif hasattr(self, '_scroll_panel'):
         scroller_at_top = self._scroll_panel.get_offset() >= -20 and not self._scroll_panel._horizontal
+        vertical_scroller = not self._scroll_panel._horizontal
 
-      if in_dismiss_area or scroller_at_top:
+      # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes
+      if (not vertical_scroller and in_dismiss_area) or scroller_at_top:
         self._can_swipe_away = True
         self._back_button_start_pos = mouse_event.pos
 

system/ui/widgets/button.py

@@ -201,6 +201,7 @@ class SmallCircleIconButton(Widget):
     self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
     self._icon_bg_txt = gui_app.texture("icons_mici/setup/small_button.png", 100, 100)
     self._icon_bg_pressed_txt = gui_app.texture("icons_mici/setup/small_button_pressed.png", 100, 100)
+    self._icon_bg_disabled_txt = gui_app.texture("icons_mici/setup/small_button_disabled.png", 100, 100)
     self._icon_txt = icon_txt
 
   def set_opacity(self, opacity: float, smooth: bool = False):
@@ -210,12 +211,18 @@ class SmallCircleIconButton(Widget):
       self._opacity_filter.x = opacity
 
   def _render(self, _):
-    bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
     white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
+    if not self.enabled:
+      bg_txt = self._icon_bg_disabled_txt
+      icon_white = rl.Color(255, 255, 255, int(white.a * 0.35))
+    else:
+      bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
+      icon_white = white
+
     rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white)
     icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2
     icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2
-    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), white)
+    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), icon_white)
 
 
 class SmallButton(Widget):

system/ui/widgets/scroller.py

@@ -52,6 +52,11 @@ class Scroller(Widget):
     self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
     self._zoom_out_t: float = 0.0
 
+    # layout state
+    self._visible_items: list[Widget] = []
+    self._content_size: float = 0.0
+    self._scroll_offset: float = 0.0
+
     self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
 
     # when not pressed, snap to closest item to be center
@@ -74,7 +79,7 @@ class Scroller(Widget):
       return
 
     # FIXME: the padding correction doesn't seem correct
-    scroll_offset = self.scroll_panel.get_offset() - pos + self._pad_end
+    scroll_offset = self.scroll_panel.get_offset() - pos
     if smooth:
       self._scrolling_to = scroll_offset
     else:
@@ -160,28 +165,28 @@ class Scroller(Widget):
 
     return self.scroll_panel.get_offset()
 
-  def _render(self, _):
-    visible_items = [item for item in self._items if item.is_visible]
+  def _layout(self):
+    self._visible_items = [item for item in self._items if item.is_visible]
 
     # Add line separator between items
     if self._line_separator is not None:
-      l = len(visible_items)
-      for i in range(1, len(visible_items)):
-        visible_items.insert(l - i, self._line_separator)
+      l = len(self._visible_items)
+      for i in range(1, len(self._visible_items)):
+        self._visible_items.insert(l - i, self._line_separator)
 
-    content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in visible_items)
-    content_size += self._spacing * (len(visible_items) - 1)
-    content_size += self._pad_start + self._pad_end
+    self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items)
+    self._content_size += self._spacing * (len(self._visible_items) - 1)
+    self._content_size += self._pad_start + self._pad_end
 
-    scroll_offset = self._get_scroll(visible_items, content_size)
+    self._scroll_offset = self._get_scroll(self._visible_items, self._content_size)
 
     rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
                           int(self._rect.width), int(self._rect.height))
 
-    self._item_pos_filter.update(scroll_offset)
+    self._item_pos_filter.update(self._scroll_offset)
 
     cur_pos = 0
-    for idx, item in enumerate(visible_items):
+    for idx, item in enumerate(self._visible_items):
       spacing = self._spacing if (idx > 0) else self._pad_start
       # Nicely lay out items horizontally/vertically
       if self._horizontal:
@@ -195,29 +200,31 @@ class Scroller(Widget):
 
       # Consider scroll
       if self._horizontal:
-        x += scroll_offset
+        x += self._scroll_offset
       else:
-        y += scroll_offset
+        y += self._scroll_offset
 
       # Add some jello effect when scrolling
       if DO_JELLO:
         if self._horizontal:
           cx = self._rect.x + self._rect.width / 2
-          jello_offset = scroll_offset - np.interp(x + item.rect.width / 2,
-                                                   [self._rect.x, cx, self._rect.x + self._rect.width],
-                                                   [self._item_pos_filter.x, scroll_offset, self._item_pos_filter.x])
+          jello_offset = self._scroll_offset - np.interp(x + item.rect.width / 2,
+                                                         [self._rect.x, cx, self._rect.x + self._rect.width],
+                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
           x -= np.clip(jello_offset, -20, 20)
         else:
           cy = self._rect.y + self._rect.height / 2
-          jello_offset = scroll_offset - np.interp(y + item.rect.height / 2,
-                                                   [self._rect.y, cy, self._rect.y + self._rect.height],
-                                                   [self._item_pos_filter.x, scroll_offset, self._item_pos_filter.x])
+          jello_offset = self._scroll_offset - np.interp(y + item.rect.height / 2,
+                                                         [self._rect.y, cy, self._rect.y + self._rect.height],
+                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
           y -= np.clip(jello_offset, -20, 20)
 
       # Update item state
       item.set_position(round(x), round(y))  # round to prevent jumping when settling
       item.set_parent_rect(self._rect)
 
+  def _render(self, _):
+    for item in self._visible_items:
       # Skip rendering if not in viewport
       if not rl.check_collision_recs(item.rect, self._rect):
         continue
@@ -227,17 +234,17 @@ class Scroller(Widget):
       if scale != 1.0:
         rl.rl_push_matrix()
         rl.rl_scalef(scale, scale, 1.0)
-        rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
-                        (1 - scale) * (y + item.rect.height / 2) / scale, 0)
+        rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale,
+                         (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0)
         item.render()
         rl.rl_pop_matrix()
       else:
         item.render()
 
     # Draw scroll indicator
-    if SCROLL_BAR and not self._horizontal and len(visible_items) > 0:
-      _real_content_size = content_size - self._rect.height + self._txt_scroll_indicator.height
-      scroll_bar_y = -scroll_offset / _real_content_size * self._rect.height
+    if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0:
+      _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height
+      scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height
       scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height)
       rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE)
 
@@ -246,7 +253,7 @@ class Scroller(Widget):
   def show_event(self):
     super().show_event()
     if self._reset_scroll_at_show:
-      self.scroll_to(self.scroll_panel.get_offset())
+      self.scroll_panel.set_offset(0.0)
 
     for item in self._items:
       item.show_event()

system/ui/widgets/slider.py

@@ -24,7 +24,7 @@ class SmallSlider(Widget):
     self._drag_threshold = -self._rect.width // 2
 
     # State
-    self._opacity = 1.0
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
     self._confirmed_time = 0.0
     self._confirm_callback_called = False  # we keep dialog open by default, only call once
     self._start_x_circle = 0.0
@@ -54,8 +54,11 @@ class SmallSlider(Widget):
     self._confirmed_time = 0.0
     self._confirm_callback_called = False
 
-  def set_opacity(self, opacity: float):
-    self._opacity = opacity
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
 
   @property
   def slider_percentage(self):
@@ -117,7 +120,7 @@ class SmallSlider(Widget):
   def _render(self, _):
     # TODO: iOS text shimmering animation
 
-    white = rl.Color(255, 255, 255, int(255 * self._opacity))
+    white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
 
     bg_txt_x = self._rect.x + (self._rect.width - self._bg_txt.width) / 2
     bg_txt_y = self._rect.y + (self._rect.height - self._bg_txt.height) / 2
@@ -127,11 +130,11 @@ class SmallSlider(Widget):
     btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2
 
     if self._confirmed_time == 0.0 or self._scroll_x_circle > 0:
-      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity)))
+      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity_filter.x)))
       label_rect = rl.Rectangle(
         self._rect.x + 20,
         self._rect.y,
-        self._rect.width - self._circle_bg_txt.width - 20 * 3,
+        self._rect.width - self._circle_bg_txt.width - 20 * 2.5,
         self._rect.height,
       )
       self._label.render(label_rect)

tools/Brewfile

@@ -0,0 +1,15 @@
+brew "git-lfs"
+brew "capnp"
+brew "coreutils"
+brew "eigen"
+brew "ffmpeg"
+brew "glfw"
+brew "libusb"
+brew "libtool"
+brew "llvm"
+brew "openssl@3.0"
+brew "qt@5"
+brew "zeromq"
+cask "gcc-arm-embedded"
+brew "portaudio"
+brew "gcc@13"

tools/cabana/streams/devicestream.cc

@@ -3,6 +3,8 @@
 #include <memory>
 #include <string>
 
+#include "cereal/services.h"
+
 #include <QButtonGroup>
 #include <QFormLayout>
 #include <QRadioButton>
@@ -20,7 +22,7 @@ void DeviceStream::streamThread() {
 
   std::unique_ptr<Context> context(Context::create());
   std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
-  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address, false, true, services.at("can").queue_size));
   assert(sock != NULL);
   // run as fast as messages come in
   while (!QThread::currentThread()->isInterruptionRequested()) {

tools/joystick/joystickd.py

@@ -48,6 +48,7 @@ def joystickd_thread():
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
       actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
+      CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)

tools/mac_setup.sh

@@ -32,23 +32,7 @@ else
     brew up
 fi
 
-brew bundle --file=- <<-EOS
-brew "git-lfs"
-brew "capnp"
-brew "coreutils"
-brew "eigen"
-brew "ffmpeg"
-brew "glfw"
-brew "libusb"
-brew "libtool"
-brew "llvm"
-brew "openssl@3.0"
-brew "qt@5"
-brew "zeromq"
-cask "gcc-arm-embedded"
-brew "portaudio"
-brew "gcc@13"
-EOS
+brew bundle --file=$DIR/Brewfile
 
 echo "[ ] finished brew install t=$SECONDS"
 

tools/replay/unlog_ci_segment.py

@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import bisect
-import select
-import sys
-import termios
-import time
-import tty
-from collections import defaultdict
-
-import cereal.messaging as messaging
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.openpilotci import get_url
-
-IGNORE = ['initData', 'sentinel']
-
-
-def input_ready():
-  return select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], [])
-
-
-def replay(route, segment, loop):
-  route = route.replace('|', '/')
-
-  lr = LogReader(get_url(route, segment, "rlog.bz2"))
-  fr = FrameReader(get_url(route, segment, "fcamera.hevc"), readahead=True)
-
-  # Build mapping from frameId to segmentId from roadEncodeIdx, type == fullHEVC
-  msgs = [m for m in lr if m.which() not in IGNORE]
-  msgs = sorted(msgs, key=lambda m: m.logMonoTime)
-  times = [m.logMonoTime for m in msgs]
-  frame_idx = {m.roadEncodeIdx.frameId: m.roadEncodeIdx.segmentId for m in msgs if m.which() == 'roadEncodeIdx' and m.roadEncodeIdx.type == 'fullHEVC'}
-
-  socks = {}
-  lag = 0.0
-  i = 0
-  max_i = len(msgs) - 2
-
-  while True:
-    msg = msgs[i].as_builder()
-    next_msg = msgs[i + 1]
-
-    start_time = time.monotonic()
-    w = msg.which()
-
-    if w == 'roadCameraState':
-      try:
-        img = fr.get(frame_idx[msg.roadCameraState.frameId])
-        img = img[:, ::-1]  # Convert RGB to BGR, which is what the camera outputs
-        msg.roadCameraState.image = img.flatten().tobytes()
-      except (KeyError, ValueError):
-        pass
-
-    if w not in socks:
-      socks[w] = messaging.pub_sock(w)
-
-    try:
-      if socks[w]:
-        socks[w].send(msg.to_bytes())
-    except messaging.messaging_pyx.MultiplePublishersError:
-      socks[w] = None
-
-    lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
-    lag -= time.monotonic() - start_time
-
-    dt = max(lag, 0.0)
-    lag -= dt
-    time.sleep(dt)
-
-    if lag < -1.0 and i % 1000 == 0:
-      print(f"{-lag:.2f} s behind")
-
-    if input_ready():
-      key = sys.stdin.read(1)
-
-      # Handle pause
-      if key == " ":
-        while True:
-          if input_ready() and sys.stdin.read(1) == " ":
-            break
-          time.sleep(0.01)
-
-      # Handle seek
-      dt = defaultdict(int, s=10, S=-10)[key]
-      new_time = msgs[i].logMonoTime + dt * 1e9
-      i = bisect.bisect_left(times, new_time)
-
-    i = (i + 1) % max_i if loop else min(i + 1, max_i)
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--loop", action='store_true')
-  parser.add_argument("route")
-  parser.add_argument("segment")
-  args = parser.parse_args()
-
-  orig_settings = termios.tcgetattr(sys.stdin)
-  tty.setcbreak(sys.stdin)
-
-  try:
-    replay(args.route, args.segment, args.loop)
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-  except Exception:
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-    raise