Ford: restore upstream control when the experimental toggle is off

Select the feedback controller on any Ford CAN FD vehicle when its Sunnylink toggle is enabled. Cover startup priority, toggle restarts, and downstream CAN publication across all six current CAN FD platforms; update the settings description and drive-test documentation.

Validation: 612 tests passed, 178 skipped, and 9146 subtests passed. Ruff and git diff checks passed. Offline validation only.

.dockerignore

@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/

.gitattributes

@@ -9,6 +9,7 @@
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/assets/sounds/milestone.wav -filter -diff -merge -text
 
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

.github/labeler.yaml

@@ -8,24 +8,24 @@ chore:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
+    - any-glob-to-all-files: 'openpilot/tools/sim/**'
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
 
 tools:
   - changed-files:
-    - any-glob-to-all-files: 'tools/**'
+    - any-glob-to-all-files: 'openpilot/tools/**'
 
 multilanguage:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"

.github/pull_request_template.md

@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
--->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
--->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
--->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
--->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
--->
-

.github/workflows/auto_pr_review.yaml

@@ -12,7 +12,7 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: false
 
@@ -24,7 +24,7 @@ jobs:
 
     # Check PR target branch
     - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
       if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

.github/workflows/build-all-tinygrad-models.yaml

@@ -7,6 +7,19 @@ on:
         description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
         required: true
         type: string
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or chestnut)'
+        required: true
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - chestnut
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
 
 jobs:
   setup:
@@ -30,7 +43,7 @@ jobs:
         run: |
           cd sunnypilot
           export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
@@ -46,13 +59,14 @@ jobs:
         id: get-json
         run: |
           cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          PREFIX="driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_' || '' }}v"
+          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
           next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
+          json_file="${PREFIX}${next}.json"
+          cp "${PREFIX}${latest}.json" "$json_file"
           echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
           echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
 
       - name: Extract tinygrad models
         id: set-matrix
@@ -61,45 +75,24 @@ jobs:
           jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
           echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
 
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
+      - name: Get next recompiled dir number
         id: create-recompiled-dir
         env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_REPO: ${{ github.event.inputs.hf_repo }}
         run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
+          pip install huggingface_hub
+          recompiled_dir=$(python3 -c "
+          from huggingface_hub import HfApi
+          import re, sys
+          api = HfApi()
+          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
+          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
+          nums = [int(m.group(1)) for m in dirs if m]
+          print(max(nums) + 1)
+          " "$HF_REPO")
           echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
 
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
       - name: Push new JSON to GitHub docs repo
         run: |
           cd docs
@@ -123,25 +116,30 @@ jobs:
       is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
 
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
       - uses: actions/download-artifact@v4
         with:
-          pattern: model-*
+          pattern: artifact-name-*
           path: output
+        continue-on-error: true
 
       - id: set-retry-matrix
         run: |
           echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
           )
           jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
             'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -149,7 +147,7 @@ jobs:
 
   retry_get_and_build:
     needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
     strategy:
       matrix:
         model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
@@ -161,146 +159,9 @@ jobs:
       is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
       artifact_suffix: -retry
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/build-default-models.yaml

@@ -0,0 +1,522 @@
+name: Build default models
+
+on:
+  workflow_dispatch:
+    inputs:
+      target:
+        description: 'Model target to build'
+        required: true
+        type: choice
+        options:
+          - small
+          - big
+          - dm
+  workflow_call:
+    inputs:
+      target:
+        description: 'Model target to build (small, big, or dm)'
+        required: true
+        type: string
+
+concurrency:
+  group: build-default-models-${{ inputs.target }}
+  cancel-in-progress: false
+
+env:
+  HF_REPO: sunnypilot/sunnypilot_models_v1
+
+jobs:
+  resolve:
+    runs-on: ubuntu-24.04
+    outputs:
+      model_name: ${{ steps.resolve.outputs.model_name }}
+      safe_model_name: ${{ steps.resolve.outputs.safe_model_name }}
+      onnx_ref: ${{ steps.resolve.outputs.onnx_ref }}
+      onnx_path: ${{ steps.resolve.outputs.onnx_path }}
+      hf_defaults_path: ${{ steps.resolve.outputs.hf_defaults_path }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - id: resolve
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+
+          if [ "${{ inputs.target }}" = "big" ]; then
+            NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
+            ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
+            HF_DEFAULTS_PATH="models/defaults/big"
+          elif [ "${{ inputs.target }}" = "dm" ]; then
+            ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
+            HF_DEFAULTS_PATH="models/defaults/dm"
+            NAME="dmonitoring_model ($(git log -1 --format=%cd --date=format:'%B %d, %Y' -- "$ONNX_PATH"))"
+          else
+            NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL; print(DEFAULT_MODEL)")
+            ONNX_PATH="openpilot/selfdrive/modeld/models/driving_supercombo.onnx"
+            HF_DEFAULTS_PATH="models/defaults/small"
+          fi
+
+          ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
+          TINYGRAD_REF=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
+          if [ -z "$TINYGRAD_REF" ]; then
+            echo "::error::Failed to resolve tinygrad ref"
+            exit 1
+          fi
+
+          SAFE_NAME="${NAME// /-}"
+          echo "model_name=${NAME}" >> $GITHUB_OUTPUT
+          echo "safe_model_name=${SAFE_NAME}" >> $GITHUB_OUTPUT
+          echo "onnx_ref=${ONNX_REF}" >> $GITHUB_OUTPUT
+          echo "onnx_path=${ONNX_PATH}" >> $GITHUB_OUTPUT
+          echo "hf_defaults_path=${HF_DEFAULTS_PATH}" >> $GITHUB_OUTPUT
+          echo "tinygrad_ref=${TINYGRAD_REF}" >> $GITHUB_OUTPUT
+
+  build_small_model:
+    needs: resolve
+    if: ${{ inputs.target == 'small' }}
+    runs-on: [self-hosted, tici]
+    env:
+      SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
+      SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Pull ONNX via LFS
+        run: git lfs pull -I "${{ env.SMALL_ONNX }}"
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile small model with stock compiler
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
+
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          env ${TG_FLAGS} python3 \
+            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
+            --onnx ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
+            --model-size $MODEL_SIZE \
+            --camera-resolutions $CAMERA_RES \
+            --frame-skip $FRAME_SKIP \
+            --output ${{ github.workspace }}/${{ env.SMALL_PKL }}
+
+      - name: Chunk small pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked into {len(targets)} files')
+          "
+
+      - name: Prepare output
+        env:
+          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
+          OUTPUT_DIR="${{ github.workspace }}/small_output"
+          PKL_BASE="driving_tinygrad.pkl"
+          mkdir -p "$OUTPUT_DIR"
+
+          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "$MODELS_DIR" \
+            --output-dir "$OUTPUT_DIR" \
+            --custom-name "$MODEL_NAME" \
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+
+          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
+
+      - name: Upload small model artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          path: ${{ github.workspace }}/small_output/
+
+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          path: ${{ github.workspace }}/small_output/artifact_name.txt
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+  build_big_model:
+    needs: resolve
+    if: ${{ inputs.target == 'big' }}
+    runs-on: [self-hosted, chestnut]
+    env:
+      BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+      BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Pull big ONNX via LFS
+        run: git lfs pull -I "${{ env.BIG_ONNX }}"
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Wait for chestnut PCIe link
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          python3 -c "
+          import time
+          from openpilot.system.hardware.chestnut.flash import link_up
+          for i in range(10):
+              if link_up():
+                  print(f'PCIe link up after {i+1} attempt(s)')
+                  break
+              time.sleep(1)
+          else:
+              raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
+          "
+
+      - name: Compile big model with stock compiler
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
+
+          TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
+
+          env ${TG_FLAGS} python3 \
+            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
+            --onnx ${{ github.workspace }}/${{ env.BIG_ONNX }} \
+            --model-size $MODEL_SIZE \
+            --camera-resolutions $CAMERA_RES \
+            --frame-skip $FRAME_SKIP \
+            --output ${{ github.workspace }}/${{ env.BIG_PKL }}
+
+      - name: Chunk big pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked into {len(targets)} files')
+          "
+
+      - name: Prepare output
+        env:
+          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
+          OUTPUT_DIR="${{ github.workspace }}/big_output"
+          PKL_BASE="big_driving_tinygrad.pkl"
+          mkdir -p "$OUTPUT_DIR"
+
+          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "$MODELS_DIR" \
+            --output-dir "$OUTPUT_DIR" \
+            --custom-name "$MODEL_NAME" \
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+
+          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
+
+      - name: Upload big model artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          path: ${{ github.workspace }}/big_output/
+
+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          path: ${{ github.workspace }}/big_output/artifact_name.txt
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+  upload_defaults:
+    needs: [ resolve, build_small_model, build_big_model, build_dm_model ]
+    if: |
+      ${{
+        !cancelled() &&
+        (inputs.target == 'big' && needs.build_big_model.result == 'success' ||
+         inputs.target == 'small' && needs.build_small_model.result == 'success' ||
+         inputs.target == 'dm' && needs.build_dm_model.result == 'success')
+      }}
+    runs-on: ubuntu-24.04
+    permissions:
+      id-token: write
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Pull ONNX via LFS
+        run: git lfs pull -I "${{ needs.resolve.outputs.onnx_path }}"
+
+      - name: Install huggingface_hub
+        run: pip install --upgrade "huggingface_hub>=0.22.0"
+
+      - name: Download artifact name
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          path: artifact_name
+
+      - name: Read artifact name
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        id: artifact
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download model artifact
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.artifact.outputs.artifact_name }}
+          path: output
+
+      - name: Upload model to HF
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          ARTIFACT_NAME: ${{ steps.artifact.outputs.artifact_name }}
+        run: |
+          rm -f output/artifact_name.txt
+          export PYTHONPATH=$(pwd)
+          python3 release/ci/upload_default_model.py \
+            --hf-repo "${{ env.HF_REPO }}" \
+            --hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
+            --artifact-name "$ARTIFACT_NAME" \
+            --model-dir output \
+            --onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
+            --onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
+            --model-name "${{ needs.resolve.outputs.model_name }}" \
+            --tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
+            --run-number "${{ github.run_number }}"
+
+      - name: Download DM artifact
+        if: ${{ inputs.target == 'dm' }}
+        uses: actions/download-artifact@v4
+        with:
+          name: dm-model-${{ github.run_number }}
+          path: dm_output
+
+      - name: Generate DM metadata and upload to HF
+        if: ${{ inputs.target == 'dm' }}
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          export PYTHONPATH=$(pwd)
+          python3 -c "
+          import json, hashlib
+          from pathlib import Path
+          from datetime import datetime, UTC
+
+          dm_dir = Path('dm_output')
+          manifest = list(dm_dir.glob('*.chunkmanifest'))
+          assert manifest, 'No chunkmanifest found'
+          pkl_name = manifest[0].name.removesuffix('.chunkmanifest')
+          num_chunks = int(manifest[0].read_text().strip())
+
+          chunks = []
+          for i in range(num_chunks):
+              chunk = dm_dir / f'{pkl_name}.chunk{i+1:02d}of{num_chunks:02d}'
+              chunks.append({
+                  'file_name': chunk.name,
+                  'sha256': hashlib.sha256(chunk.read_bytes()).hexdigest()
+              })
+
+          digest = hashlib.sha256()
+          for c in chunks:
+              with open(dm_dir / c['file_name'], 'rb') as f:
+                  while block := f.read(1024*1024):
+                      digest.update(block)
+
+          metadata = {
+              'bundles': [{
+                  'short_name': 'DMMODEL',
+                  'display_name': '${{ needs.resolve.outputs.model_name }}',
+                  'ref': '${{ needs.resolve.outputs.onnx_ref }}',
+                  'runner': 'tinygrad',
+                  'build_time': datetime.now(UTC).strftime('%Y-%m-%dT%H:%M:%SZ'),
+                  'models': [{
+                      'type': 'chunked',
+                      'artifact': {
+                          'file_name': pkl_name,
+                          'download_uri': {'url': '', 'sha256': digest.hexdigest()},
+                          'chunks': chunks
+                      }
+                  }]
+              }]
+          }
+          with open(dm_dir / 'metadata.json', 'w') as f:
+              json.dump(metadata, f, indent=2)
+          print('Generated DM metadata.json')
+          "
+
+          python3 release/ci/upload_default_model.py \
+            --hf-repo "${{ env.HF_REPO }}" \
+            --hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
+            --artifact-name "dm-model-${{ github.run_number }}" \
+            --model-dir dm_output \
+            --onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
+            --onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
+            --model-name "${{ needs.resolve.outputs.model_name }}" \
+            --tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
+            --run-number "${{ github.run_number }}"
+
+  build_dm_model:
+    needs: resolve
+    if: ${{ inputs.target == 'dm' }}
+    runs-on: [self-hosted, tici]
+    env:
+      DM_ONNX: openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
+      DM_PKL: openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Pull DM ONNX via LFS
+        run: git lfs pull -I "${{ env.DM_ONNX }}"
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile DM model
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          taskset -c 7 env ${TG_FLAGS} python3 \
+            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
+            ${{ github.workspace }}/${{ env.DM_ONNX }} \
+            ${{ github.workspace }}/${{ env.DM_PKL }}
+
+      - name: Chunk DM pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.DM_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked {pkl} into {len(targets)} chunks')
+          "
+
+      - name: Compile DM warp
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
+          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+
+          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
+            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
+            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
+              --camera-resolution ${res} \
+              --warp-to ${DM_SIZE} \
+              --output ${WARP_PKL}
+          done
+
+      - name: Prepare DM output
+        run: |
+          mkdir -p dm_output
+          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
+          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
+          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/
+
+      - name: Upload DM artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: dm-model-${{ github.run_number }}
+          path: dm_output/
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+

.github/workflows/build-single-tinygrad-model.yaml

@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -29,11 +29,24 @@ on:
         required: false
         type: boolean
         default: true
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or chestnut)'
         required: false
-        default: true
-        type: boolean
+        type: string
+        default: 'qcom'
+      hf_repo:
+        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
+      set_min_version:
+        description: 'Minimum selector version'
+        required: false
+        type: string
+      tinygrad_ref:
+        description: 'Tinygrad reference'
+        required: false
+        type: string
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -63,12 +76,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2026 World Models
+          - 2026 Deep RL Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'
@@ -82,9 +94,22 @@ on:
         description: 'Minimum selector version'
         required: false
         type: string
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: false
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - chestnut
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
 
 jobs:
   build_model:
@@ -94,38 +119,20 @@ jobs:
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
       is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
+      target_hardware: ${{ inputs.target_hardware }}
     secrets: inherit
 
   publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
+    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
     concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
+      group: hf-push-${{ inputs.recompiled_dir }}
       cancel-in-progress: false
     needs: build_model
     runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: write
     steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
@@ -134,16 +141,23 @@ jobs:
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
 
-      - name: Validate recompiled dir and JSON version
+      - name: Install huggingface_hub
+        run: pip install --upgrade "huggingface_hub>=0.22.0"
+
+      - name: Validate hf_repo and JSON version
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
           if [ ! -f "$JSON_FILE" ]; then
             echo "JSON file $JSON_FILE does not exist!"
             exit 1
           fi
+          python3 -c "
+          import sys
+          from huggingface_hub import HfApi
+          HfApi().repo_info(repo_id=sys.argv[1], repo_type='dataset')
+          print(f'Success: Repo {sys.argv[1]} exists.')
+          " "${{ inputs.hf_repo }}"
 
       - name: Download artifact name file
         uses: actions/download-artifact@v4
@@ -163,49 +177,26 @@ jobs:
           name: ${{ steps.read-artifact-name.outputs.artifact_name }}
           path: output
 
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
+      - name: Create models folder
         env:
           ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
+          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
 
-      - name: Push recompiled dir to GitLab
+      - name: Upload to Hugging Face
         env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
+          hf upload ${{ inputs.hf_repo }} \
+            output/ \
+            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
+            --repo-type=dataset
 
-      - run: |
+      - name: Pull gh-pages
+        run: |
           cd docs
           git pull origin gh-pages
 
@@ -221,9 +212,11 @@ jobs:
           fi
           [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
           [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --recompiled-dir "local_models/$RECOMPILED_DIR" \
             --sort-by-date \
             $ARGS
 

.github/workflows/cereal_validation.yaml

@@ -6,7 +6,7 @@ on:
       - master
   pull_request:
     paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
   workflow_dispatch:
   workflow_call:
     inputs:
@@ -30,36 +30,68 @@ jobs:
       - name: Checkout sunnypilot cereal
         uses: actions/checkout@v6
         with:
-          sparse-checkout: cereal
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false
 
       - name: Init sunnypilot opendbc submodule
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Checkout upstream openpilot cereal
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
           path: upstream_openpilot
-          sparse-checkout: cereal
           ref: "refs/heads/master"
 
       - name: Init upstream opendbc submodule
         working-directory: upstream_openpilot
         run: git submodule update --init --depth 1 opendbc_repo
 
-      - name: Install uv
-        run: pip install uv
+      - name: Locate upstream capnp paths
+        id: locate-capnp
+        run: |
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"
 
       - name: Generate sunnypilot schema
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}
 
       - name: Validate against upstream
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}

.github/workflows/diff_report.yaml

@@ -17,29 +17,42 @@ jobs:
     - name: Wait for process replay
       id: wait
       continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: ${{ github.event.pull_request.head.sha }}
         check-name: process replay
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         allowed-conclusions: success,failure
         wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
     - name: Download diff
       if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
+      continue-on-error: true
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
       with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
         name: diff_report_${{ github.event.number }}
         path: .
-        allow_forks: true
     - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
+      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
       with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -15,6 +15,11 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   docs:
     name: build docs
@@ -22,7 +27,7 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
 
@@ -30,11 +35,10 @@ jobs:
     - name: Build docs
       run: |
         git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        python docs/serve.py --build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
@@ -45,14 +49,14 @@ jobs:
       run: |
         set -x
 
-        source release/identity.sh
+        source tools/release/identity.sh
 
         cd openpilot-docs
         git checkout --orphan tmp
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs_site/ docs/
+        cp -r ../docs/_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll

.github/workflows/download-hf-model-chunks/action.yml

@@ -0,0 +1,73 @@
+name: Download HF model chunks
+description: Resolve and download model chunks from HuggingFace in parallel
+
+inputs:
+  hf_repo:
+    description: HuggingFace dataset repo
+    required: true
+  models:
+    description: 'JSON array of {hf_path, onnx_hash, canonical} objects'
+    required: true
+  dest_dir:
+    description: Destination directory for downloaded chunks
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Download model chunks
+      shell: bash
+      env:
+        HF_REPO: ${{ inputs.hf_repo }}
+        MODELS_JSON: ${{ inputs.models }}
+        DEST_DIR: ${{ inputs.dest_dir }}
+      run: |
+        set -eo pipefail
+        DOWNLOAD_LIST=$(mktemp)
+
+        resolve_chunks() {
+          local HF_PATH="$1" ONNX_HASH="$2" CANONICAL="$3" DEST_DIR="$4"
+          local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
+          local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
+          DEFAULTS=$(curl -fsSL "$JSON_URL")
+          BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)')
+          ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
+          BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
+          NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
+
+          mkdir -p "$DEST_DIR"
+          while IFS= read -r CHUNK_NAME; do
+            CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+' || true)
+            if [ -z "$CHUNK_IDX" ]; then
+              echo "::error::Failed to parse chunk index from: $CHUNK_NAME"
+              return 1
+            fi
+            ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
+            printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
+          done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
+          echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
+
+          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
+            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
+              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
+              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
+            done
+          fi
+        }
+
+        echo "$MODELS_JSON" | jq -c '.[]' | while IFS= read -r model; do
+          HF_PATH=$(echo "$model" | jq -r '.hf_path')
+          ONNX_HASH=$(echo "$model" | jq -r '.onnx_hash')
+          CANONICAL=$(echo "$model" | jq -r '.canonical')
+          resolve_chunks "$HF_PATH" "$ONNX_HASH" "$CANONICAL" "$DEST_DIR"
+        done
+
+        TOTAL=$(wc -l < "$DOWNLOAD_LIST")
+        echo "Downloading $TOTAL chunks with 8 parallel connections..."
+        xargs -P8 -d'\n' -I{} bash -c '
+          URL="${1%%	*}"
+          DEST="${1#*	}"
+          echo "Downloading $(basename "$DEST")"
+          curl -fsSL --retry 3 --retry-delay 5 -o "$DEST" "$URL"
+        ' _ {} < "$DOWNLOAD_LIST"
+        rm -f "$DOWNLOAD_LIST"

.github/workflows/jenkins-pr-trigger.yaml

@@ -11,7 +11,7 @@ jobs:
       contents: write
     steps:
       - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
         with:
           script: |
             const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -86,7 +86,7 @@ jobs:
 
     - name: Delete trigger comment
       if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           await github.rest.issues.deleteComment({

.github/workflows/lfs-maintenance.yaml

@@ -65,8 +65,21 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Configure LFS transfer settings
+        run: |
+          git config lfs.activitytimeout 300
+          git config lfs.transfer.maxretries 5
+          git config lfs.concurrenttransfers 4
+
       - name: Push LFS
         id: sync-and-commit
         run: |
           git lfs ls-files -l
-          git lfs push --all origin
+          for attempt in 1 2 3; do
+            echo "Push attempt $attempt..."
+            git lfs push --all origin && exit 0
+            echo "Attempt $attempt failed, retrying in 30s..."
+            sleep 30
+          done
+          echo "All push attempts failed"
+          exit 1

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v6
-        with:
-          submodules: true
-      - name: Checkout master
-        uses: actions/checkout@v6
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/release.yaml

@@ -4,6 +4,11 @@ on:
     - cron: '0 9 * * *'
   workflow_dispatch:
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+
 jobs:
   build___nightly:
     name: build __nightly
@@ -15,17 +20,17 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
       with:
         submodules: true
         fetch-depth: 0
     - run: ./tools/op.sh setup
     - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -3,18 +3,25 @@ name: repo maintenance
 on:
   schedule:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
   workflow_dispatch:
 
 env:
   PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: >-
+      github.repository == 'sunnypilot/sunnypilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -50,10 +57,10 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
       with:
         author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
         token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -75,3 +82,51 @@ jobs:
           ${{ steps.pip_tree.outputs.PIP_TREE }}
           ```
         labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }

.github/workflows/sunnypilot-build-model.yaml

@@ -6,7 +6,7 @@ env:
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
   TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
 
 on:
   workflow_call:
@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or chestnut)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - chestnut
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -67,6 +80,7 @@ jobs:
         with:
           repository: commaai/openpilot
           ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
           submodules: recursive
           path: openpilot
 
@@ -76,26 +90,38 @@ jobs:
         with:
           repository: sunnypilot/sunnypilot
           ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
           submodules: recursive
           path: openpilot
       - name: Get commit date
         id: commit-date
         run: |
-          cd ${{ github.workspace }}/openpilot
+          cd ${{ github.workspace }}/openpilot/openpilot
           commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
           echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
       - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
+          cd ${{ github.workspace }}/openpilot/openpilot
+          if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
+            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
+          else
+            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
+            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
+          fi
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
+            echo "::error::the ONNX files above are still LFS pointers, not real models"
+            exit 1
+          fi
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+          if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, tici]
+    runs-on: [self-hosted, "${{ inputs.target_hardware == 'chestnut' && 'chestnut' || 'tici' }}"]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -103,24 +129,9 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          fetch-depth: 1
           submodules: recursive
 
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables
         id: set-env
@@ -128,7 +139,10 @@ jobs:
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
           printenv >> $GITHUB_ENV
           if [[ "${{ runner.debug }}" == "1" ]]; then
             cat $GITHUB_OUTPUT
@@ -148,41 +162,71 @@ jobs:
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
 
       - name: Download model artifacts
         uses: actions/download-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          path: ${{ env.MODELS_DIR }}
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
+            echo "CHESTNUT build"
+            export CHESTNUT=1
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
+            TG_FLAGS="$TG_FLAGS_QCOM"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
             echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
           # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+          VISION_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+            [ -f "$f" ] && VISION_ONNX="$f" && break
+          done
+
+          POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+            [ -f "$f" ] && POLICY_ONNX="$f" && break
+          done
+
+          OFF_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+          done
+
+          ON_POLICY_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+          done
+
+          SUPERCOMBO_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+          done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
           if [ -f "$VISION_ONNX" ]; then
@@ -203,24 +247,15 @@ jobs:
           fi
 
           if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
             env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
               --model-type $MODEL_TYPE \
               --model-size $MODEL_SIZE \
               --camera-resolutions $CAMERA_RES \
               $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+              --output "$OUTPUT_PKL"
           fi
 
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}
@@ -229,10 +264,8 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.pkl' \
             --include='*.chunk*' \
             --include='*.chunkmanifest' \
-            --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
@@ -264,4 +297,5 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -4,12 +4,8 @@ env:
   BUILD_DIR: "/data/openpilot"
   OUTPUT_DIR: ${{ github.workspace }}/output
   CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
 
-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
@@ -40,8 +36,11 @@ jobs:
       publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
       is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
       build: ${{ steps.strategy.outputs.build }}
+      include_big_model: ${{ steps.strategy.outputs.include_big_model }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
       - name: Extract deploy strategy
         id: strategy
         run: |
@@ -79,9 +78,12 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+
+            include_big_model="$(echo "$CONFIG" | jq -r '.include_big_model // false')";
+            echo "include_big_model=$include_big_model" >> $GITHUB_OUTPUT
           fi
           echo "build=$BUILD" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
@@ -96,6 +98,8 @@ jobs:
       }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         with:
@@ -109,11 +113,6 @@ jobs:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
     if: ${{
       (always() && !cancelled() && !failure()) &&
       needs.prepare_strategy.result == 'success' &&
@@ -124,39 +123,22 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          fetch-depth: 1
           submodules: recursive
           ref: ${{ env.SOURCE_BRANCH }}
           repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
       - name: Set environment variables
-        id: set-env
         run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
 
       - name: Setup build environment
         run: |
@@ -165,67 +147,56 @@ jobs:
           echo "Starting build stage..."
           echo "BUILD_DIR: ${BUILD_DIR}"
           echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "VERSION: ${{ needs.prepare_strategy.outputs.version }}"
           echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
           echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
           echo "-------"
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Main Project
         run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+          ./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+          # outside the checkout, which is wiped each run. /data/scons_cache is the device's, not ours.
+          SCONS_CACHE="$RUNNER_WORKSPACE/scons_cache"
+          mkdir -p "$SCONS_CACHE"
           cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          echo "Building locationd..."
+          # -j1: parallel rednose generators OOM the device
+          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
+            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
+          SKIP_TINYGRAD_COMPILE=1 /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
             ls -la ${BUILD_DIR}
           fi
 
-      - name: Prepare Output
+      - name: Strip release tree
         run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='__pycache__' \
-            --exclude='Jenkinsfile' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
+          cd $BUILD_DIR
+          find . -name '*.a' -delete
+          find . -name '*.o' -delete
+          find . -name '*.os' -delete
+          find . -name '*.pyc' -delete
+          find . -name 'moc_*' -delete
+          find . -name '__pycache__' -type d -exec rm -rf {} +
+          find . -name 'SConstruct' -delete
+          find . -name 'SConscript' -delete
+          rm -rf .sconsign.dblite Jenkinsfile tools/release/ release/
+          rm -f openpilot/selfdrive/modeld/models/*.onnx*
+          rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
+          find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
+          find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
+          cd -
 
       - name: 'Tar.gz files'
         run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
+          tar czf prebuilt.tar.gz -C ${{ env.BUILD_DIR }} .
           ls -la prebuilt.tar.gz
 
       - name: 'Upload Artifact'
@@ -233,28 +204,286 @@ jobs:
         with:
           name: prebuilt
           path: prebuilt.tar.gz
+          compression-level: 0
 
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
+  prepare_chestnut:
+    needs: [ prepare_strategy ]
+    runs-on: ubuntu-24.04
+    if: ${{ needs.prepare_strategy.outputs.include_big_model == 'true' }}
+    concurrency:
+      group: prepare-chestnut
+      cancel-in-progress: false
+    outputs:
+      onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
+    env:
+      GH_REPO: ${{ github.repository }}
+      HF_REPO: sunnypilot/sunnypilot_models_v1
+      HF_DEFAULTS_PATH: models/defaults/big
+    steps:
+      - name: Resolve ONNX hash and tinygrad ref via API
+        id: resolve
+        run: |
+          REF="${{ github.head_ref || github.ref_name }}"
+
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.sha')
+          ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          echo "ONNX hash: $ONNX_HASH"
+          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract ONNX hash"; exit 1; }
+          echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT
+
+          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
+          echo "tinygrad ref: $TINYGRAD_REF"
+
+          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
+
+          check_defaults() {
+            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
+            [ "$TINYGRAD_MATCH" = "true" ] || return 1
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
+            [ -n "$BUNDLE" ] && [ "$BUNDLE" != "null" ]
+          }
+
+          if check_defaults; then
+            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            exit 0
+          fi
+
+          echo "No matching model on HF — dispatching build"
+          gh workflow run build-default-models.yaml --ref "$REF" -f target=big
+          sleep 10
+
+          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
+          echo "Dispatched build run: $BUILD_RUN_ID"
+
+          echo "Waiting for build run to complete..."
+          for i in $(seq 1 90); do
+            sleep 30
+            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
+            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
+            echo "Poll $i/90: status=$STATUS conclusion=$CONCLUSION"
+            if [ "$STATUS" = "completed" ]; then
+              if [ "$CONCLUSION" = "success" ]; then
+                echo "Build run succeeded, verifying HF..."
+                sleep 10
+                if check_defaults; then
+                  echo "Big model verified on HF"
+                  exit 0
+                fi
+                echo "::error::Build succeeded but model not found on HF"
+                exit 1
+              else
+                echo "::error::Build run failed with conclusion=$CONCLUSION"
+                exit 1
+              fi
+            fi
+          done
+
+          echo "::error::Build run did not complete within 45 minutes"
+          exit 1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cancel run on failure
+        if: failure()
+        run: gh run cancel ${{ github.run_id }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  prepare_small_model:
+    needs: [ prepare_strategy ]
+    runs-on: ubuntu-24.04
+    concurrency:
+      group: prepare-small-model
+      cancel-in-progress: false
+    outputs:
+      driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
+    env:
+      GH_REPO: ${{ github.repository }}
+      HF_REPO: sunnypilot/sunnypilot_models_v1
+      HF_DEFAULTS_PATH: models/defaults/small
+    steps:
+      - name: Resolve ONNX hash and tinygrad ref via API
+        id: resolve
+        run: |
+          REF="${{ github.head_ref || github.ref_name }}"
+
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.sha')
+          DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          echo "Driving ONNX hash: $DRIVING_HASH"
+          [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
+          echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT
+
+          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
+          echo "tinygrad ref: $TINYGRAD_REF"
+
+          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
+
+          check_defaults() {
+            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
+            [ "$TINYGRAD_MATCH" = "true" ] || return 1
+            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
+            [ -n "$DRIVING" ] && [ "$DRIVING" != "null" ] || return 1
+          }
+
+          if check_defaults; then
+            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            exit 0
+          fi
+
+          echo "No matching model on HF — dispatching build"
+          gh workflow run build-default-models.yaml --ref "$REF" -f target=small
+          sleep 10
+
+          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
+          echo "Dispatched build run: $BUILD_RUN_ID"
+
+          echo "Waiting for build run to complete..."
+          for i in $(seq 1 60); do
+            sleep 30
+            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
+            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
+            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
+            if [ "$STATUS" = "completed" ]; then
+              if [ "$CONCLUSION" = "success" ]; then
+                echo "Build run succeeded, verifying HF..."
+                sleep 10
+                if check_defaults; then
+                  echo "Small model verified on HF"
+                  exit 0
+                fi
+                echo "::error::Build succeeded but model not found on HF"
+                exit 1
+              else
+                echo "::error::Build run failed with conclusion=$CONCLUSION"
+                exit 1
+              fi
+            fi
+          done
+
+          echo "::error::Small model build did not complete within 30 minutes"
+          exit 1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cancel run on failure
+        if: failure()
+        run: gh run cancel ${{ github.run_id }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  prepare_dm_model:
+    needs: [ prepare_strategy ]
+    runs-on: ubuntu-24.04
+    concurrency:
+      group: prepare-dm-model
+      cancel-in-progress: false
+    outputs:
+      dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
+    env:
+      GH_REPO: ${{ github.repository }}
+      HF_REPO: sunnypilot/sunnypilot_models_v1
+      HF_DEFAULTS_PATH: models/defaults/dm
+    steps:
+      - name: Resolve ONNX hash and tinygrad ref via API
+        id: resolve
+        run: |
+          REF="${{ github.head_ref || github.ref_name }}"
+
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.sha')
+          DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          echo "DM ONNX hash: $DM_HASH"
+          [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
+          echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT
+
+          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
+          echo "tinygrad ref: $TINYGRAD_REF"
+
+          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
+
+          check_defaults() {
+            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
+            [ "$TINYGRAD_MATCH" = "true" ] || return 1
+            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
+            [ -n "$DM" ] && [ "$DM" != "null" ] || return 1
+          }
+
+          if check_defaults; then
+            echo "HF defaults match DM ONNX hash and tinygrad ref"
+            exit 0
+          fi
+
+          echo "No matching DM model on HF — dispatching build"
+          gh workflow run build-default-models.yaml --ref "$REF" -f target=dm
+          sleep 10
+
+          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
+          echo "Dispatched build run: $BUILD_RUN_ID"
+
+          echo "Waiting for build run to complete..."
+          for i in $(seq 1 60); do
+            sleep 30
+            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
+            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
+            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
+            if [ "$STATUS" = "completed" ]; then
+              if [ "$CONCLUSION" = "success" ]; then
+                echo "Build run succeeded, verifying HF..."
+                sleep 10
+                if check_defaults; then
+                  echo "DM model verified on HF"
+                  exit 0
+                fi
+                echo "::error::Build succeeded but DM model not found on HF"
+                exit 1
+              else
+                echo "::error::Build run failed with conclusion=$CONCLUSION"
+                exit 1
+              fi
+            fi
+          done
+
+          echo "::error::DM model build did not complete within 30 minutes"
+          exit 1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cancel run on failure
+        if: failure()
+        run: gh run cancel ${{ github.run_id }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
   publish:
     concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
       group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
       cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
+    if: ${{
+      always() && !cancelled() &&
+      needs.build.result == 'success' &&
+      needs.prepare_strategy.result == 'success' &&
+      needs.prepare_small_model.result == 'success' &&
+      needs.prepare_dm_model.result == 'success' &&
+      (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) &&
+      (needs.prepare_strategy.outputs.include_big_model != 'true' || needs.prepare_chestnut.result == 'success')
+      }}
+    needs: [ build, prepare_strategy, prepare_chestnut, prepare_small_model, prepare_dm_model ]
     runs-on: ubuntu-24.04
     environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
 
-      - name: Download build artifacts
+      - name: Download prebuilt artifact
         uses: actions/download-artifact@v4
         with:
           name: prebuilt
@@ -264,6 +493,17 @@ jobs:
           mkdir -p ${{ env.OUTPUT_DIR }}
           tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
 
+      - name: Download model chunks from HF
+        uses: ./.github/workflows/download-hf-model-chunks
+        with:
+          hf_repo: sunnypilot/sunnypilot_models_v1
+          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          models: |
+            [
+              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
+              {"hf_path": "models/defaults/dm", "onnx_hash": "${{ needs.prepare_dm_model.outputs.dm_onnx_sha256 }}", "canonical": "dmonitoring_model_tinygrad.pkl"}
+            ]
+
       - name: Configure Git
         run: |
           git config --global user.email "github-actions[bot]@users.noreply.github.com"
@@ -273,36 +513,95 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
+          echo '${{ toJSON(needs.prepare_strategy.outputs) }}'
           ls -la ${{ env.OUTPUT_DIR }}
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \
             "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
+            "${{ needs.prepare_strategy.outputs.new_branch }}" \
+            "${{ needs.prepare_strategy.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
+            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
 
       - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
         if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
         run: |
             TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.prepare_strategy.outputs.build }}."
             git push -f origin ${TAG}
 
+  publish_chestnut:
+    concurrency:
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}-chestnut
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{
+      always() && !cancelled() &&
+      needs.build.result == 'success' &&
+      needs.prepare_strategy.result == 'success' &&
+      needs.prepare_small_model.result == 'success' &&
+      needs.prepare_dm_model.result == 'success' &&
+      needs.prepare_chestnut.result == 'success' &&
+      (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
+    needs: [ build, prepare_strategy, prepare_chestnut, prepare_small_model, prepare_dm_model ]
+    runs-on: ubuntu-24.04
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Download prebuilt artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: prebuilt
+
+      - name: Untar prebuilt
+        run: |
+          mkdir -p ${{ env.OUTPUT_DIR }}
+          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
+
+      - name: Download model chunks from HF
+        uses: ./.github/workflows/download-hf-model-chunks
+        with:
+          hf_repo: sunnypilot/sunnypilot_models_v1
+          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          models: |
+            [
+              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
+              {"hf_path": "models/defaults/dm", "onnx_hash": "${{ needs.prepare_dm_model.outputs.dm_onnx_sha256 }}", "canonical": "dmonitoring_model_tinygrad.pkl"},
+              {"hf_path": "models/defaults/big", "onnx_hash": "${{ needs.prepare_chestnut.outputs.onnx_sha256 }}", "canonical": "big_driving_tinygrad.pkl"}
+            ]
+
+      - name: Configure Git
+        run: |
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git config --global user.name "github-actions[bot]"
+
+      - name: Publish chestnut branch
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
+
+          ${{ env.CI_DIR }}/publish.sh \
+            "${{ github.workspace }}" \
+            "${{ env.OUTPUT_DIR }}" \
+            "$CHESTNUT_BRANCH" \
+            "${{ needs.prepare_strategy.outputs.version }}" \
+            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
+            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
+
   notify:
     needs:
     - prepare_strategy
     - build
     - publish
+    - publish_chestnut
+    - prepare_chestnut
+    - prepare_small_model
+    - prepare_dm_model
     runs-on: ubuntu-24.04
     if: ${{ (always() && !cancelled() && !failure())
       && needs.publish.result == 'success'
@@ -310,11 +609,12 @@ jobs:
       && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
 
       - name: Prepare notification message
         id: message
         run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
           export VERSION="${{ needs.prepare_strategy.outputs.version }}"
           export branch_name="${{ env.SOURCE_BRANCH }}"
           export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
@@ -323,6 +623,7 @@ jobs:
           export commit_short_sha="${commit_short_sha:0:7}"
           export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
           export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
+          export chestnut_branch="${{ needs.prepare_chestnut.result == 'success' && format('{0}-chestnut', needs.prepare_strategy.outputs.new_branch) || '' }}"
 
           MESSAGE=$(cat << 'EOF' | envsubst
           ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}

.github/workflows/tests.yaml

@@ -20,7 +20,9 @@ concurrency:
 env:
   CI: 1
   PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
 
 jobs:
   build_release:
@@ -35,27 +37,27 @@ jobs:
       STRIPPED_DIR: /tmp/releasepilot
       PYTHONPATH: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: git lfs pull
     - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      timeout-minutes: 3
+      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
     - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
       timeout-minutes: 30
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
+      run: python3 openpilot/system/manager/build.py
     - name: Run tests
       timeout-minutes: 1
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
+      run: tools/release/check-dirty.sh
     - name: Check submodules
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
@@ -75,15 +77,13 @@ jobs:
             export CHECK_PR_REFS=true
           fi
         fi
-        release/check-submodules.sh
+        tools/release/check-submodules.sh
 
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - name: Remove Homebrew from environment
       run: |
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -101,9 +101,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
@@ -118,23 +116,21 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
     - name: Build openpilot
       run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
+      env:
+        RAYLIB_BACKEND: headless
+      run: tools/op.sh test
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
@@ -142,68 +138,60 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
     - name: Print diff
       id: print-diff
       if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
     - name: Print diff report
       if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v7
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        path: openpilot/selfdrive/test/process_replay/diff.txt
     - name: Upload diff report
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
       if: always() && github.event_name == 'pull_request'
       continue-on-error: true
       with:
         name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v7
       with:
-        repository: commaai/ci-artifacts
+        repository: sunnypilot/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
     - name: Prepare refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"
         git config user.email "<>"
         git fetch origin process-replay || true
         git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
     - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
 
   simulator_driving:
     name: simulator driving
@@ -215,17 +203,16 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     if: false  # FIXME: Started to timeout recently
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Build openpilot
       run: scons
     - name: Driving test
       timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report
@@ -236,19 +223,21 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
+      - uses: actions/checkout@v7
       - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
       - name: Build openpilot
         run: scons
       - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
         run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
       - name: Upload UI Report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
+          path: openpilot/selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -8,9 +8,9 @@ on:
     branches:
       - 'master'
     paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
   workflow_dispatch:
 
 env:
@@ -25,7 +25,8 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: false # tmp disable due to GH API rate limiting flakiness
+    #if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -34,12 +35,12 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: true
 
       - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
         with:
           ref: ${{ env.SHA }}
           check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +54,7 @@ jobs:
           echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@v6
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +63,7 @@ jobs:
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting mici master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +71,7 @@ jobs:
           ref: openpilot_master_ui_mici_raylib
 
       - name: Getting big master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +98,7 @@ jobs:
           done
 
       - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
 
       - name: Finding diffs
         if: github.event_name == 'pull_request_target'
@@ -115,13 +116,13 @@ jobs:
             cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
 
             diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
               "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
               "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
               "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
 
             REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
             if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +157,7 @@ jobs:
           for variant in $VARIANTS; do
             IFS=':' read -r name _ _ <<< "$variant"
             diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
             git add "${diff_name}_pr_${{ github.event.number }}.html"
           done
           git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
@@ -164,12 +165,12 @@ jobs:
 
       - name: Comment on PR
         if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
         with:
           message: |
             <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
             ## UI Preview
             ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/
 
+# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
@@ -32,6 +39,8 @@ bin/
 *.os-*
 *.so
 *.a
+st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
+*.unchunked
 *.clb
 *.class
 *.pyxbldc
@@ -44,18 +53,18 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
-docs_site/
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+docs/_site/
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml

.gitmodules

@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
@@ -17,5 +17,5 @@
   path = tinygrad_repo
   url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git

.vscode/launch.json

@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {

.vscode/settings.json

@@ -17,10 +17,5 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "tools/**",
   ]
 }

CHANGELOG.md

@@ -1,5 +1,34 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
+sunnypilot Version 2026.002.000 (2026-06-28)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 sunnypilot Version 2026.001.000 (2026-05-06)
 ========================

Dockerfile.openpilot

@@ -1,38 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY --chown=$USER . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'

Jenkinsfile

@@ -12,7 +12,7 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
 
 set -e
 
@@ -22,6 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
+export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
@@ -30,14 +31,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*
@@ -63,6 +64,8 @@ if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
@@ -93,7 +96,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           retry (3) {
             def date = sh(script: 'date', returnStdout: true).trim();
             device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
             def name = item[0]
@@ -179,7 +182,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
       ])
     }
 
@@ -187,12 +190,12 @@ node {
       parallel (
         'nightly': {
           deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
           deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
       )
@@ -202,51 +205,51 @@ node {
     parallel (
       'onroad tests': {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("check dirty", "tools/release/check-dirty.sh"),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
         ])
       },
 

RELEASES.md

@@ -1,6 +1,14 @@
-Version 0.11.2 (2026-06-15)
-========================
-
+Version 0.11.2 (2026-08-12)
+=======================
+* New driving model
+  * Big model with 880M parameters
+* Support for big models running on an external GPU
+* Live stream cameras from comma connect
+* Generate dashcam clips from comma connect
+* Remote comma body control from comma connect
+* New alert sounds
+* CUPRA Born 2021-2023 support thanks to DaHansi!
+* Volkswagen ID.4 2021-2025 support thanks to DaHansi!
 
 Version 0.11.1 (2026-05-18)
 ========================
@@ -1104,7 +1112,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -10,7 +10,7 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
-TICI = os.path.isfile('/TICI')
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
 
 SCons.Warnings.warningAsException(True)
 
@@ -24,25 +24,55 @@ release = not os.path.exists(File('#.gitattributes').abspath) # file absent on r
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
 acados_include_dirs = [
   acados.INCLUDE_DIR,
   os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
@@ -91,7 +121,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
     "ACADOS_SOURCE_DIR": acados.DIR,
     "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
     "TERA_PATH": acados.TERA_PATH
@@ -99,10 +129,11 @@ env = Environment(
   CCFLAGS=[
     "-g",
     "-fPIC",
+    "-pipe",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -112,36 +143,46 @@ env = Environment(
   CFLAGS=["-std=gnu11"],
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
-    "#",
-    "#msgq",
+    "#openpilot",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
+    "#",
   ],
   LIBPATH=[
-    "#common",
+    "#openpilot/common",
     "#msgq_repo",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
+    "#openpilot/selfdrive/pandad",
+    "#rednose_repo/rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
+if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
+if arch == "comma_arm64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -190,10 +231,10 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
 cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
@@ -211,7 +252,7 @@ def prune_cache_dir(target=None, source=None, env=None):
 # ********** start building stuff **********
 
 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -222,7 +263,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -233,34 +274,33 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
+if arch == "comma_arm64":
+  SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
 SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
 ])
 
-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])
 
 # Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+if GetOption('extras') and arch != "comma_arm64":
   SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
   ])
 
 
@@ -276,6 +316,8 @@ def count_scons_nodes(nodes):
     if node in seen:
       continue
     seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
     executor = node.get_executor()
     if executor is not None:
       stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -284,6 +326,7 @@ def count_scons_nodes(nodes):
 
 progress_interval = 5
 progress_count = 0
+build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
 
 def progress_function(node):
@@ -299,3 +342,11 @@ def progress_function(node):
 
 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))

cereal/SConscript

@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')

cereal/__init__.py

@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,256 +0,0 @@
-#!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
-"""
-
-from __future__ import annotations
-
-import argparse
-import json
-import os
-import sys
-from typing import Any
-
-NO_DISCRIMINANT = 0xFFFF
-
-
-def hex_id(value: int) -> str:
-  return f"0x{value:016x}"
-
-
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
-def encode_struct(schema: Any) -> dict:
-  node = schema.node
-  return {
-    "typeId": hex_id(node.id),
-    "displayName": node.displayName,
-    "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
-  }
-
-
-def _child_struct_schema(field: Any) -> Any:
-  proto = field.proto
-  if proto.which() == "group":
-    return field.schema
-  type_node = proto.slot.type
-  which = type_node.which()
-  if which == "struct":
-    return field.schema
-  if which == "list":
-    container = field.schema
-    element_type = type_node.list.elementType
-    while element_type.which() == "list":
-      container = container.elementType
-      element_type = element_type.list.elementType
-    if element_type.which() == "struct":
-      return container.elementType
-  return None
-
-
-def collect_schema(root: Any) -> dict[str, dict]:
-  structs: dict[str, dict] = {}
-  stack = [root]
-  while stack:
-    schema = stack.pop()
-    type_id = hex_id(schema.node.id)
-    if type_id in structs:
-      continue
-    structs[type_id] = encode_struct(schema)
-    for _name, field in schema.fields.items():
-      try:
-        child = _child_struct_schema(field)
-      except Exception:
-        child = None
-      if child is not None:
-        stack.append(child)
-  return structs
-
-
-def load_log(cereal_dir: str) -> Any:
-  import capnp
-  cereal_dir = os.path.abspath(cereal_dir)
-  capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
-
-
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
-  payload = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  with open(path, "w", encoding="utf-8") as handle:
-    json.dump(payload, handle, indent=2, sort_keys=True)
-  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
-
-
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
-def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
-  violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
-
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
-      continue
-
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
-        violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
-        )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
-
-  return violations
-
-
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
-  peer_dump = load_peer(peer_path)
-  local_dump = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
-
-  if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
-    return 0
-
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
-  for v in violations:
-    print(f"  {v}")
-  return 1
-
-
-def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
-  mode = parser.add_mutually_exclusive_group(required=True)
-  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
-  args = parser.parse_args()
-
-  if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
-
-
-if __name__ == "__main__":
-  sys.exit(main())

common/SConscript

@@ -1,23 +0,0 @@
-Import('env', 'envCython')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-common_python = [params_python]
-
-Export('common_python')

common/mock/generators.py

@@ -1,14 +0,0 @@
-from cereal import messaging
-
-
-def generate_livePose():
-  msg = messaging.new_message('livePose')
-  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-  msg.livePose.orientationNED = meas
-  msg.livePose.velocityDevice = meas
-  msg.livePose.angularVelocityDevice = meas
-  msg.livePose.accelerationDevice = meas
-  msg.livePose.inputsOK = True
-  msg.livePose.posenetOK = True
-  msg.livePose.sensorsOK = True
-  return msg

common/parameterized.py

@@ -1,54 +0,0 @@
-import re
-import sys
-import pytest
-import inspect
-
-
-def _to_safe_name(s):
-  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
-
-
-class parameterized:
-  @staticmethod
-  def expand(cases):
-    cases = list(cases)
-
-    if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
-
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
-
-    return decorator
-
-
-def parameterized_class(attrs, input_list=None):
-  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
-    params_list = attrs
-  else:
-    assert input_list is not None
-    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
-    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
-
-  def decorator(cls):
-    globs = sys._getframe(1).f_globals
-    for i, params in enumerate(params_list):
-      # append sanitized string param values so pytest -k can filter by them
-      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
-      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
-      new_cls = type(name, (cls,), dict(params))
-      new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
-      globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
-    return cls
-
-  return decorator

common/params.py

@@ -1,19 +0,0 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert Params
-assert ParamKeyFlag
-assert ParamKeyType
-assert UnknownKeyName
-
-if __name__ == "__main__":
-  import sys
-
-  params = Params()
-  key = sys.argv[1]
-  assert params.check_key(key), f"unknown param: {key}"
-
-  if len(sys.argv) == 3:
-    val = sys.argv[2]
-    print(f"SET: {key} = {val}")
-    params.put(key, val, block=True)
-  elif len(sys.argv) == 2:
-    print(f"GET: {key} = {params.get(key)}")

common/params_pyx.pyx

@@ -1,192 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-import builtins
-import datetime
-import json
-from libcpp cimport bool
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp.optional cimport optional
-
-from openpilot.common.swaglog import cloudlog
-
-cdef extern from "common/params.h":
-  cpdef enum ParamKeyFlag:
-    PERSISTENT
-    CLEAR_ON_MANAGER_START
-    CLEAR_ON_ONROAD_TRANSITION
-    CLEAR_ON_OFFROAD_TRANSITION
-    DEVELOPMENT_ONLY
-    CLEAR_ON_IGNITION_ON
-    BACKUP
-    ALL
-
-  cpdef enum ParamKeyType:
-    STRING
-    BOOL
-    INT
-    FLOAT
-    TIME
-    JSON
-    BYTES
-
-  cdef cppclass c_Params "Params":
-    c_Params(string) except + nogil
-    string get(string, bool) nogil
-    bool getBool(string, bool) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    void putNonBlocking(string, string) nogil
-    void putBoolNonBlocking(string, bool) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    ParamKeyType getKeyType(string) nogil
-    optional[string] getKeyDefaultValue(string) nogil
-    string getParamPath(string) nogil
-    void clearAll(ParamKeyFlag)
-    vector[string] allKeys(ParamKeyFlag)
-
-PYTHON_2_CPP = {
-  (str, STRING): lambda v: v,
-  (builtins.bool, BOOL): lambda v: "1" if v else "0",
-  (int, INT): str,
-  (float, FLOAT): str,
-  (datetime.datetime, TIME): lambda v: v.isoformat(),
-  (dict, JSON): json.dumps,
-  (list, JSON): json.dumps,
-  (bytes, BYTES): lambda v: v,
-}
-CPP_2_PYTHON = {
-  STRING: lambda v: v.decode("utf-8"),
-  BOOL: lambda v: v == b"1",
-  INT: int,
-  FLOAT: float,
-  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
-  JSON: json.loads,
-  BYTES: lambda v: v,
-}
-
-def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v
-
-class UnknownKeyName(Exception):
-  pass
-
-cdef class Params:
-  cdef c_Params* p
-  cdef str d
-
-  def __cinit__(self, d=""):
-    cdef string path = <string>d.encode()
-    with nogil:
-      self.p = new c_Params(path)
-    self.d = d
-
-  def __reduce__(self):
-    return (type(self), (self.d,))
-
-  def __dealloc__(self):
-    del self.p
-
-  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
-    self.p.clearAll(tx_flag)
-
-  def check_key(self, key):
-    key = ensure_bytes(key)
-    if not self.p.checkKey(key):
-      raise UnknownKeyName(key)
-    return key
-
-  def python2cpp(self, proposed_type, expected_type, value, key):
-    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
-    if cast:
-      return cast(value)
-    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
-
-  def _cpp2python(self, t, value, default, key):
-    if value is None:
-      return None
-    try:
-      return CPP_2_PYTHON[t](value)
-    except (KeyError, TypeError, ValueError):
-      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self._cpp2python(t, default, None, key)
-
-  def get(self, key, bool block=False, bool return_default=False):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    cdef string val
-    with nogil:
-      val = self.p.get(k, block)
-
-    default_val = (default.value() if default.has_value() else None) if return_default else None
-    if val == b"":
-      if block:
-        # If we got no value while running in blocked mode
-        # it means we got an interrupt while waiting
-        raise KeyboardInterrupt
-      else:
-        return self._cpp2python(t, default_val, None, key)
-    return self._cpp2python(t, val, default_val, key)
-
-  def get_bool(self, key, bool block=False):
-    cdef string k = self.check_key(key)
-    cdef bool r
-    with nogil:
-      r = self.p.getBool(k, block)
-    return r
-
-  def _put_cast(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
-
-  def put(self, key, dat, bool block = False):
-    """
-    Warning: block=True blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-    Use block=False in time sensitive code, but in general try to avoid
-    writing params as much as possible.
-    """
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      if block:
-        self.p.put(k, dat_bytes)
-      else:
-        self.p.putNonBlocking(k, dat_bytes)
-
-  def put_bool(self, key, bool val, bool block = False):
-    cdef string k = self.check_key(key)
-    with nogil:
-      if block:
-        self.p.putBool(k, val)
-      else:
-        self.p.putBoolNonBlocking(k, val)
-
-  def remove(self, key):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.remove(k)
-
-  def get_param_path(self, key=""):
-    cdef string key_bytes = ensure_bytes(key)
-    return self.p.getParamPath(key_bytes).decode("utf-8")
-
-  def get_type(self, key):
-    return self.p.getKeyType(self.check_key(key))
-
-  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys(flag)
-
-  def get_default_value(self, key):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
-
-  def cpp2python(self, key, value):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return self._cpp2python(t, value, None, key)

common/tests/.gitignore

@@ -1 +0,0 @@
-test_common

common/tests/test_params.cc

@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}

common/tests/test_runner.cc

@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"

common/tests/test_swaglog.cc

@@ -1,90 +0,0 @@
-#include <zmq.h>
-
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-#include "json11/json11.hpp"
-
-#include "sunnypilot/common/version.h"
-
-std::string daemon_name = "testy";
-std::string dongle_id = "test_dongle_id";
-int LINE_NO = 0;
-
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
-}
-
-void recv_log(int thread_cnt, int thread_msg_cnt) {
-  void *zctx = zmq_ctx_new();
-  void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
-  std::vector<int> thread_msgs(thread_cnt);
-  int total_count = 0;
-
-  for (auto start = std::chrono::steady_clock::now(), now = start;
-       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
-       now = std::chrono::steady_clock::now()) {
-    char buf[4096] = {};
-    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
-      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
-      break;
-    }
-
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
-    std::string err;
-    auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
-
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
-
-    auto ctx = msg["ctx"];
-
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
-
-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
-
-    std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
-
-    int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
-    thread_msgs[thread_id]++;
-    total_count++;
-  }
-  for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
-  }
-  zmq_close(sock);
-  zmq_ctx_destroy(zctx);
-}
-
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
-}

common/tests/test_util.cc

@@ -1,147 +0,0 @@
-
-#include <dirent.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-
-#include <algorithm>
-#include <climits>
-#include <fstream>
-#include <random>
-#include <string>
-
-#include "catch2/catch.hpp"
-#include "common/util.h"
-
-std::string random_bytes(int size) {
-  std::random_device rd;
-  std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
-  std::string bytes(size + 1, '\0');
-  std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
-  return bytes;
-}
-
-TEST_CASE("util::read_file") {
-  SECTION("read /proc/version") {
-    std::string ret = util::read_file("/proc/version");
-    REQUIRE(ret.find("Linux version") != std::string::npos);
-  }
-  SECTION("read from sysfs") {
-    std::string ret = util::read_file("/sys/power/wakeup_count");
-    REQUIRE(!ret.empty());
-  }
-  SECTION("read file") {
-    char filename[] = "/tmp/test_read_XXXXXX";
-    int fd = mkstemp(filename);
-
-    REQUIRE(util::read_file(filename).empty());
-
-    std::string content = random_bytes(64 * 1024);
-    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
-    std::string ret = util::read_file(filename);
-    bool equal = (ret == content);
-    REQUIRE(equal);
-    close(fd);
-  }
-  SECTION("read directory") {
-    REQUIRE(util::read_file(".").empty());
-  }
-  SECTION("read non-existent file") {
-    std::string ret = util::read_file("does_not_exist");
-    REQUIRE(ret.empty());
-  }
-  SECTION("read non-permission") {
-    REQUIRE(util::read_file("/proc/kmsg").empty());
-  }
-}
-
-TEST_CASE("util::file_exists") {
-  char filename[] = "/tmp/test_file_exists_XXXXXX";
-  int fd = mkstemp(filename);
-  REQUIRE(fd != -1);
-  close(fd);
-
-  SECTION("existent file") {
-    REQUIRE(util::file_exists(filename));
-    REQUIRE(util::file_exists("/tmp"));
-  }
-  SECTION("nonexistent file") {
-    std::string fn = filename;
-    REQUIRE(!util::file_exists(fn + "/nonexistent"));
-  }
-  SECTION("file has no access permissions") {
-    std::string fn = "/proc/kmsg";
-    std::ifstream f(fn);
-    REQUIRE(f.good() == false);
-    REQUIRE(util::file_exists(fn));
-  }
-  ::remove(filename);
-}
-
-TEST_CASE("util::read_files_in_dir") {
-  char tmp_path[] = "/tmp/test_XXXXXX";
-  const std::string test_path = mkdtemp(tmp_path);
-  const std::string files[] = {".test1", "'test2'", "test3"};
-  for (auto fn : files) {
-    std::ofstream{test_path + "/" + fn} << fn;
-  }
-  mkdir((test_path + "/dir").c_str(), 0777);
-
-  std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
-  REQUIRE(result.find("dir") == result.end());
-  REQUIRE(result.size() == std::size(files));
-  for (auto& [k, v] : result) {
-    REQUIRE(k == v);
-  }
-}
-
-
-TEST_CASE("util::safe_fwrite") {
-  char filename[] = "/tmp/XXXXXX";
-  int fd = mkstemp(filename);
-  close(fd);
-  std::string dat = random_bytes(1024 * 1024);
-
-  FILE *f = util::safe_fopen(filename, "wb");
-  REQUIRE(f != nullptr);
-  size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
-  REQUIRE(size == dat.size());
-  int ret = util::safe_fflush(f);
-  REQUIRE(ret == 0);
-  ret = fclose(f);
-  REQUIRE(ret == 0);
-  bool equal = (dat == util::read_file(filename));
-  REQUIRE(equal);
-}
-
-TEST_CASE("util::create_directories") {
-  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
-  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
-
-  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
-    struct stat st = {};
-    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
-  };
-
-  SECTION("create_directories") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(check_dir_permissions(dir, 0755));
-  }
-  SECTION("dir already exists") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(util::create_directories(dir, 0755));
-  }
-  SECTION("a file exists with the same name") {
-    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
-    REQUIRE(f != -1);
-    close(f);
-    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
-    REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
-  }
-  SECTION("end with slashes") {
-    REQUIRE(util::create_directories(dir + "/", 0755));
-  }
-  SECTION("empty") {
-    REQUIRE(util::create_directories("", 0755) == false);
-  }
-}

conftest.py

@@ -1,93 +0,0 @@
-import contextlib
-import gc
-import os
-import pytest
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
-
-# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
-collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
-  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
-  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "sunnypilot/modeld_v2/tests/test_warp.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-]
-
-
-@pytest.hookimpl(hookwrapper=True, trylast=True)
-def pytest_runtest_call(item):
-  # ensure we run as a hook after capturemanager's
-  if item.get_closest_marker("nocapture") is not None:
-    capmanager = item.config.pluginmanager.getplugin("capturemanager")
-    with capmanager.global_and_fixture_disabled():
-      yield
-  else:
-    yield
-
-
-@contextlib.contextmanager
-def clean_env():
-  starting_env = dict(os.environ)
-  yield
-  os.environ.clear()
-  os.environ.update(starting_env)
-
-
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
-  with clean_env():
-    # setup a clean environment for each test
-    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-      prefix = os.environ["OPENPILOT_PREFIX"]
-
-      yield
-
-      # ensure the test doesn't change the prefix
-      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
-
-    # cleanup any started processes
-    manager.manager_cleanup()
-
-    # some processes disable gc for performance, re-enable here
-    if not gc.isenabled():
-      gc.enable()
-      gc.collect()
-
-# If you use setUpClass, the environment variables won't be cleared properly,
-# so we need to hook both the function and class pytest fixtures
-@pytest.fixture(scope="class", autouse=True)
-def openpilot_class_fixture():
-  with clean_env():
-    yield
-
-
-@pytest.fixture(scope="function")
-def tici_setup_fixture(request, openpilot_function_fixture):
-  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
-  if 'skip_tici_setup' in request.keywords:
-    return
-  HARDWARE.initialize_hardware()
-  HARDWARE.set_power_save(False)
-  os.system("pkill -9 -f athena")
-
-
-@pytest.hookimpl(tryfirst=True)
-def pytest_collection_modifyitems(config, items):
-  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
-  for item in items:
-    if "tici" in item.keywords:
-      if not TICI:
-        item.add_marker(skipper)
-      else:
-        item.fixturenames.append('tici_setup_fixture')
-
-    if "xdist_group_class_property" in item.keywords:
-      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
-      class_property_value = getattr(item.cls, class_property_name)
-      item.add_marker(pytest.mark.xdist_group(class_property_value))

docs/AI_POLICY.md

@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.

docs/CARS.md

@@ -1,27 +1,27 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 340 Supported Cars
+# 345 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -47,8 +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 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
@@ -75,35 +76,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 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|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,6 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -157,7 +159,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in 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 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -186,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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 Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 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 Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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 Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -223,50 +225,51 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|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 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" /></a>|
+|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 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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](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)|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 Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](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)|Stock|0 mph|0 mph|[![star](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)|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 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)|Stock|0 mph|0 mph|[![star](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)|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 XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -279,8 +282,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -312,60 +315,63 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/CONTRIBUTING.md

@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -35,6 +37,7 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 
@@ -58,7 +61,7 @@ A good pull request has all of the following:
 
 * Report bugs in GitHub issues.
 * Report driving issues in the `#driving-feedback` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Consider opting into cabin camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
@@ -68,6 +71,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/DEVELOPMENT.md

@@ -1,24 +0,0 @@
-# Docs development
-
-The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-uv pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-docs build
-```
-
-**3. Run the new site locally**
-``` bash
-docs serve
-```
-
-References:
-* https://zensical.org/docs/

docs/LIMITATIONS.md

@@ -52,7 +52,7 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
+* The driver's face is partially or completely outside field of view of the cabin camera.
+* The cabin camera is obstructed, covered, or damaged.
 
 The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

docs/README.md

@@ -0,0 +1,14 @@
+# Docs development
+
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+**1. Build the site**
+``` bash
+python docs/serve.py --build
+```
+
+**2. Run the site locally** (rebuilds on change)
+``` bash
+python docs/serve.py
+```

docs/SAFETY.md

@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http
 
 ### Forks of openpilot
 
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
    * your fork cannot use the openpilot trademark
    * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes

docs/assets/comma-logo.png

@@ -1 +1 @@
-../../selfdrive/assets/icons_mici/settings/comma_icon.png
+../../openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png

docs/assets/favicon.svg

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e019ed5af500e8820d05934d47e0380728e1b30e01a179f786dc4edb1eccbd7
+size 349

docs/concepts/glossary.md

@@ -1,3 +0,0 @@
-# openpilot glossary
-
-{{GLOSSARY_DEFINITIONS}}

docs/concepts/logs.md

@@ -2,25 +2,25 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
 ## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
-## {f,e,d}camera.hevc
+## camera video files
 
 Each camera stream is H.265 encoded and written to its respective file.
 
-* `fcamera.hevc` is the road camera
+* `fcamera.hevc` is the narrow road camera (the main forward camera)
 * `ecamera.hevc` is the wide road camera
-* `dcamera.hevc` is the driver camera
+* `dcamera.hevc` is the cabin camera
 
 ## qlog.zst & qcamera.ts
 
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 

docs/contributing/feedback.md

@@ -21,14 +21,14 @@ In general, driver monitoring feedback is very actionable, and we can fix your c
 To post your feedback:
 
 1. Join the [community Discord](https://discord.comma.ai).
-2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
-3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
+2. If cabin camera recording is toggled off, temporarily enable cabin camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and cabin camera.
 4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
 
 Before posting feedback, please ensure:
 
 - **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **the cabin camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
 - **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
 
 ## Other bugs

docs/ext/glossary.py

@@ -1,216 +0,0 @@
-import posixpath
-import re
-import tomllib
-import xml.etree.ElementTree as ET
-from pathlib import Path
-
-from markdown.extensions import Extension
-from markdown.preprocessors import Preprocessor
-from markdown.treeprocessors import Treeprocessor
-
-from zensical.extensions.links import LinksTreeprocessor
-
-GlossaryTerm = tuple[str, re.Pattern[str], str]
-
-GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
-GLOSSARY_PAGE = "concepts/glossary.md"
-GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
-
-SKIP_TAGS = {
-  "a",
-  "code",
-  "h1",
-  "h2",
-  "h3",
-  "h4",
-  "h5",
-  "h6",
-  "kbd",
-  "pre",
-  "script",
-  "style",
-}
-
-def clean_tooltip(description: str) -> str:
-  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
-  text = re.sub(r"`([^`]+)`", r"\1", text)
-  text = re.sub(r"[*_~]", "", text)
-  return re.sub(r"\s+", " ", text).strip()
-
-
-def load_glossary() -> tuple[list[GlossaryTerm], str]:
-  with GLOSSARY_FILE.open("rb") as f:
-    glossary_data = tomllib.load(f).get("glossary", {})
-
-  glossary: list[GlossaryTerm] = []
-  rendered = []
-  for key, value in glossary_data.items():
-    label = str(key).strip().replace("_", " ")
-    description = str(value).strip()
-    if not description:
-      continue
-
-    slug = label.replace(" ", "-").replace("_", "-").lower()
-    glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
-    rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
-
-  return glossary, "\n".join(rendered)
-
-
-class GlossaryPreprocessor(Preprocessor):
-  def __init__(self, md, glossary: str):
-    super().__init__(md)
-    self.glossary = glossary
-
-  def run(self, lines: list[str]) -> list[str]:
-    markdown = "\n".join(lines)
-    if GLOSSARY_PLACEHOLDER not in markdown:
-      return lines
-    return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
-
-
-class GlossaryTreeprocessor(Treeprocessor):
-  def __init__(self, md, glossary: list[GlossaryTerm]):
-    super().__init__(md)
-    self.glossary = glossary
-    self.seen: set[str] = set()
-
-  def run(self, root: ET.Element) -> None:
-    at = self.md.treeprocessors.get_index_for_name("zrelpath")
-    processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksTreeprocessor):
-      raise TypeError("Links processor not registered")
-    if processor.path == GLOSSARY_PAGE:
-      return
-
-    self.seen.clear()
-    glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
-    self._walk(root, glossary_href)
-
-  def _walk(self, element: ET.Element, glossary_href: str) -> None:
-    if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
-      return
-
-    self._replace(element, glossary_href)
-
-    idx = 0
-    while idx < len(element):
-      child = element[idx]
-      self._walk(child, glossary_href)
-      idx = self._replace(element, glossary_href, idx) + 1
-
-  def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
-    child = None if index is None else parent[index]
-    text = parent.text if child is None else child.tail
-    pieces = self._pieces(text or "", glossary_href)
-    if not pieces:
-      return -1 if index is None else index
-
-    if child is None:
-      parent.text = pieces[0] if isinstance(pieces[0], str) else ""
-      # Insert replacements for parent.text before the first existing child.
-      insert_at = -1
-    else:
-      assert index is not None
-      child.tail = pieces[0] if isinstance(pieces[0], str) else ""
-      insert_at = index
-
-    start = 1 if isinstance(pieces[0], str) else 0
-    previous = child
-
-    for piece in pieces[start:]:
-      if isinstance(piece, str):
-        previous.tail = (previous.tail or "") + piece
-        continue
-
-      insert_at += 1
-      parent.insert(insert_at, piece)
-      previous = piece
-
-    return insert_at
-
-  def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
-    if not text.strip():
-      return []
-
-    pieces: list[str | ET.Element] = []
-    cursor = 0
-
-    while True:
-      best = None
-      for slug, pattern, tooltip in self.glossary:
-        if slug in self.seen:
-          continue
-
-        found = pattern.search(text, cursor)
-        if found is None:
-          continue
-
-        candidate = (slug, tooltip, found.start(), found.end())
-        if best is None:
-          best = candidate
-          continue
-
-        _, _, best_start, best_end = best
-        _, _, current_start, current_end = candidate
-        if current_start < best_start:
-          best = candidate
-          continue
-
-        if current_start == best_start and current_end - current_start > best_end - best_start:
-          best = candidate
-
-      if best is None:
-        break
-
-      slug, tooltip, start, end = best
-      if start > cursor:
-        pieces.append(text[cursor:start])
-
-      link = ET.Element(
-        "a",
-        {
-          "class": "glossary-term",
-          "data-glossary-term": "",
-          "href": f"{glossary_href}{slug}",
-        },
-      )
-      ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
-      ET.SubElement(
-        link,
-        "span",
-        {
-          "class": "glossary-term__tooltip",
-          "data-search-exclude": "",
-        },
-      ).text = tooltip
-      pieces.append(link)
-      self.seen.add(slug)
-      cursor = end
-
-    if not pieces:
-      return []
-    if cursor < len(text):
-      pieces.append(text[cursor:])
-    return pieces
-
-
-class GlossaryExtension(Extension):
-  def extendMarkdown(self, md) -> None:
-    md.registerExtension(self)
-    glossary, rendered = load_glossary()
-
-    md.preprocessors.register(
-      GlossaryPreprocessor(md, rendered),
-      "docs-ext-glossary-preprocessor",
-      27,
-    )
-    md.treeprocessors.register(
-      GlossaryTreeprocessor(md, glossary),
-      "docs-ext-glossary-treeprocessor",
-      0,
-    )
-
-
-def makeExtension(**kwargs) -> GlossaryExtension:
-  return GlossaryExtension(**kwargs)

docs/ext/glossary.toml

@@ -1,8 +0,0 @@
-[glossary]
-onroad = "openpilot's system state while ignition is on."
-offroad = "openpilot's system state while ignition is off."
-route = "A route is a recording of an onroad session."
-segment = "Routes are split into one minute chunks called segments."
-"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)."
-panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)."
-"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)."

docs/ford_c1_carryover.md

@@ -0,0 +1,102 @@
+# Ford C1 correction carryover experiment
+
+The feedback controller at `5fbb583e5` can retain a correction from an earlier
+turn that outweighs the new base C1. The measured curvature can already be
+opposite the desired curvature, yet total C1 continues to request the old
+direction while the integral works back toward zero.
+
+This experiment keeps the existing 1:1 feedback strength and adds a conditional
+reset of that correction. It is a command-policy experiment, not a demonstrated
+improvement in physical steering response.
+
+## Release rule
+
+All of the following must be true on a valid, active cycle:
+
+- Feedback is enabled and a fresh steering publication advances measurement time.
+- Base C1 is nonzero by at least one DBC step (0.0005 rad).
+- Both target C0 and the slewed C0 request agree with base C1's direction,
+  by at least one DBC step (0.01 m).
+- Measured steering-derived curvature points opposite the desired curvature.
+- The accumulated correction prevents total C1 from requesting the base direction:
+  the sum of base C1 and correction is zero or opposite base C1.
+
+The stored correction is then set to zero before the usual feedback increment.
+The final C1 command still passes through its existing ±0.5 rad amplitude and
+0.5 rad/s slew limits. The reset cannot directly jump the transmitted command.
+The DBC steps reject requests smaller than one representable step; they are
+not new strength multipliers. This reset policy is itself an engineering choice.
+
+There is no reset simply because steering error crosses zero, or because C1
+and its correction have opposite signs. Matched curvature, neutral/conflicting
+C0, a correction that does not outweigh base C1, and repeated measurements all
+preserve normal integration. The condition can apply to small steering
+corrections as well as large turns; it has no turn-size or speed threshold.
+
+No previous-turn direction or timer is stored. Agreement between current path
+requests and disagreement with measured curvature are the confirmation. This
+does not establish which part of the combined C0/C1 request a PSCM physically
+needs. In particular, when C0 still points into the previous turn, this rule
+deliberately leaves the integral alone.
+
+## Preserved behavior and diagnostics
+
+C0's 7 m mapping, its limits, the base C1 mapping, upstream curvature limiting,
+the original integral strength, driver/PSCM arbitration, C2=C3=0 and the 100 Hz
+sender are unchanged. No fitted PSCM model, proportional term or gain schedule
+is added. There are still three values used by the command law: C0, C1 and
+the correction. A diagnostic-only `carryover_release_count` is added and resets
+with the controller. It is included in the existing periodic diagnostic event.
+
+The same default-off Sunnylink toggle selects this version. Its diagnostic
+identity is `model-action-c1-feedback-v2`. See the [drive-test instructions](ford_model_action_drive_test.md).
+
+## Offline evidence
+
+The two mirrored command-regression tests failed before the change. After
+building correction through actual feedback, the old controller still requested
+the old C1 direction 0.4 s into a reversal. Both tests now pass with the original
+output slew. Additional tests cover holding a steady curve, small error
+crossings, neutral and conflicting C0, representable command boundaries,
+freshness, driver override and PSCM limits. Integration tests execute the actual
+controlsd selection and upstream limiter, Float32 publication and Ford CAN
+builder, using both model and maneuver-plan requests and both turn directions.
+
+The combined suite passes **567 tests and 9,146 subtests**, with the same 178
+inherited/unsupported safety-test skips as the original feedback validation.
+The randomized checks include mirrored inputs, zero-error compatibility, and
+comparison against the exact previous controller from cloned pre-update states.
+
+Frozen b8 replay triggers 11 releases; b9 triggers 14. Activation and C0 match
+the previous controller exactly on every reconstructed cycle. In b9, most
+releases concern small corrections; one follows the large turn around 13:28.
+The C0/C1 disagreement at 14:36 is preserved. Numerical details and source
+hashes are in `ford_c1_carryover_validation.json`.
+
+At the release around 13:28, the candidate C1 crosses into the requested
+direction 0.255 s earlier than the previous controller on identical frozen
+inputs. This is a command zero-crossing comparison, not a measured improvement
+in the truck's steering response. The lab checks total 669,343 Float32/CAN
+round trips, in addition to the integration tests.
+
+Replay preserves recorded model requests and measured motion. A difference
+between candidate and baseline commands can persist because the recorded
+steering does not respond to the changed command. Replay cannot predict wheel
+angles, centering, oscillation, or how much earlier the vehicle would unwind.
+No device build, boot, installation or physical validation was performed.
+
+## Reproduction
+
+Use the branch's native dependencies and pinned opendbc revision
+`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The route commands require the existing
+full-rlog b8/b9 extracts and the baseline Git revision. Run:
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_carryover/stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_carryover/zero_error_stress.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb8
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb9 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb9
+```

docs/ford_c1_carryover_validation.json

@@ -0,0 +1,177 @@
+{
+  "created_at_utc": "2026-09-10T14:00:37.853762+00:00",
+  "scope": "Conditional release of accumulated C1 correction; offline command behavior only, no predicted vehicle response.",
+  "baseline_commit": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
+  "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "hypothesis": "model-action-c1-feedback-v2",
+  "calibration_approved": false,
+  "toggle": {
+    "key": "FordModelActionController",
+    "default_enabled": false,
+    "activation": "Existing controlsd startup selection"
+  },
+  "release_rule": "Fresh enabled feedback; target and slewed C0 agree with base C1 by >= one DBC step; measured curvature is opposite; stored correction makes total C1 zero or opposite base. Clear correction, then apply original integration and output slew.",
+  "engineering_choices": "Conditional reset policy, using existing DBC steps (0.01 m, 0.0005 rad) to confirm nonzero commands. Original 1:1 integral strength is unchanged.",
+  "preserved": [
+    "C0 mapping and limits",
+    "Base C1 mapping",
+    "Original integral strength",
+    "Final C1 amplitude and slew limits",
+    "Driver and PSCM arbitration",
+    "Upstream selection and limiting",
+    "100 Hz sender",
+    "C2=C3=0"
+  ],
+  "panda_safety_changed": false,
+  "opendbc_submodule_changed": false,
+  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "controller_size": {
+    "total_lines": 194,
+    "code_lines_excluding_blanks_comments_docstrings": 131,
+    "core_command_state_values": 3,
+    "core_diagnostic_counters": 1
+  },
+  "tests": {
+    "combined_suite": "567 passed, 178 skipped, 9146 subtests passed in 6.45s",
+    "safety_skips": "Same 178 inherited or unsupported variants recorded in ford_c1_feedback_validation.json.",
+    "regression": "Two mirrored carryover command tests fail on the exact baseline class and pass in the candidate suite.",
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "settings_compiler_check": "pass",
+    "carryover_controlsd_to_can_frames": 1120,
+    "existing_feedback_controlsd_to_can_frames": 1010,
+    "integration_scope": "Actual source selection, upstream limiting, controller, Float32 publication, Ford sender, both plan sources and signs, all counters and checksums."
+  },
+  "routes": {
+    "b8": {
+      "cycles": 160431,
+      "active_cycles": 68217,
+      "validity_and_c0_match_baseline_exactly": true,
+      "c1_changed_cycles": 6065,
+      "max_abs_c1_change_rad": 0.09250000000000003,
+      "can_round_trips": 160431,
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
+      "carryover_release_count": 11,
+      "input_sha256": {
+        "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
+        "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
+        "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
+      }
+    },
+    "b9": {
+      "cycles": 90774,
+      "active_cycles": 86474,
+      "validity_and_c0_match_baseline_exactly": true,
+      "c1_changed_cycles": 15208,
+      "max_abs_c1_change_rad": 0.10400000000000004,
+      "can_round_trips": 90774,
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
+      "carryover_release_count": 14,
+      "input_sha256": {
+        "route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
+        "model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
+        "metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee"
+      }
+    }
+  },
+  "command_timing_example": {
+    "event": {
+      "time_s": 808.286646083,
+      "correction_before_rad": -0.13089810321135922,
+      "correction_after_rad": 0.0,
+      "base_c1_rad": 0.06412824021622576,
+      "desired_angle_deg": -24.17155647277832,
+      "actual_angle_deg": -0.30000001192092896,
+      "speed_m_s": 11.804088592529297,
+      "baseline_c0_c1": [
+        0.15000000000000036,
+        -0.06600000000000006
+      ],
+      "candidate_c0_c1": [
+        0.15000000000000036,
+        -0.062000000000000055
+      ]
+    },
+    "scope": "Command zero crossing on identical frozen recorded inputs; not wheel response.",
+    "baseline_c1_rightward_at_s": 808.67241324,
+    "candidate_c1_rightward_at_s": 808.4169884780001,
+    "command_crossing_advance_s": 0.25542476199984776
+  },
+  "feedback_stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "carryover_release_count": 946,
+    "baseline_revision": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
+    "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
+    "exact_unchanged_state_and_commands_without_release": 199054,
+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false,
+    "controller_sha256": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552"
+  },
+  "zero_error_stress": {
+    "seed": 20260907,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.40000000000000147,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "total_lab_float32_can_round_trips": 669343,
+  "source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "04935fb941a795cb243870a4c03f7073c68147b01da3cedf2872476aa5fb798e",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "e2e98d3a0a531235abd032fc4d3564796613ad51ff6ba22a230c48e36f6f6848",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "90fb42ce580f0085e349467086a2eef28c2512c671755d0771f6331d30b19035",
+    "tools/ford_pscm_lab/feedback_replay.py": "9bf145fbff6ed685aec2c0e5d0584e2dc7ff831021f15110f939e8a94c93280b",
+    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8",
+    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
+    "docs/ford_c1_carryover.md": "e8d08375963efc6d1ae6ce503bb580ba00cfa90adb71c941d56fe6e3701d5cbb",
+    "docs/ford_c1_feedback.md": "1b440a03082e5cec264a1d6693833ed0a7e07b6c6e2122f8e4455c5971121b57",
+    "docs/ford_model_action_drive_test.md": "7ac5ca0faf9690a23e7058d09b55f23e21e2ba74666001cacb56b67e8d8b4376",
+    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
+    "opendbc_repo/opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e",
+    "opendbc_repo/opendbc/safety/modes/ford.h": "1d9d996292d6697ab4f02d55fae348d6aca1df94a07f7bdae48b68971b91afe7",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401"
+  },
+  "artifact_sha256": {
+    ".cache/ford_c1_carryover/tests.txt": "cd65146df93632e4a2c1e086781e1da4673db7d038c7e673124f227efefbb567",
+    ".cache/ford_c1_carryover/baseline_regression.txt": "4469873f95ccf45a376a27fed05be3bdad5f808af7ceca472c6e2cb9d973eb7f",
+    ".cache/ford_c1_carryover/stress.json": "7a8d20d7abd7cf444f55b7316e8bedbed0fbe8e9587e09f90d5b1946c3c2e98c",
+    ".cache/ford_c1_carryover/zero_error_stress.json": "09e64eaac35df4ec324b41fabdc8baf91931106ac98b89c1ca71f4c8bf8796a4",
+    ".cache/ford_c1_carryover/timing.json": "0d18ed4164803adedbbd660fe024f4c28de8eb7921caa60659346ff386d3847f",
+    ".cache/ford_c1_carryover/routeb8/report.json": "d2c6f767cef29a74e292b6a16263d2da13b8c302e4653e419b0e232e1aaf762e",
+    ".cache/ford_c1_carryover/routeb8/commands.npz": "89b5c3474940b61afce060111c27fd9bad9e24d703c59fca61adf4ce10473df3",
+    ".cache/ford_c1_carryover/routeb9/report.json": "e3ff7bfa70e770eca763b125c283fd8a1d509ef1b6e7f26a81c398aca89a87da",
+    ".cache/ford_c1_carryover/routeb9/commands.npz": "e4f5f341146e2897a479baf222d678fd16352c8da931876a2471c3719faf9edf"
+  },
+  "test_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "PYTHONDONTWRITEBYTECODE": "1",
+    "LOG_ROOT": "/private/tmp/ford-carryover-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-carryover-params"
+  },
+  "limitations": [
+    "Frozen replay preserves recorded requests and measured motion; changed commands do not establish changed wheel angles, centering or stability.",
+    "C0/C1 agreement is a reset-policy choice, not an identified relationship between PSCM input and wheel angle.",
+    "The rule can release small corrections and does not promise unchanged centering during transients.",
+    "No device build, boot, installation or physical validation was performed."
+  ]
+}

docs/ford_c1_feedback.md

@@ -0,0 +1,129 @@
+# Ford C1 feedback experiment
+
+This document records the original feedback change at `5fbb583e5`. The current
+version retains its feedback law and adds [conditional carryover release](ford_c1_carryover.md).
+The validation counts below describe the original change; current results are
+recorded in `ford_c1_carryover_validation.json`.
+
+The restored original v1 can leave a steering error while C0 and C1 still have
+room. Its command law does not directly correct measured steering error. This
+experiment keeps that mapping and adds one accumulated C1 correction:
+
+```text
+error = selected_limited_desired_curvature - measured_curvature
+correction += error * speed * elapsed_measurement_time
+C1_target = original_model_C1 + correction
+```
+
+Curvature (1/m) multiplied by traveled distance (m) gives heading mismatch in
+radians. Applying that mismatch to C1 at **1:1 is an explicit feedback-strength
+choice**. Dimensional consistency does not prove that every PSCM responds
+correctly to that strength. There is no fitted PSCM response model or new
+tunable multiplier.
+
+For example, at 20 m/s, a constant curvature shortfall of 0.001/m adds 0.02 rad
+to C1 over one second when the output can accept it. When measured curvature
+matches the request, the correction holds. If the vehicle turns more than
+requested, the correction moves in the unwind direction. Changing the model
+request still changes the base immediately, subject to the existing slew.
+
+## Preserved mapping and limits
+
+- C0 is the current model path's lateral offset at 7 m of arc distance, holding
+  the available endpoint for shorter paths; its limits remain ±5.11 m and 4 m/s.
+- Base C1 is `max(7 m, speed × 1 s) × selected_limited_desired_curvature`, clipped
+  to ±0.5 rad. Final C1 uses the same ±0.5 rad and 0.5 rad/s limits as v1.
+- C2 and C3 are zero. Sign conversion, Float32/CAN rounding, upstream curvature
+  limiting and the 100 Hz sender retain their existing behavior.
+
+The core holds three values: unquantized C0, unquantized C1 and the correction.
+Zero error from a reset leaves the correction at zero and preserves the old
+command arithmetic exactly. There is no separate percentage or distance cap
+on the correction.
+
+## Feedback measurement, timing and limits
+
+The measurement is `controlsd.curvature`, computed from measured steering
+angle with the existing live vehicle parameters. It matches the curvature
+used for the desired-versus-actual steering comparison. It is not an independent
+measurement of tire slip or the vehicle's actual ground path. CAN yaw remains
+an input-health gate and does not drive this feedback.
+
+The adapter integrates only elapsed time between fresh `carState` publications.
+The first publication after reset integrates zero time. Duplicate timestamps
+integrate zero; a fresh timestamp accounts for the elapsed measurement interval.
+Output slew continues on valid control cycles. Existing service-age, speed,
+model-geometry and clock-order gates remain, with the same finite/range check
+also applied to measured curvature. Disengagement or invalid input clears all
+three core states.
+
+The correction cannot accumulate farther into an unavailable C1 amplitude or
+slew request. Increments that move back toward the available output remain
+allowed. Moving the base request does not itself rewrite the correction.
+
+Fresh PSCM status means a valid message whose original CAN receipt timestamp
+is within the existing −5 to +150 ms age allowance. Reached-limit status (2)
+prevents extra accumulation in the measured turn direction. An old correction
+opposing that direction can return to zero; it cannot be trapped below the
+base request by the limit flag. Unwind and base model changes remain available.
+Close-to-limit status (1) does not block feedback. Missing or stale status
+does not gate it; local amplitude and slew anti-windup still apply.
+
+Driver steering-pressed, torque above the existing 1 Nm allowance, nonfinite
+torque, or fresh driver-limit status (3) clears the correction. Fresh denied
+or inactive PSCM status also clears it. The base model request continues
+through existing engagement and driver arbitration; clearing the correction
+does not bypass the final output slew.
+
+## Offline evidence and reproduction
+
+`ford_c1_feedback_validation.json` records the source hashes and completed
+checks. Tests exercise build, hold, unwind, saturation, limit flags, immediate
+driver input, stale and repeated measurements, invalid inputs and both signs.
+Integration tests execute actual controlsd selection and limiting, Float32
+publication, CarControlSP conversion and the Ford CarController CAN builder.
+Randomized runs check feedback invariants separately from zero-error
+compatibility with the original independent scalar oracle.
+
+The combined suite passes **511 tests and 9,146 subtests**. Its 178 skips are
+in inherited safety base classes or unsupported safety-test variants. Ruff,
+the controller's Ty check and settings compilation pass. Feedback stress,
+zero-error stress and the b8 replay total **578,569 Float32/CAN round trips**;
+the integration test separately verifies 1,010 transmitted packet constructions,
+including every counter and checksum. No packets are sent to hardware.
+
+The b8 replay retains recorded desired/measured curvature, model publications,
+driver input and PSCM flags. It compares candidate commands with the restored
+v1 at `a7d70e2b0890184636827351e4789d866f2a7c97`. All 160,431 reconstructed
+activation decisions and C0 commands match. C1 changes on 58,106 cycles.
+At 4:12.493, for example, reconstructed host C1 changes from −0.1625 to
+−0.2035 rad; at 3:56.250 it changes from −0.1280 to −0.1080 rad. These are
+changes to commands on frozen measurements, not predicted wheel angles.
+
+Controls publication time proxies the unlogged computation clock, and the
+full SubMaster health state cannot be reconstructed. This route uses the
+consumed model publication as its reference and has no maneuver-plan messages.
+Replay cannot show whether this feedback fixes weak turns, hanging turns or
+oscillation. A new drive is needed to measure those outcomes.
+
+Use the branch's native dependencies and pinned opendbc revision
+`c21a9013700734dd20b09e05aa68329ad8cc20f9`:
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_feedback/feedback_stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_feedback/zero_error_stress.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --output .cache/ford_c1_feedback/routeb8
+```
+
+The last command requires the existing full-rlog b8 extract (`route.npz`,
+`model_paths.npz`, `metadata.json`), identified by hashes in the validation
+record. The historical route90/95 replay deliberately sets measured curvature
+equal to requested curvature to check zero-error compatibility; it does not
+exercise recorded steering feedback.
+
+Enable using the [existing Sunnylink toggle](ford_model_action_drive_test.md).
+The diagnostic identity is `model-action-c1-feedback-v1`.

docs/ford_c1_feedback_validation.json

@@ -0,0 +1,258 @@
+{
+  "created_at_utc": "2026-09-09T14:45:33.853345+00:00",
+  "baseline_commit": "a7d70e2b0890184636827351e4789d866f2a7c97",
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "scope": "C1 measured-curvature feedback on restored original v1. Offline software validation only; no predicted or measured physical improvement.",
+  "calibration_approved": false,
+  "toggle": {
+    "key": "FordModelActionController",
+    "default_enabled": false,
+    "activation": "Existing startup selection after offroad-to-onroad cycle"
+  },
+  "feedback_law": "correction += (desired_curvature - measured_curvature) * speed * elapsed_measurement_time, subject to output and PSCM anti-windup",
+  "feedback_strength": "Explicit 1:1 heading-error-to-C1 choice; no fitted PSCM plant or new tunable multiplier",
+  "preserved": [
+    "C0 mapping and limits",
+    "C2=C3=0",
+    "C1 final amplitude and slew limits",
+    "100 Hz sender",
+    "upstream selection and limiting"
+  ],
+  "panda_safety_changed": false,
+  "opendbc_submodule_changed": false,
+  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "controller_size": {
+    "total_lines": 181,
+    "code_lines_excluding_blanks_comments_docstrings": 123,
+    "core_persistent_values": 3,
+    "adapter_timestamps": 3
+  },
+  "tests": {
+    "combined_suite": "511 passed, 178 skipped, 9146 subtests passed in 5.14s",
+    "suite_log_sha256": "001ef6633b22513317593dd8debc160a0ca8aaf78ea53418c5f7a50c370cc818",
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "settings_compiler_check": "pass",
+    "safety_skip_reasons": [
+      "SKIPPED [145] ../../../../dev/sunnypilot/.venv/lib/python3.12/site-packages/_pytest/unittest.py:523: Skipped",
+      "SKIPPED [9] opendbc_repo/opendbc/safety/tests/common.py:64: Safety mode implements no _user_regen_msg",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:51: Skipping test because MADS button is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:254: Skipping test because MADS button is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:67: Skipping test because _acc_state_msg is not implemented for this car",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because MADS button is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because ACC main is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:411: MADS button not supported",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:378: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:361: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:351: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:327: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:341: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:320: CAN FD only"
+    ],
+    "safety_native_build": "Pinned safety C source is compiled locally by libsafety_py before testing.",
+    "controlsd_to_can_feedback_integration_frames": 1010,
+    "integration_checks": "Both signs: build, hold, unwind, rebuild, immediate driver override; actual 100 Hz sender, counter, checksum, fields and publication. Separate integration tests validate PSCM service forwarding.",
+    "regression_test_evidence": [
+      "Nonzero-error integration failed with zero correction before implementing feedback.",
+      "Both sign tests failed when a reached limit trapped an old opposing correction; they pass after allowing return to zero."
+    ]
+  },
+  "route_b8": {
+    "baseline_revision": "a7d70e2b0890184636827351e4789d866f2a7c97",
+    "baseline_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
+    "cycles": 160431,
+    "active_cycles": 68217,
+    "validity_and_c0_match_original_v1_exactly": true,
+    "status_counts": {
+      "inactive": 92214,
+      "active": 68217
+    },
+    "feedback_enabled_seconds": 598.256888772994,
+    "pscm_limit_2_seconds": 12.139079590997426,
+    "c1_changed_cycles": 58106,
+    "max_abs_c1_change_rad": 0.29800000000000004,
+    "max_abs_correction_rad": 0.29816844327770786,
+    "can_round_trips": 160431,
+    "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+    "reference_limit": "Uses exact consumed model publication as reference; the b8 route has no maneuver-plan messages.",
+    "example_points": [
+      {
+        "time_s": 130.9368894940053,
+        "old_c0_c1": [
+          -0.7400000000000002,
+          -0.18700000000000006
+        ],
+        "candidate_c0_c1": [
+          -0.7400000000000002,
+          -0.22899999999999998
+        ],
+        "correction_rad": -0.042171663052515254,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 235.3960996990063,
+        "old_c0_c1": [
+          -2.04,
+          -0.40449999999999997
+        ],
+        "candidate_c0_c1": [
+          -2.04,
+          -0.4145
+        ],
+        "correction_rad": -0.00989648519895422,
+        "feedback_enabled": true,
+        "pscm_limited": true
+      },
+      {
+        "time_s": 236.25034470800165,
+        "old_c0_c1": [
+          -1.46,
+          -0.128
+        ],
+        "candidate_c0_c1": [
+          -1.46,
+          -0.10799999999999998
+        ],
+        "correction_rad": 0.01990758350705991,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 252.49320156300382,
+        "old_c0_c1": [
+          -0.6699999999999999,
+          -0.16249999999999998
+        ],
+        "candidate_c0_c1": [
+          -0.6699999999999999,
+          -0.20350000000000001
+        ],
+        "correction_rad": -0.040907632902654506,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 674.430371745002,
+        "old_c0_c1": [
+          0.4299999999999997,
+          0.128
+        ],
+        "candidate_c0_c1": [
+          0.4299999999999997,
+          0.1345
+        ],
+        "correction_rad": 0.00639271291315417,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 1534.5190040400048,
+        "old_c0_c1": [
+          2.62,
+          0.5
+        ],
+        "candidate_c0_c1": [
+          2.62,
+          0.5
+        ],
+        "correction_rad": 0.0,
+        "feedback_enabled": true,
+        "pscm_limited": true
+      },
+      {
+        "time_s": 1562.5074677500015,
+        "old_c0_c1": [
+          -0.1200000000000001,
+          -0.051000000000000045
+        ],
+        "candidate_c0_c1": [
+          -0.1200000000000001,
+          -0.046499999999999986
+        ],
+        "correction_rad": 0.004453988923883501,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      }
+    ]
+  },
+  "route_input_sha256": {
+    "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
+    "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
+    "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
+  },
+  "feedback_stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, integration direction/size, PSCM anti-windup, CAN fields.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false,
+    "controller_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34"
+  },
+  "zero_error_stress": {
+    "seed": 20260907,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.40000000000000147,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "total_lab_float32_can_round_trips": 578569,
+  "artifact_sha256": {
+    ".cache/ford_c1_feedback/routeb8/report.json": "648887eebb76260a60f7c0f0d9aaac83d0f1c06b443e28bc6fdf296bad4526c0",
+    ".cache/ford_c1_feedback/routeb8/commands.npz": "1aef98365572b3fb3cb8ba2a93cf30041ff3be133718d469145b710f2c94dc32",
+    ".cache/ford_c1_feedback/feedback_stress.json": "abf4e7bccc1e460008cc7450fcd92e9b2a6108bd71e53a01bdc24e31e5b5ad32",
+    ".cache/ford_c1_feedback/zero_error_stress.json": "2a3f284e10e5054205a788cce59bcf57bd837e13afff327457244141ba5522f0",
+    ".cache/ford_c1_feedback/safety_skip_reasons.txt": "5384c82b07b7cc20c6b22b8e94246cb104d53f8866af02b28fda7d4138cf377f"
+  },
+  "native_params": {
+    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
+    "sources_match_original_rebuild_record": true,
+    "provenance": "Same locally rebuilt native library and source hashes recorded in ford_model_action_drive_test_validation.json; verified for this run."
+  },
+  "test_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "LOG_ROOT": "/private/tmp/ford-feedback-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-feedback-params",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "source_sha256": {
+    "docs/ford_c1_feedback.md": "c1bc7f24c5ebe28679b4a04d09085d7b937926e63a38d43a3abfac93dfcfa0f9",
+    "docs/ford_model_action_candidate.md": "20cd8d10008cd796cc8719f5795ee80f50d8133d6e7684fb057a78fb05323fbe",
+    "docs/ford_model_action_drive_test.md": "7860ae26a61682aff86743ba302eb23c8f271d5700a2e616da1b6b38d438b57d",
+    "opendbc_repo/opendbc/car/vehicle_model.py": "ddc2a93d9c2b2ef6c9a913a5aef4c51e2bc387db1f7640473657e5ade4e50fac",
+    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
+    "openpilot/selfdrive/controls/lib/drive_helpers.py": "916bcd83c2a909a89795da58c7c43d7b168c9b82e1a6d281484bae45c667c01e",
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
+    "openpilot/selfdrive/controls/lib/ford_path.py": "383538fc7cdae3bc28dffb71fe12ac5f3f9866ffbe6adfb7457f3593e9fc903a",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "84113b1b7800c868117af0034278f53a1a6153c7bb5fadc1ea45958e62c4f0d0",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "cbe1b2aa1961deba3a42e1d82f5f75ae0c3d7a219428dea5f50cb70e1b27fd11",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "c7f5ffd650e804e6e02fa12d435e0867b56b13a49c3d9fa511993188d5cb625a",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "f7a956c082a246d9506e21adbf348cbdc7f94d5342d832841058c71f7e264eeb",
+    "openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py": "7a13dc5ce49b40e27e05e62cdb9ef1bb764de8ed8167f7e982d54a4dffe97ed4",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401",
+    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "410e306958ece12e49fc114707741c57a2dd927c6ba3410e160834e52a759ea9",
+    "tools/ford_pscm_lab/feedback_replay.py": "ca552217953f3cce35da0b1666252fd43b6f8ab6c067e5c9102da8ea8d97c2f3",
+    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
+    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8"
+  },
+  "limitations": [
+    "Frozen route replay changes commands only; it cannot establish tracking, unwind response or closed-loop stability.",
+    "Measured curvature uses the existing steering-angle vehicle model; it is not an independent ground-path measurement.",
+    "No full device build, device boot, installation or road validation was performed."
+  ]
+}

docs/ford_c1_overflow.md

@@ -0,0 +1,131 @@
+# Ford base-heading overflow experiment
+
+This records the overflow implementation and validation at `b81c00f5b`.
+The later [toggle-off restoration](ford_upstream_fallback.md) updates selection
+and the opendbc sender while preserving the enabled experiment's command law.
+
+The Lightning ca route recorded controller `959ae3d6e`. Its large turns included
+flat C1 requests at ±0.5 rad while C0 still had available range. Those were
+nonzero, active commands, but increasing base heading above the C1 limit was
+discarded. Other apparent pauses followed reductions in the selected model
+request; this change continues to follow those reductions.
+
+The new experiment allocates clipped-away **base heading** to C0 using the
+existing 7 m reference. It does not allocate the accumulated feedback correction.
+This is a hypothesis about command allocation, not a measured improvement in
+PSCM response or a claim that C0 and C1 are physically interchangeable.
+
+## Command rule
+
+Using the selected, upstream-limited desired curvature:
+
+```text
+raw_base_c1 = max(7 m, speed × 1 s) × desired_curvature
+base_c1 = clip(raw_base_c1, -0.5 rad, +0.5 rad)
+extra_c0 = 7 m × (raw_base_c1 - base_c1)
+c0_target = clip(model_y_at_7m + extra_c0, -5.11 m, +5.11 m)
+```
+
+The combined C0 target still passes through the existing 4 m/s slew limit.
+C1 retains its existing feedback, ±0.5 rad amplitude and 0.5 rad/s slew limits.
+C2 and C3 remain zero. Short model paths retain their existing endpoint hold.
+
+Before amplitude/slew limits, the allocation preserves the linear reference
+`C0 + 7*C1` for the base request. This is a single-reference identity; it does
+not preserve the entire path or predict steering torque. The 7 m reference is
+an existing engineering choice. No fitted plant, new tunable strength multiplier,
+timer or stored overflow is added. The existing 1:1 feedback strength remains.
+
+Extra C0 falls with raw base heading and its target becomes zero at the C1 cap.
+The output can take longer to return because of its existing slew state. There
+is no guarantee that increasing C0 makes every PSCM turn better or release sooner.
+
+## Preserved integration
+
+The conditional correction release still requires **original model C0** and
+applied C0 to confirm base C1's direction. Added overflow cannot itself substitute
+for model confirmation. Changed applied C0 can nevertheless affect release
+timing in some histories. Driver/PSCM arbitration, service freshness, resets,
+upstream curvature limiting, Float32 publication and the 100 Hz sender remain.
+No opendbc dependency or Panda safety change is made.
+
+The existing default-off Sunnylink toggle selects this version on any Ford
+CAN FD vehicle. Diagnostic identity is `model-action-c1-feedback-v3`.
+`offset_overflow` records extra target meters before C0 amplitude and slew;
+`offset_request` continues to record the actual continuous C0 state.
+See the [drive-test instructions](ford_model_action_drive_test.md).
+
+## Offline evidence
+
+The focused overflow regressions initially produced 28 failures and 18 passes
+against the prior controller. They now pass. They cover both signs, several
+speeds, the heading threshold, combined C0 clipping, short paths, release,
+feedback-only saturation, driver/PSCM feedback gates and independent model
+confirmation. Twelve integration cases send 4,800 frames through actual
+controlsd selection/limiting, Float32 publication and Ford CAN packing on all
+six listed Ford CAN FD platforms, checking counters and checksums.
+
+The combined suite passes **670 tests and 9,146 subtests**, with 178 inherited
+or unsupported safety-test skips. Both 200,000-cycle randomized runs pass,
+including mirrored inputs, independent scalar target/slew checks, feedback
+invariants, comparison with the exact prior controller from cloned states,
+and 18,138 exhaustive field/Float32 boundary cases. These checks and the ca
+replay total **745,586 Float32/CAN round trips**, in addition to integration tests.
+
+Frozen ca replay covers 327,448 control cycles across all 55 extracted segments.
+Activation is identical; C1, C2 and C3 are identical on every cycle. C0 differs
+for 855 cycles (8.607 s), concentrated in the large turns and their slew tails.
+The extra target is present for 7.359 s. Before the first overflow, every command
+matches the prior controller. All disabled cycles have zero commands.
+
+At the same recorded peak-request timestamps, absolute packed C0 changes as follows:
+
+| Segment | Previous C0 | Candidate C0 | C1 magnitude, both |
+| --- | ---: | ---: | ---: |
+| 10 | 3.90 m | 5.11 m | 0.50 rad |
+| 31 | 2.85 m | 3.08 m | 0.50 rad |
+| 35 | 3.67 m | 5.11 m | 0.50 rad |
+| 52 | 3.11 m | 3.42 m | 0.50 rad |
+
+The candidate reaches the existing C0 cap for 2.054 s. These are reconstructed
+commands on original inputs, not newly transmitted commands or predicted wheel
+angles. Segment 52's output is still slewing at the selected timestamp.
+
+Every overflow episode returns to the previous C0 output without a reset or
+another overflow interrupting the comparison. After overflow first becomes
+zero, the longest output tails are **0.475 s in segment 10** and **0.712 s in
+segment 35**. This is the added slew tail relative to the prior command, not
+the truck's physical release delay. It is a material behavior to inspect during
+controlled evaluation: more pull through capped turns may also add hanging
+on exit. Ordinary requests below the cap retain the original target mapping.
+
+The recorded model, vehicle motion, driver input and PSCM flags remain fixed.
+Replay cannot establish resulting tracking, centering, torque or stability.
+The route has no maneuver-plan messages; the replay uses the consumed model
+reference and recorded selected curvature. Computation time is approximated
+by control publication time, and full SubMaster health checks are unavailable.
+No device build, boot or installation is performed offline.
+
+## Reproduction
+
+Numeric results and source hashes are in `ford_c1_overflow_validation.json`.
+Use native project dependencies and pinned opendbc
+`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The ca replay requires the existing
+full-rlog extract (`route.npz`, `model_paths.npz`, `metadata.json`).
+The following commands apply to this version; earlier validation documents
+record their named historical controllers.
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_overflow/stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260910 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_overflow/zero_error_stress.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeca --baseline 959ae3d6e76c479f48e081c060b0f3569a6f15f4 --output .cache/ford_c1_overflow/routeca
+python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
+```
+
+For slew-tail analysis, in the replay's `commands.npz` find each nonzero run of
+`offset_overflow`. From its first zero sample, measure until packed candidate
+and baseline C0 agree within 1e-8 m, stopping separately at another overflow or
+inactive cycle. Sum sample durations capped at 30 ms for weighted time totals.

docs/ford_c1_overflow_validation.json

@@ -0,0 +1,307 @@
+{
+  "created_at_utc": "2026-09-10T22:04:22.589047+00:00",
+  "scope": "Base heading overflow allocated to C0; frozen-input command verification only, no vehicle response prediction.",
+  "baseline_commit": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
+  "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "hypothesis": "model-action-c1-feedback-v3",
+  "calibration_approved": false,
+  "toggle": {
+    "key": "FordModelActionController",
+    "default_enabled": false,
+    "eligibility": "Any Ford CAN FD",
+    "activation": "Existing controlsd startup selection"
+  },
+  "command_rule": "extra C0 = 7 m * (raw base C1 - clip(raw base C1, -0.5, 0.5)); add to original model C0, then existing C0 amplitude/slew limits.",
+  "engineering_choices": "Single-reference linear allocation at existing 7 m. No new tuning parameter or stored overflow. Does not establish physical C0/C1 interchangeability. Existing 1:1 integral feedback strength remains.",
+  "output_limits": {
+    "c0_m": [
+      -5.11,
+      5.11
+    ],
+    "c1_rad": [
+      -0.5,
+      0.5
+    ],
+    "c0_slew_m_s": 4.0,
+    "c1_slew_rad_s": 0.5,
+    "c2": 0.0,
+    "c3": 0.0
+  },
+  "preserved": [
+    "Upstream reference selection/limiting",
+    "Driver and PSCM arbitration",
+    "Freshness/reset gates",
+    "C1 feedback law",
+    "Original model C0 required for carryover confirmation",
+    "100 Hz CAN sender",
+    "Float32 publication"
+  ],
+  "controller_command_state_values": 3,
+  "controller_diagnostic_counters": 1,
+  "controller_total_lines": 200,
+  "opendbc_submodule_changed": false,
+  "panda_safety_changed": false,
+  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "tests": {
+    "combined_suite": "670 passed, 178 skipped, 9146 subtests passed in 5.77s",
+    "safety_skips": "Inherited or unsupported variants; unchanged from prior feedback validations.",
+    "new_core_regressions": "Before implementation: 28 failed, 18 passed; after: all 46 pass.",
+    "overflow_controlsd_to_can_cases": 12,
+    "overflow_controlsd_to_can_frames": 4800,
+    "integration_scope": "All six listed CAN FD platforms; both signs; selected upstream-limited request, release, limits, Float32 publication, decoded commands, zero C2/C3, active mode, counters, checksums.",
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "git_diff_check": "pass",
+    "settings_compiler_check": "pass"
+  },
+  "stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "carryover_release_count": 864,
+    "baseline_revision": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
+    "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
+    "exact_unchanged_state_and_commands_without_overflow": 56061,
+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false
+  },
+  "zero_error_stress": {
+    "seed": 20260910,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.4000000000000019,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "route_ca": {
+    "baseline_revision": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
+    "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
+    "calibration_approved": false,
+    "cycles": 327448,
+    "active_cycles": 118756,
+    "validity_matches_baseline_exactly": true,
+    "status_counts": {
+      "inactive": 208692,
+      "active": 118756
+    },
+    "c0_matches_baseline_exactly": false,
+    "c0_changed_cycles": 855,
+    "max_abs_c0_change_m": 2.2,
+    "offset_overflow_seconds": 7.359375754000212,
+    "max_abs_offset_overflow_target_m": 2.867466852068901,
+    "feedback_enabled_seconds": 1128.448330694985,
+    "pscm_limit_2_seconds": 1.5229074359986043,
+    "c1_changed_cycles": 0,
+    "max_abs_c1_change_rad": 0.0,
+    "max_abs_correction_rad": 0.13238253764709199,
+    "can_round_trips": 327448,
+    "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+    "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
+    "carryover_release_count": 32
+  },
+  "route_ca_release": {
+    "scope": "Describe candidate command tails on frozen ca measurements, not wheel response.",
+    "changed_c0_seconds": 8.606610047996583,
+    "overflow_target_seconds": 7.359375754000212,
+    "changed_c0_without_current_overflow_seconds": 1.4386431469993113,
+    "candidate_c0_at_cap_seconds": 2.054423716999736,
+    "baseline_c0_at_cap_seconds": 0.0,
+    "all_c1_c2_c3_match_baseline_exactly": true,
+    "all_pre_overflow_commands_match_baseline_exactly": true,
+    "all_inactive_commands_zero": true,
+    "windows": [
+      {
+        "start_s": 645.4515506280004,
+        "last_overflow_s": 647.9591778859995,
+        "duration_s": 2.5175176129996544,
+        "extra_target_peak_m": 2.867466852068901,
+        "c0_change_peak_m": 2.2,
+        "post_overflow_tail_s": 0.4753179760009516,
+        "tail_end_s": 648.444386217001,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 1896.7594062080007,
+        "last_overflow_s": 1897.0382758169999,
+        "duration_s": 0.29005605599923,
+        "extra_target_peak_m": 0.16229432076215744,
+        "c0_change_peak_m": 0.16999999999999993,
+        "post_overflow_tail_s": 0.0,
+        "tail_end_s": 1897.0494622639999,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 1897.3739526980007,
+        "last_overflow_s": 1897.4413651220002,
+        "duration_s": 0.0802515539999149,
+        "extra_target_peak_m": 0.049945808947086334,
+        "c0_change_peak_m": 0.04999999999999982,
+        "post_overflow_tail_s": 0.0,
+        "tail_end_s": 1897.4542042520006,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 1897.492552009,
+        "last_overflow_s": 1897.681751143,
+        "duration_s": 0.19981637000091723,
+        "extra_target_peak_m": 0.10685679316520691,
+        "c0_change_peak_m": 0.11000000000000032,
+        "post_overflow_tail_s": 0.01193945599879953,
+        "tail_end_s": 1897.7043078349998,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 1897.743499225,
+        "last_overflow_s": 1897.7842587169998,
+        "duration_s": 0.05174380599964934,
+        "extra_target_peak_m": 0.04502199590206146,
+        "c0_change_peak_m": 0.040000000000000036,
+        "post_overflow_tail_s": 0.011911696001334349,
+        "tail_end_s": 1897.807154727001,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 1897.9437203819998,
+        "last_overflow_s": 1899.2943476260007,
+        "duration_s": 1.361525778000214,
+        "extra_target_peak_m": 0.22848158329725266,
+        "c0_change_peak_m": 0.22999999999999954,
+        "post_overflow_tail_s": 0.021877274999496876,
+        "tail_end_s": 1899.3271234349995,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 2146.154050938001,
+        "last_overflow_s": 2146.185627021001,
+        "duration_s": 0.04039318899958744,
+        "extra_target_peak_m": 0.045987628400325775,
+        "c0_change_peak_m": 0.050000000000000266,
+        "post_overflow_tail_s": 0.034061254000334884,
+        "tail_end_s": 2146.228505381001,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 2146.2950925490004,
+        "last_overflow_s": 2146.5387542179997,
+        "duration_s": 0.25293986199903884,
+        "extra_target_peak_m": 0.21167446672916412,
+        "c0_change_peak_m": 0.17999999999999972,
+        "post_overflow_tail_s": 0.040063559001282556,
+        "tail_end_s": 2146.5880959700007,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 2146.6577708509994,
+        "last_overflow_s": 2148.3543101739997,
+        "duration_s": 1.7074812410010054,
+        "extra_target_peak_m": 2.0555079206824303,
+        "c0_change_peak_m": 1.58,
+        "post_overflow_tail_s": 0.7118495689992415,
+        "tail_end_s": 2149.0771016609997,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 3121.067818462001,
+        "last_overflow_s": 3121.8665919270006,
+        "duration_s": 0.8071899679998751,
+        "extra_target_peak_m": 0.5380096957087517,
+        "c0_change_peak_m": 0.5099999999999998,
+        "post_overflow_tail_s": 0.06879738699899463,
+        "tail_end_s": 3121.943805817,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 3122.0664172689994,
+        "last_overflow_s": 3122.105900957,
+        "duration_s": 0.05046031700112508,
+        "extra_target_peak_m": 0.008371405303478241,
+        "c0_change_peak_m": 0.010000000000000231,
+        "post_overflow_tail_s": 0.02107719199921121,
+        "tail_end_s": 3122.1379547779998,
+        "tail_ended_by": "matches baseline"
+      }
+    ],
+    "example_points": [
+      {
+        "segment": 10,
+        "time_s": 646.7503591629993,
+        "baseline_c0_m": 3.9000000000000004,
+        "candidate_c0_m": 5.11,
+        "extra_c0_target_m": 2.867466852068901,
+        "baseline_c1_rad": 0.5,
+        "candidate_c1_rad": 0.5
+      },
+      {
+        "segment": 31,
+        "time_s": 1898.0837712450011,
+        "baseline_c0_m": -2.8499999999999996,
+        "candidate_c0_m": -3.079999999999999,
+        "extra_c0_target_m": -0.22848158329725266,
+        "baseline_c1_rad": -0.5,
+        "candidate_c1_rad": -0.5
+      },
+      {
+        "segment": 35,
+        "time_s": 2147.4098699660008,
+        "baseline_c0_m": 3.67,
+        "candidate_c0_m": 5.11,
+        "extra_c0_target_m": 2.0555079206824303,
+        "baseline_c1_rad": 0.5,
+        "candidate_c1_rad": 0.5
+      },
+      {
+        "segment": 52,
+        "time_s": 3121.239466367,
+        "baseline_c0_m": 3.11,
+        "candidate_c0_m": 3.42,
+        "extra_c0_target_m": 0.5380096957087517,
+        "baseline_c1_rad": 0.5,
+        "candidate_c1_rad": 0.5
+      }
+    ]
+  },
+  "route_ca_input_sha256": {
+    "route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
+    "model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
+    "metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525"
+  },
+  "lab_can_round_trips_excluding_integration": 745586,
+  "validation_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "PYTHONDONTWRITEBYTECODE": "1",
+    "LOG_ROOT": "/private/tmp/ford-overflow-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-overflow-params"
+  },
+  "source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "90269d748d55558bf2495d3b4afcfd7429f373108df1f9259e154d1b92184262",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_overflow.py": "9086434d2b76ab51f69ef08c4f0033c4eaa1950083cc9cce4b34279eb17c5b1b",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "dc552f3088b7e437a928f349989b74c4e7772d2a88b14a93e933ea8b8344d23b",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "4e82101463c5d83f6b1f72ba4918c2b37731bc2db6ec7e29e6b402ea67276db2",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "6b73e70b120527275a9e4e3dff07dd7d19648da517402187d57a90ba09b017eb",
+    "tools/ford_pscm_lab/feedback_replay.py": "7c65515d37aac900eaaef8451a7d643b72c566a2366651f843de2ffca5f24b8d",
+    "tools/ford_pscm_lab/stress_model_action.py": "cec2619285dd41274562ac035ee8ea0a389269a0c4ef1b62efa6252ad1a714aa",
+    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "3ae6b16a8c267ab181e00f4b59be8b65134480bec26c8c039bcbae88cb745feb",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "ba803819751b304e82936a95902afae63ff88e16e64988622715a7b713f3b982"
+  },
+  "limitations": [
+    "Recorded vehicle motion does not react to changed commands.",
+    "Computation time proxies and service-check reconstruction limits apply.",
+    "C0 slew can leave extra command after overflow stops; maximum observed tail 0.712 s.",
+    "No device build, boot, installation, road tracking or physical stability validation."
+  ]
+}

docs/ford_model_action_candidate.md

@@ -0,0 +1,155 @@
+# Offline Ford selected-action candidate
+
+This document and `ford_model_action_validation.json` record the offline
+stage committed as `7ca3c6e3b`. The candidate is now available behind a
+separate default-off Sunnylink toggle; see
+[drive-test setup and validation](ford_model_action_drive_test.md).
+The counts, source hashes and selector status below describe that earlier
+stage. The current experiment adds [measured-curvature C1 feedback](ford_c1_feedback.md)
+to this original mapping; the historical no-feedback description below is
+not the current controller specification.
+
+The decision is `C0 = current model y(7 m)`,
+`C1 = max(7 m, speed × 1 s) × selected upstream-limited desiredCurvature`,
+with C2=C3=0. The 7 m station and one-second scale are engineering choices,
+not identified PSCM gains. `calibration_approved=false`.
+
+`openpilot/selfdrive/controls/lib/ford_model_action.py` contains the core
+and a separate adapter compatible with the existing controlsd call.
+At that stage, the production selector, v8 implementation, settings, opendbc
+submodule and Panda safety remained unchanged. Tests injected the adapter
+offline; there was no production setting. No hardware or CAN transmission
+occurs in the lab tools.
+
+## Construction and integration
+
+Only the unquantized C0 and C1 slew positions persist in the core.
+Each field is clipped independently (±5.11 m / ±0.5 rad), slewed independently
+(4 m/s / 0.5 rad/s), then packed using the existing Float32/sign-negation
+rounding contract (0.01 m / 0.0005 rad). Heading overflow is not transferred
+to C0. No yaw integral, blend, additional curvature contribution, reference
+filter, turn modes, or 10 m C1 cap is introduced.
+
+The selected standalone implementation from worktree 3548 is the provenance
+for this law. Its two-state packer has been moved into the library core so
+the controller does not depend on experimental lab code. Invalid numeric
+types, overflowing arc geometry and malformed paths reset the core instead
+of throwing or retaining a command.
+
+Arc stations use cumulative model x/y distance, not forward x. As in the
+reviewed standalone core, a path ending before 7 m holds its available
+endpoint instead of extrapolating. This matters: route95 contains 44 active
+cycles with 5.45–6.94 m of path at 2.78–3.46 m/s. A tested strict 7 m
+coverage gate would have introduced disengagements and was removed. There
+is no speed-dependent C0 horizon beyond this existing endpoint behavior.
+
+The adapter retains the existing input age allowance (−5 to +150 ms),
+speed domain (0.3–55 m/s), yaw sanity bound (±3 rad/s), selected curvature
+sanity bound (±1/m), and control interval (2–100 ms). It rejects backward
+model/measurement timestamps and invalid services. Repeated timestamps may
+continue slew, but geometry is validated again on each tick. Disengagement,
+invalid inputs and timing faults clear all command and adapter timing state.
+The first valid tick after reset uses 10 ms, as v8 does.
+
+controlsd still owns reference selection, upstream curvature limiting,
+service health and engagement. Tests execute its actual source-selection
+and limiter code, its Ford call, Float32 publication in ControlsExt, conversion
+to CarControlSP, and the pinned Ford CarController's in-memory CAN builder.
+Both model-action and maneuver-planner selection are covered, including
+disabling latActive after invalid output. Only the test chooses the adapter.
+
+Yaw is not an input to the control law. The adapter checks it solely for the
+inherited invalid-input policy. Driver override and optional PSCM status
+do not modify the candidate base; existing engagement and downstream driver
+arbitration remain responsible for authorization, as with v8's base request.
+
+## Offline evidence
+
+The checked-in `ford_model_action_validation.json` records the completed
+checks and source hashes. Full arrays and detailed reports are generated
+locally under `.cache/ford_model_action/`; original route files are read-only.
+
+Completed validation: **264 Ford tests and 150 subtests pass**, including
+120 new core/adapter/replay-validator cases. The candidate module has 100%
+statement and branch coverage (78 statements, 24 branches). Ruff and Ty pass.
+The 200,000-cycle numerical stress test also checks 200,000 mirrored core
+updates and 18,138 field-boundary cases. Across route and stress runs,
+485,238 Float32/CAN round trips pass. Eight deliberately injected faults
+(heading gain/cap, erased C0, wrong C0 slew, retained invalid state, stale
+model acceptance, model clock rollback and reversed C0 sign) are all caught
+by the tests. Mutation runs replace code only inside isolated Python
+processes; production source files are never modified by those probes.
+
+Independent Standards and Spec reviews reported zero findings. The full
+suite's Params setting test uses an existing local native library from
+worktree 3548 after checking relevant source files are byte-identical;
+its hash and provenance are in the manifest. That library is an ignored
+test dependency, not part of this change. This is the full relevant Ford
+suite, not the hardware-dependent test suite for every openpilot subsystem.
+
+The replay has two separate passes:
+
+* Core compatibility uses the archived eligibility mask and requires exact
+  equality with the independently implemented `action_heading` commands.
+* Adapter reconstruction derives eligibility from recorded service streams
+  independently of the archived output mask. It retains original timestamps,
+  gaps and consumed model frames. Controls publication time proxies the
+  unlogged computation clock, and complete SubMaster health is unavailable.
+
+All 54,738 route95 and 78,812 route90 core cycles match exactly, including
+37,614 and 73,055 active cycles. The adapter preserves those active counts.
+Its 59 / 19 changed commands arise solely from the fresh 10 ms engagement
+tick instead of the archived harness's preceding publication interval;
+the replay checks that attribution on every cycle. Maximum differences are
+0.01 m / 0.001 rad (95) and 0.02 m / 0.002 rad (90).
+
+Every core and adapter replay output is round-tripped through Float32 and
+the real CAN packer/parser, including zero C2/C3, signs, mode and counter.
+Continuous field slew and quantization allowance are checked separately
+from immediate invalid-command resets. The original driver-clean cohorts,
+speed strata and command RMS are reproduced without redoing the encoder search.
+
+The numerical stress harness uses analytic rotated paths, scalar slew
+arithmetic, mirrored requests, irregular intervals and invalid-input resets.
+It also sweeps every representable host field value and the Float32 values
+immediately below, at and above every half-quantum boundary. Direct CAN
+packing of the continuous state must agree with the host's quantized output.
+The unit tests cover releases, reversals, clipping, service freshness,
+clock resets, malformed inputs, endpoint fallback and actual integration.
+
+## Limits of the result
+
+On turns at ≥15 m/s, candidate C0 RMS is 79%/81% below v8 on routes95/90,
+while C1 is 33%/41% higher. Those are command changes, not evidence of
+equivalent steering authority. The PSCM's independent C0/C1 response remains
+unknown. Replay cannot establish physical model following, strong turns,
+centering, overshoot, oscillation or closed-loop stability.
+
+The release probe is intentionally explicit: a model bend can increase
+while selected curvature decreases. At 20 m/s, one synthetic probe changes
+C0/C1 from 0.24 m / 0.10 rad to 0.49 m / 0.08 rad. Zero selected curvature
+sets the C1 target to zero but does not erase a nonzero current model C0.
+Removing a yaw-integral tail does not prove that physical overshoot is solved.
+No additional release policy or unsupported plant model is added to hide
+that uncertainty.
+
+## Reproduce
+
+From this worktree, use the logged construction dependency explicitly:
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:/Users/ibpersonal/.codex/worktrees/b926/sunnypilot/opendbc_repo
+PY=/Users/ibpersonal/dev/sunnypilot/.venv/bin/python
+EVIDENCE=/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/analysis/controller_search_20260904
+$PY -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py
+$PY -m tools.ford_pscm_lab.model_action_replay "$EVIDENCE/route95" --output .cache/ford_model_action/route95
+$PY -m tools.ford_pscm_lab.model_action_replay "$EVIDENCE/route90" --output .cache/ford_model_action/route90
+$PY -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --output .cache/ford_model_action/stress.json
+```
+
+The route replay refuses an opendbc revision other than
+`72a775d35e54c21ff5c5798acef22016eedcc0a7`. Stress defaults to this pin and
+also accepts an explicitly required commit with `--opendbc-revision` for
+deployment checks. A mismatch still fails. This historical pin reproduces
+logged construction; it does not change the merge's submodule pointer.

docs/ford_model_action_drive_test.md

@@ -0,0 +1,72 @@
+# Ford selected-action drive-test branch
+
+The current experiment adds [measured-curvature C1 feedback](ford_c1_feedback.md)
+and [conditional correction release](ford_c1_carryover.md) to the restored
+original v1 mapping, with [base C1 overflow allocated to C0](ford_c1_overflow.md).
+It is selectable on **any Ford CAN FD vehicle**
+through the existing persistent, default-off Sunnylink
+toggle. Offline checks establish software behavior; physical tracking,
+turn-exit behavior and closed-loop stability remain unvalidated.
+
+## Select and restore
+
+1. Install branch `hiimisaac-dev` from `sunnypilot/sunnypilot` using the device's
+   normal branch-switch process and allow its build to finish.
+2. While offroad, open Sunnylink device settings → Vehicle → Ford and enable
+   **Selected-Action Path Tracking (Experimental)** (`FordModelActionController`).
+3. Complete a real offroad-to-onroad cycle. Selection occurs when `controlsd`
+   starts; a stored toggle change or disengagement alone cannot swap an active
+   controller. Initial physical evaluation remains controlled testing.
+
+The startup event `Ford path controller selected` should report
+`FordModelActionController`. Periodic `Ford C2-free path tracking` events
+identify **`hypothesis=model-action-c1-feedback-v3`**. They report desired and
+measured curvature, base heading, accumulated correction, applied heading,
+feedback timing and driver/PSCM gating. `carryover_release_count` counts
+conditional releases since the last controller reset; it does not control
+steering. `offset_overflow` reports the extra C0 target in meters before C0
+amplitude and slew limits. `calibration_approved=false` remains.
+
+Turning the toggle off and completing another offroad-to-onroad cycle restores
+**upstream Ford curvature control**: 20 Hz steering messages, limited mode on
+CAN FD, zero C0/C1/C3, and upstream curvature limiting and platform-specific
+overshoot handling. Stored observer or retired controller settings cannot select
+a custom controller. The observer toggle is no longer exposed. The experiment
+only runs on Ford CAN FD vehicles; legacy Ford uses upstream control as well.
+See [toggle-off validation](ford_upstream_fallback.md).
+
+## Wiring and validation
+
+`controlsd` supplies the selected, upstream-limited desired curvature and the
+measured steering-derived curvature already used in its tracking diagnostics.
+Fresh steering publications advance C1 feedback. Repeated publications may
+advance output slew but cannot integrate the same elapsed interval twice.
+Driver override clears the correction. A fresh PSCM reached-limit flag stops
+extra outward accumulation while preserving unwind and base model changes.
+With fresh feedback, the controller can discard an opposing correction when
+it prevents C1 from following the direction shared by original model C0, applied C0
+and base C1, while measured curvature is still opposite. Neutral or conflicting
+C0 and matched curvature preserve the correction. Final output slew still applies.
+
+C0 starts with the original 7 m model-path mapping. When the raw base heading
+exceeds ±0.5 rad, C0 additionally receives 7 m times the clipped-away heading.
+Accumulated C1 feedback does not spill into C0. The extra target returns to zero
+as the base heading falls below the cap; applied C0 still follows its 4 m/s slew.
+C2 and C3 remain zero. The
+existing output limits, 100 Hz custom sender and Float32 publication remain in
+place. An explicit selection flag distinguishes upstream mode from an invalid
+experimental command; invalid experimental input cannot switch to upstream.
+The opendbc sender restores upstream behavior when that flag is false.
+
+See [the overflow specification and validation](ford_c1_overflow.md) and
+`ford_c1_overflow_validation.json` for current evidence and reproduction
+commands. The carryover specification and `ford_c1_carryover_validation.json`
+record the previous experiment. `ford_c1_feedback_validation.json` records the initial feedback
+version at `5fbb583e5`. `ford_model_action_validation.json` and
+`ford_model_action_drive_test_validation.json` are historical records for the
+original offline candidate and its first wiring, respectively; their counts
+and coverage are not claims about the current version.
+
+The full hardware build and device boot are not performed by these offline
+checks. Pushing the branch does not install it on the device or change its
+stored toggle.

docs/ford_model_action_drive_test_validation.json

@@ -0,0 +1,145 @@
+{
+  "date": "2026-09-07",
+  "baseline_commit": "7ca3c6e3b3e659c6f446039501c5826bbd14092e",
+  "branch": "codex/ford-model-action-drive-test",
+  "scope": "Default-off Sunnylink selection and v8 retirement; offline validation only. No device installation or physical performance validation.",
+  "calibration_approved": false,
+  "production_selector_changed": true,
+  "toggle": "FordModelActionController",
+  "default_enabled": false,
+  "v8_removed": true,
+  "panda_safety_changed": false,
+  "opendbc_submodule_changed": false,
+  "deployment_opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "controller_size": {
+    "total_lines": 145,
+    "code_lines_excluding_blanks_comments_docstrings": 95,
+    "core_persistent_values": 2,
+    "adapter_timestamps": 3,
+    "removed_v8_module_lines": 469
+  },
+  "tests": {
+    "combined_ford_params_sunnylink_suite": "284 passed, 26 subtests passed in 2.63s",
+    "suite_log_sha256": "2e223a507f0630481cf6f83b9f8893d226f3f4273a79a09fc35905aa875b1d2c",
+    "coverage": {
+      "covered_lines": 87,
+      "num_statements": 87,
+      "percent_covered": 100.0,
+      "percent_covered_display": "100",
+      "missing_lines": 0,
+      "excluded_lines": 0,
+      "percent_statements_covered": 100.0,
+      "percent_statements_covered_display": "100",
+      "num_branches": 26,
+      "num_partial_branches": 0,
+      "covered_branches": 26,
+      "missing_branches": 0,
+      "percent_branches_covered": 100.0,
+      "percent_branches_covered_display": "100"
+    },
+    "ruff": "pass",
+    "ty_controller_and_lab": "pass",
+    "settings_compiler_check": "pass",
+    "standards_review_remaining_findings": 0,
+    "spec_review_remaining_findings": 0,
+    "resolved_review_finding": "Updated YAML authoring source and regenerated settings JSON before final compiler/schema suite."
+  },
+  "routes": {
+    "route95": {
+      "cycles": 54738,
+      "core_active_cycles": 37614,
+      "core_exact_archived_match": true,
+      "cohorts_reproduced": true,
+      "adapter_active_cycles": 37614,
+      "adapter_exact_match_with_fresh_engagement_dt": true,
+      "adapter_validity_differs_from_archive_cycles": 0,
+      "adapter_command_differs_from_archive_cycles": 59,
+      "adapter_max_absolute_command_difference_c0_c1": [
+        0.010000000000000675,
+        0.0010000000000000009
+      ],
+      "field_slew_zero_c2_c3_pass": true,
+      "float32_can_round_trips": 109476,
+      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
+      "report_sha256": "72fab710dc81c8c7d9b75d371b97fec32402d3b01fa05517dfa814d8daff3134"
+    },
+    "route90": {
+      "cycles": 78812,
+      "core_active_cycles": 73055,
+      "core_exact_archived_match": true,
+      "cohorts_reproduced": true,
+      "adapter_active_cycles": 73055,
+      "adapter_exact_match_with_fresh_engagement_dt": true,
+      "adapter_validity_differs_from_archive_cycles": 0,
+      "adapter_command_differs_from_archive_cycles": 19,
+      "adapter_max_absolute_command_difference_c0_c1": [
+        0.020000000000000462,
+        0.0020000000000000018
+      ],
+      "field_slew_zero_c2_c3_pass": true,
+      "float32_can_round_trips": 157624,
+      "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
+      "report_sha256": "cc2224bae597a341697a7681560a077cb209d77e4d060c0850997691c57d32fb"
+    }
+  },
+  "stress": {
+    "seed": 20260907,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.40000000000000147,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "total_float32_can_round_trips": 485238,
+  "native_params": {
+    "source": "Rebuilt locally from this branch with clang++ and generated Capnp headers; ignored test dependency, not committed binary.",
+    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
+    "sources_sha256": {
+      "openpilot/common/params_c.cc": "57e3bcc7eba939bc91aadafb4ed1248b8123a8fe5c48fd8530298d966ea4db63",
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+      "openpilot/common/params.h": "ed03d137e126ecd6f1608016020af18c0339fb987e27d0a2aa6830bba396970c",
+      "openpilot/common/params_keys.h": "39d36465f66405843b926ba18473fb6aee81c0f1c7bea87246aa08ffe3f67c58",
+      "openpilot/common/util.cc": "4479ecf72465e8f453d8af78447f7715f02d9397c58a49048f2bbc87a96d6b8a",
+      "openpilot/common/swaglog.cc": "9c2f88a2f1c3c4253b73defb264cc367a13ade23e02928e1d469b5c5833df176"
+    }
+  },
+  "test_dependency_notes": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "pyyaml": "6.0.3 from local uv cache",
+    "jsonschema": "Local cached package appended after venv to run schema validator without skips",
+    "hardware_build_and_device_boot": "not performed"
+  },
+  "source_sha256": {
+    "docs/ford_model_action_candidate.md": "c968132348d20891a9396f6e69db1315d570505796e19e09ffbb2da748e6e687",
+    "docs/ford_virtual_angle_experiment.md": "da6322f3c3d2d81463e44c50cc6cad1a962f97008ff9425c314da333ebe47a87",
+    "openpilot/common/params_c.cc": "57e3bcc7eba939bc91aadafb4ed1248b8123a8fe5c48fd8530298d966ea4db63",
+    "openpilot/common/params_keys.h": "39d36465f66405843b926ba18473fb6aee81c0f1c7bea87246aa08ffe3f67c58",
+    "openpilot/common/tests/test_params.py": "557a1f616af5fd9f5e623fbee0fd6f44cb059a30c290c68ce2b57e9bcceed081",
+    "openpilot/selfdrive/controls/controlsd.py": "102b383e5beff43b8dd7c219178bef62e8a4b54443ebe682694606862bcd4e7f",
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "1c9448d88d8021e5d34a5dccd14a17c6c1bc64b5531342bfc6d15574d9d3e710",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "2c5b14f814e84e59d749f61a43ef1dcfe06253f6e185443fa123c37525ac8466",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "9974df3ac4cc58ae78d47848cd18ef4aca1bcbb00edb257f28b4220d92890528",
+    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "7a3fa18e562d5a03a5b85c72ee3f3ebeb836c497285dcd9aaad24f8fb4dd6942",
+    "openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py": "3db566612381fd87d3655a3ccff470be7da998c4ea7f6365f53e58cdb9c0ffb7",
+    "tools/ford_pscm_lab/model_action_replay.py": "827a6dc488d554bdf6e87438c6a2a985b3195bf6d01ab09002bfd6049d22a868",
+    "tools/ford_pscm_lab/stress_model_action.py": "2d5c72cc4b8ae214f2f5a19a050fe138f5c2ab0294d92d24e2481af5f8185613",
+    "tools/ford_pscm_lab/test_model_action_replay.py": "ebf6bcd9260745100311521f8e11e85b7aebdd5561ab0876bfc2e802429d6896",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "f826c6328f0abac2a61f1a0a6f8d119fdbab858e363cb466d84ba9a7783059cd",
+    "docs/ford_model_action_drive_test.md": "d825b177cd099efd797fe89b7041695d6d41e4b9e8bba6bcaeb32aece164262b"
+  },
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev",
+    "validated_code_commit": "ea1ed70c718d32539ef6b9a89b89c0e297c92e06"
+  }
+}

docs/ford_model_action_validation.json

@@ -0,0 +1,220 @@
+{
+  "date": "2026-09-07",
+  "baseline_commit": "c4b3c55c826fca1ce09618e418e95f0a24478d96",
+  "calibration_approved": false,
+  "production_selector_changed": false,
+  "vehicle_settings_changed": false,
+  "panda_safety_changed": false,
+  "scope": "Offline command construction, adapter integration, numerical fault probes and Ford regression tests. Physical response remains unvalidated.",
+  "controller_size": {
+    "total_lines": 131,
+    "code_lines_excluding_blanks_comments_docstrings": 86,
+    "core_persistent_values": 2,
+    "adapter_timestamps": 3
+  },
+  "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7",
+  "tests": {
+    "ford_suite": "264 passed, 150 subtests passed in 14.29s",
+    "new_core_adapter_tests": 107,
+    "new_replay_validator_tests": 13,
+    "controller_coverage": {
+      "statements": 78,
+      "missing_statements": 0,
+      "branches": 24,
+      "partial_branches": 0,
+      "percent": 100
+    },
+    "ruff": "pass",
+    "ty_controller_and_lab": "pass"
+  },
+  "routes": {
+    "route95": {
+      "cycles": 54738,
+      "core_active_cycles": 37614,
+      "core_exact_archived_match": true,
+      "cohorts_reproduced": true,
+      "adapter_active_cycles": 37614,
+      "adapter_status_counts": {
+        "inactive": 17124,
+        "active": 37614
+      },
+      "adapter_exact_match_with_fresh_engagement_dt": true,
+      "core_active_path_shorter_than_7m_cycles": 44,
+      "adapter_validity_differs_from_archive_cycles": 0,
+      "adapter_command_differs_from_archive_cycles": 59,
+      "adapter_max_absolute_command_difference_c0_c1": [
+        0.010000000000000675,
+        0.0010000000000000009
+      ],
+      "field_slew_zero_c2_c3_pass": true,
+      "float32_can_round_trips": 109476,
+      "turn_speed_15_55": {
+        "seconds": 33.332073582999925,
+        "core_c0_c1_rms": [
+          0.07257996778378971,
+          0.03628926246224237
+        ],
+        "recorded_v8_c0_c1_rms": [
+          0.3416081588451539,
+          0.027322786376822172
+        ],
+        "adapter_eligible_seconds": 33.332073582999925,
+        "adapter_c0_c1_rms": [
+          0.07257996778378971,
+          0.03628926246224237
+        ]
+      },
+      "input_sha256": {
+        "route.npz": "6e5438867ea618e53ca395b60ff4b9b146256f1bf6f07dc8e92d663286074154",
+        "encoder_comparison.npz": "23bd05c4b6400299844acaba1d97051c96c23c682bf17b46e89e7f2cca5fce38",
+        "pose_replay.npz": "9cfbb3c6f0b1fdb7e3d38e6b64b8c94cffbcc9fabe41f6344d84a9b657b6af9b"
+      },
+      "report_sha256": "cf4e3804f2ebdb0e50f3c49636bf60a30e3c1180411b582826a115970ab972fc"
+    },
+    "route90": {
+      "cycles": 78812,
+      "core_active_cycles": 73055,
+      "core_exact_archived_match": true,
+      "cohorts_reproduced": true,
+      "adapter_active_cycles": 73055,
+      "adapter_status_counts": {
+        "inactive": 5757,
+        "active": 73055
+      },
+      "adapter_exact_match_with_fresh_engagement_dt": true,
+      "core_active_path_shorter_than_7m_cycles": 0,
+      "adapter_validity_differs_from_archive_cycles": 0,
+      "adapter_command_differs_from_archive_cycles": 19,
+      "adapter_max_absolute_command_difference_c0_c1": [
+        0.020000000000000462,
+        0.0020000000000000018
+      ],
+      "field_slew_zero_c2_c3_pass": true,
+      "float32_can_round_trips": 157624,
+      "turn_speed_15_55": {
+        "seconds": 47.53485040600012,
+        "core_c0_c1_rms": [
+          0.08686835454709245,
+          0.043216347944464766
+        ],
+        "recorded_v8_c0_c1_rms": [
+          0.4471065308273131,
+          0.030663943784303503
+        ],
+        "adapter_eligible_seconds": 47.53485040600012,
+        "adapter_c0_c1_rms": [
+          0.08686835454709245,
+          0.043216347944464766
+        ]
+      },
+      "input_sha256": {
+        "route.npz": "51e8c26eedde253e171af47d704c1967ba45ae6825d883393bec1fb9e00251c1",
+        "encoder_comparison.npz": "7a625d3ed5cbd8013d1028aa3bc421740551dcae5c3d60981208bd047af9794c",
+        "pose_replay.npz": "4457ccc0868354749da5b72c1dea0faf750f783dfdc87038101288fdcba1e707"
+      },
+      "report_sha256": "b95247bdf6bbec16e5dc4781eaf7a678aca787418251cd161f6438e3173ad490"
+    }
+  },
+  "stress": {
+    "seed": 20260907,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.40000000000000147,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Numerical construction only; no PSCM response or closed-loop performance claims.",
+    "opendbc_import_head": "72a775d35e54c21ff5c5798acef22016eedcc0a7"
+  },
+  "mutation_checks": {
+    "mutations": [
+      {
+        "mutation": "halve_heading",
+        "detected_by_tests": true,
+        "failed_tests": 9
+      },
+      {
+        "mutation": "cap_heading_preview",
+        "detected_by_tests": true,
+        "failed_tests": 9
+      },
+      {
+        "mutation": "erase_centering",
+        "detected_by_tests": true,
+        "failed_tests": 15
+      },
+      {
+        "mutation": "slow_c0_to_c1_rate",
+        "detected_by_tests": true,
+        "failed_tests": 11
+      },
+      {
+        "mutation": "retain_invalid_state",
+        "detected_by_tests": true,
+        "failed_tests": 18
+      },
+      {
+        "mutation": "ignore_model_freshness",
+        "detected_by_tests": true,
+        "failed_tests": 2
+      },
+      {
+        "mutation": "ignore_model_clock_rollback",
+        "detected_by_tests": true,
+        "failed_tests": 1
+      },
+      {
+        "mutation": "reverse_c0_wire_sign",
+        "detected_by_tests": true,
+        "failed_tests": 11
+      }
+    ],
+    "all_detected": true
+  },
+  "native_test_dependency": {
+    "scope": "Native dependency for inherited Params selection test only; copied existing local build, not rebuilt.",
+    "source_library": "/Users/ibpersonal/.codex/worktrees/3548/sunnypilot/openpilot/common/libparams_c.dylib",
+    "sha256": "ddde738108eab18b75f085c865c43aa197fd79a0384b390b1515ff90116e20e0",
+    "byte_identical_source_files": [
+      "openpilot/common/params.cc",
+      "openpilot/common/params.h",
+      "openpilot/common/params_c.cc",
+      "openpilot/common/params.py",
+      "openpilot/common/params_keys.h",
+      "openpilot/common/queue.h",
+      "openpilot/common/util.cc",
+      "openpilot/common/util.h",
+      "openpilot/common/hardware/hw.h"
+    ]
+  },
+  "review": {
+    "standards_findings": 0,
+    "spec_findings": 0,
+    "method": "Independent parallel read-only reviews; 120 focused tests independently passed."
+  },
+  "source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "cb6353f00f2f5c84df4e606c6b7e20650f8c1e908b9fd71890f72aa4a5e42592",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "c3b971622cc4041575aeec1826d45b76cebab9a2f77b2b9525c85d4184961295",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "5aaa29c1f11080b7df0165fd0202a29b065053809e5f9c4b9ed8abfcce47e41b",
+    "tools/ford_pscm_lab/__init__.py": "db4b8b7d2e317ed34ca0ec220bf9d53e7b80a23e766f4e1cb2c8224dada45f2e",
+    "tools/ford_pscm_lab/model_action_replay.py": "c114c479bd22e4fc61a3e8d3ee7fae5d71d1d80ec4b952faad8f8f3692fb1508",
+    "tools/ford_pscm_lab/stress_model_action.py": "a78a50eed1f801f3b096d694ab8c2fd70804b6c250465b4152f38d83770a982b",
+    "tools/ford_pscm_lab/test_model_action_replay.py": "09d024c59d44b83ec081d6416d0f946a7719a73f22213af1f4ddc03dc4e6f4ac"
+  },
+  "artifacts": {
+    "directory": ".cache/ford_model_action",
+    "route_reports": [
+      "route95/report.json",
+      "route90/report.json"
+    ],
+    "stress_report": "stress.json",
+    "mutation_report": "mutations/report.json",
+    "test_log": "ford_suite.txt"
+  }
+}

docs/ford_upstream_fallback.md

@@ -0,0 +1,89 @@
+# Ford toggle-off upstream restoration
+
+`FordModelActionController` is the only setting that can select custom Ford
+steering. It defaults false. With it false or absent, no custom path controller
+is created and normal lateral-control curvature passes unchanged to the Ford
+sender. A stored `FordPscmObserver` or retired virtual-angle setting cannot
+override that choice. The observer toggle is removed from Sunnylink; its stored
+parameter remains readable for compatibility but has no selection effect.
+
+Selection remains fixed for the lifetime of controlsd. Sunnylink changes require
+a real offroad-to-onroad cycle, as before. The startup diagnostic reports
+`controller=upstream` when the experiment is not selected.
+
+## Sender behavior
+
+The new `fordLateralPath.enabled` field conveys startup selection independently
+of `valid`. Its default is false. The sender uses custom mode only when this
+field is true on a Ford CAN FD vehicle. This prevents invalid model geometry
+or disengagement in the selected experiment from choosing a different controller.
+
+Toggle-off restores the upstream Ford sender:
+
+- 20 Hz steering messages on both CAN FD and legacy Ford.
+- CAN FD limited mode 1 while active, mode 0 while inactive, with upstream ramp
+  type 0, counters and checksums.
+- C0, C1 and C3 zero; C2 follows upstream actuator curvature.
+- Upstream curvature amplitude/rate limits and the measured-curvature error
+  clamp above 9 m/s.
+- Upstream anti-overshoot handling for Bronco Sport and F-150 MK14.
+
+The reference is the upstream implementation already merged into this branch,
+opendbc `f95f996f5917dcbbf2e32fe51b606a24cf836af6`. Its Ford sender differs from
+the locally available comma opendbc `3e92d112129507debe45364891954db70238997a`
+only in sunnypilot's additional `CP_SP`/`CC_SP` interface arguments. This change
+restores that implementation; it does not upgrade unrelated upstream code.
+
+Toggle-on retains the previous custom 100 Hz sender, mode 2, ramp type 3 and
+existing path limits. The model-action controller's command law and diagnostic
+identity `model-action-c1-feedback-v3` are unchanged. Legacy Ford always uses
+upstream control. The opendbc dependency is now
+`64aa61b9b3fd26e70a7caa915acab207ff3cd64a`. No Panda safety code is changed;
+its existing limited-mode checks already use 20 Hz curvature limits.
+
+## Validation
+
+- Combined Ford, Sunnylink, parameter, logging, replay-tool and Ford safety
+  suite: **683 passed, 178 existing skips, 9,145 subtests passed**.
+- Real startup → controlsd → Float32 publication → conversion → Ford sender:
+  14 new toggle-off cases, covering all six CAN FD platforms plus legacy
+  Escape, with both stored observer settings. They preserve the upstream
+  actuator output, including when custom model geometry is missing, and verify
+  20 Hz cadence, engage/disengage/reengage, zero path terms, mode, ramp,
+  counters and checksums across 4,200 control cycles / 840 steering messages.
+- The existing toggle-on, stale-input, invalid-input and 100 Hz integration
+  regressions continue to pass.
+- Additional Ford interface fuzz checks: **11 passed**, 60 generated examples
+  each, with real Cap'n Proto conversion and car-interface application. The
+  initially missing neural-network-data dependency was initialized at the
+  repository's existing pin `03cac2d30e111e0689c0429cb8c1fe6cb5a905af`.
+- Packet equivalence: **55,000 toggle-off cycles across all 11 Ford platforms**
+  match the pinned upstream sender exactly. **30,000 toggle-on cycles across
+  six CAN FD platforms** match the previous custom sender exactly. All 90,305
+  outgoing packets and returned actuator values match, including invalid paths,
+  inactive periods, both turn directions and speed boundaries. Disabled
+  selection also ignores deliberately nonzero, valid custom path fields.
+- Ruff, controller type check, generated Sunnylink schema check and diff
+  whitespace checks pass.
+
+The packet comparison loads the exact old controller **and its old CAN builder**
+from trusted local Git sources. It does not compare two aliases of the modified
+code. Results and source hashes are in `ford_upstream_fallback_validation.json`.
+No device build, boot or physical steering validation is claimed.
+
+## Reproduction
+
+Use the pinned opendbc dependency and native project dependencies:
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+FUZZ_SEED=20260911 python -m pytest -q -p no:cacheprovider openpilot/selfdrive/car/tests/test_car_interfaces.py -k FORD
+python -m tools.ford_pscm_lab.upstream_fallback_check --cycles 5000 --output .cache/ford_upstream_fallback/equivalence.json
+python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
+```
+
+The comparison requires both pinned baseline commits in the local opendbc Git
+object store. The previous overflow/replay records describe their historical
+source hashes; the comparison here establishes unchanged toggle-on sender output.

docs/ford_upstream_fallback_validation.json

@@ -0,0 +1,190 @@
+{
+  "created_at_utc": "2026-09-11T16:11:23.341760+00:00",
+  "scope": "Default-off upstream Ford control, including CAN sender; exact software comparison only.",
+  "parent_commit": "b81c00f5b9c3658d72675ec3ee0ac07e0ef14807",
+  "opendbc_commit": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+  "target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "selection": {
+    "param": "FordModelActionController",
+    "default": false,
+    "off": "upstream",
+    "on": "Ford CAN FD model-action v3",
+    "activation": "Existing controlsd startup; real offroad-to-onroad cycle",
+    "observer_setting": "Ignored for control selection; no longer exposed in Sunnylink",
+    "sender_field": "fordLateralPath.enabled defaults false, independent of valid"
+  },
+  "custom_command_law_ast_matches_parent": [
+    "_packed",
+    "_finite",
+    "encode_model_action",
+    "ModelActionController",
+    "FordModelActionController"
+  ],
+  "tests": {
+    "combined": "683 passed, 178 skipped, 9145 subtests passed in 9.61s",
+    "additional_ford_interface_fuzz": "11 passed, 258 non-Ford deselected in 8.15s; 60 examples per Ford platform",
+    "fuzz_seed": 20260911,
+    "dependency_setup": "Initialized existing neural-network-data pin 03cac2d30e111e0689c0429cb8c1fe6cb5a905af after missing-model-data failure.",
+    "new_toggle_off_integration_cases": 14,
+    "new_integration_cycles": 4200,
+    "new_steering_frames": 840,
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "settings_compiler_check": "pass",
+    "diff_check": "pass"
+  },
+  "packet_equivalence": {
+    "scope": "Compare all outgoing Ford packets with pinned upstream and custom senders.\n\nUses trusted local Git sources, identical synthetic inputs, and the actual CAN\npackers. Establishes software equivalence, not physical steering performance.\n",
+    "seed": 20260911,
+    "upstream_revision": "f95f996f5917dcbbf2e32fe51b606a24cf836af6",
+    "previous_custom_revision": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+    "upstream_source_sha256": {
+      "opendbc/car/ford/fordcan.py": "8b3c74bff68146cf9f97d17203b7deebb9254561d9591a4a92d978bf01808a75",
+      "opendbc/car/ford/carcontroller.py": "c7e590c13cfe2434d77d6224359d659bb5092a3fdd65b12c7d8d9eddfb3deada"
+    },
+    "previous_custom_source_sha256": {
+      "opendbc/car/ford/fordcan.py": "5b73c568149bde299f71f92f034f3032a94ecae4ee4bae8af938f34ef9590062",
+      "opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e"
+    },
+    "results": [
+      {
+        "fingerprint": "FORD_BRONCO_SPORT_MK1",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 5665
+      },
+      {
+        "fingerprint": "FORD_ESCAPE_MK4",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 5665
+      },
+      {
+        "fingerprint": "FORD_ESCAPE_MK4_5",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 3165
+      },
+      {
+        "fingerprint": "FORD_ESCAPE_MK4_5",
+        "custom_enabled": true,
+        "cycles": 5000,
+        "identical_packets": 7165
+      },
+      {
+        "fingerprint": "FORD_EXPLORER_MK6",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 5665
+      },
+      {
+        "fingerprint": "FORD_EXPEDITION_MK4",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 3165
+      },
+      {
+        "fingerprint": "FORD_EXPEDITION_MK4",
+        "custom_enabled": true,
+        "cycles": 5000,
+        "identical_packets": 7165
+      },
+      {
+        "fingerprint": "FORD_F_150_MK14",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 3165
+      },
+      {
+        "fingerprint": "FORD_F_150_MK14",
+        "custom_enabled": true,
+        "cycles": 5000,
+        "identical_packets": 7165
+      },
+      {
+        "fingerprint": "FORD_F_150_LIGHTNING_MK1",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 3165
+      },
+      {
+        "fingerprint": "FORD_F_150_LIGHTNING_MK1",
+        "custom_enabled": true,
+        "cycles": 5000,
+        "identical_packets": 7165
+      },
+      {
+        "fingerprint": "FORD_FOCUS_MK4",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 5665
+      },
+      {
+        "fingerprint": "FORD_MAVERICK_MK1",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 5665
+      },
+      {
+        "fingerprint": "FORD_MUSTANG_MACH_E_MK1",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 3165
+      },
+      {
+        "fingerprint": "FORD_MUSTANG_MACH_E_MK1",
+        "custom_enabled": true,
+        "cycles": 5000,
+        "identical_packets": 7165
+      },
+      {
+        "fingerprint": "FORD_RANGER_MK2",
+        "custom_enabled": false,
+        "cycles": 5000,
+        "identical_packets": 3165
+      },
+      {
+        "fingerprint": "FORD_RANGER_MK2",
+        "custom_enabled": true,
+        "cycles": 5000,
+        "identical_packets": 7165
+      }
+    ],
+    "total_cycles": 85000,
+    "total_identical_packets": 90305,
+    "candidate_source_sha256": {
+      "opendbc/car/ford/carcontroller.py": "6d33f288de87e3baa69e9161b1b85367dc1d8542c06c3d3a9ce2d1f2347dbd30",
+      "opendbc/car/ford/fordcan.py": "0e241f19f152df897b294d4562bfd729dbfcbc56bcc9770379f76922f2864cb8",
+      "opendbc/car/structs.py": "82ecc4de1e5fda486d68fcf67903098dd083a56b78e65866744f42d5fb97b385"
+    },
+    "checker_sha256": "1d33a07cc5e6188c6d1b5de2a2a603efaee691d25d91b7bcd843ab4909753ae1"
+  },
+  "source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "167ae5a01fdd7ea014e6ad3fe9d0b6e31c67de8ba057ec5ecf18ab38fc16353f",
+    "openpilot/selfdrive/controls/controlsd.py": "c9b68431d212178ae2177b16ddba4cf023ece84c7c0ea8a1db02a2527dc27aba",
+    "openpilot/cereal/custom.capnp": "c877eac4a77ea4cb42447edcf38da4baf20708e8993124852234008e0a084664",
+    "openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py": "45bfaafa9a96d3ccbb56f34ec0b9a71abb7cd7f01e7e80620796d13c222e4720",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_selection.py": "3dc4f7236937358aad09b544577a796e47c15dbc96607739ff0874b900d55089",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "073b16ffa611d654b954711f9e4f24df95477dfc0c09e75eff89d02eb29d7f2a",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "5b082f3c1f6dc596a40a2011c71928debeb04fa70af36841f6f9a237a9ca439e",
+    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "e37a662618b6ccd2620ac355b4cc40a2253707bb4ba1d5d4631fdc89fd01a800",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "36ac7f6177de2679d35c5f7f77234336e17a8632d31b195f40aec6014efb8577",
+    "openpilot/sunnypilot/sunnylink/tests/test_settings_schema.py": "53a3f1f807c638661c8ef60b5dc5c28ecf5604a9d35b610b8e4a5f5d1d99eedb",
+    "tools/ford_pscm_lab/feedback_replay.py": "860aff9fd00d26b2bd7c2b627286918d3b52c25cc31b0b0768a51fc55b0df37e"
+  },
+  "validation_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "PYTHONDONTWRITEBYTECODE": "1",
+    "LOG_ROOT": "/private/tmp/ford-upstream-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-upstream-params"
+  },
+  "panda_safety_changed": false,
+  "limitations": [
+    "No full device build, boot, installation or physical steering validation.",
+    "Upstream means the pinned upstream implementation merged into this branch, not an upgrade to unrelated latest source."
+  ]
+}

docs/ford_virtual_angle_experiment.md

@@ -0,0 +1,327 @@
+# Ford C2-free model-pose tracking with measured feedback
+
+This experiment is retired. Its implementation, setting and dedicated tests
+were removed from the selected-action drive-test branch. For current setup,
+see [Ford selected-action drive testing](ford_model_action_drive_test.md).
+The material below is historical; it does not describe an available toggle.
+
+Hypothesis `model-pose-c0-c1-feedback-v8` retains the model-pose C0/C1 base
+and adds two guarded release policies. When measured turning exceeds both
+current and delayed requests, a separate output guard prevents same-direction
+C0/C1 growth, including while feedback history rebuilds after driver input.
+When turning instead falls below both requests and is no longer increasing,
+bounded C1 tracking can use remaining release-entry command headroom.
+Existing opposing-bias recovery still stops at zero bias. Geometry, blending,
+feedback gain, slew rates and field limits are unchanged; C2/C3 remain zero.
+
+This is an experimental outer controller around the multivariable PSCM.
+Its geometry does not define a calibrated C0/C1-to-wheel mapping or an angle
+servo. V8 has offline validation only. Command replay cannot establish the
+truck's response, closed-loop stability, or an overshoot improvement.
+
+## Evidence and scope
+
+Route80 ran v3 and contains both sustained under-response and over-response.
+Representative eligible windows had median CAN response/request ratios of
+0.78, 1.77 and 0.69 with a declared 0.2-second comparison interval. These
+are descriptive tracking ratios, not identified controller gains.
+
+V4 replaced separate model-heading C1 with selected-curvature C1 and reduced
+heading demand in several large maneuvers. The user subsequently reported
+weak turning and steering repeatedly stopping near 85 degrees. Older logs
+contain larger wheel angles; the inspected host code has no fixed 85-degree
+wheel stop, although upstream curvature limits depend on speed.
+
+Route83 had the Sunnylink toggle on, but omitted EPS firmware responses.
+The former firmware gate selected the default `FordPathController`; replay
+reproduced its recorded C0/C1/C2 requests. Its favorable turns are evidence
+for the existing model-pose construction, not validation of v5 or v6.
+V6 reuses that construction while replacing its remaining C2 request with
+C0/C1 geometry. Removing C2 changes the request received by the PSCM, so
+matching large C0/C1 commands does not guarantee matching vehicle motion.
+
+Route8a ran v6 and was reported as the best drive. Route8e ran v7 throughout
+with the experiment enabled; it includes entry lag and excessive turning
+while requests release. Fixed-input v6/v7 replay produced identical commands
+in the main reversal and over-response examples, so the v7 recovery change
+does not directly explain their command behavior. In the over-response
+example, model C0/C1 grew while selected curvature fell and driver resets
+repeatedly removed feedback history. Another exit remained deficient after
+opposing bias reached zero. These observations motivate the v8 guards; they
+do not isolate an EPS transfer function or demonstrate the proposed response.
+
+## Base request
+
+controlsd selects valid `lateralManeuverPlan.desiredCurvature`, otherwise
+`modelV2.action.desiredCurvature`, after the existing curvature limiter.
+This action already includes upstream delay handling; it receives no extra
+response advance here.
+
+The model contribution uses the existing allocator's raw forward pose and
+bounded short-pose correction. `_model_pose` advances 0.1 seconds, retains
+the model's remaining forward geometry, and separately corrects the short
+pose using measured curvature and its recent change. Its offset preview is
+up to 7 m and its heading preview is up to max(7 m, speed × 1 s), bounded by
+available path length. This raw pose is not passed through a second model
+filter. The filtered, ego-aligned reference remains available for comparison
+and the existing geometry-validity checks.
+
+```text
+share(k) = clip((k - 0.006/m) / (0.012/m - 0.006/m), 0, 1)
+aligned = desired_curvature × model_forward_heading > 0
+model_share = min(share(abs(desired_curvature)), share(model_curvature_demand))
+              if aligned, otherwise 0
+model_pair = existing_pose_encoder(model_pose, model_share, C2=0)
+
+remaining_curvature = desired_curvature × (1 - model_share)
+L0 = max(8 m, speed × 1 s)
+L1 = max(7 m, speed × 1 s)
+curvature_C0 = 0.5 × remaining_curvature × L0²
+curvature_C1 = remaining_curvature × L1
+C0_base = clip(model_pair.C0 + curvature_C0, ±5.11 m)
+C1_base = clip(model_pair.C1 + curvature_C1, ±0.5 rad)
+```
+
+`model_curvature_demand` is the larger absolute curvature implied by the
+forward offset and heading previews. The share uses the existing allocator's
+0.006–0.012/m thresholds. Both model and action must request a substantial
+turn in the same direction before model pose supplies the full base.
+Small, flat, opposed or zero requests use the curvature contribution; zero
+action produces a zero base. Partial shares combine both contributions.
+The existing pose encoder retains its quantization and field-allocation rules.
+The residual-curvature lift is geometric, not a claim of EPS equivalence to C2.
+
+The inherited pose encoder allocates heading overflow using its asymmetric
+limits (+0.5235/−0.5 rad), before the symmetric final ±0.5 rad
+heading bound. On clipped tails, this can leave mirrored C0 requests differing
+by up to 0.0235 rad × 7 m = 0.1645 m. The favorable comparison anchors lie
+below that heading cap; full model-base odd symmetry is not claimed.
+
+## Measured feedback and limits
+
+```text
+past_request = selected curvature held at or before (measurement_time - delay)
+yaw_error = measured_speed × past_request - measured_yaw_rate
+bias_trial = released_bias + feedback_gain × yaw_error × measurement_dt
+C1_unconstrained = clip(C1_base + accepted_bias, ±0.5 rad)
+C1_target = temporary_backoff_ceiling(C1_unconstrained) if backoff_active
+            otherwise C1_unconstrained
+```
+
+Measured yaw is negated Ford CAN yaw, matching the control sign convention.
+The historical request uses zero-order hold; it never interpolates toward a
+future publication. Nominal comparison delay is `CP.steerActuatorDelay`
+(0.2 seconds on the source vehicle). Feedback compares against selected
+curvature, not curvature inferred from the model-pose coefficients.
+
+| Quantity | Value |
+|---|---:|
+| C0 / C1 final bounds | ±5.11 m / ±0.5 rad |
+| Independent C0 / C1 slew | 4 m/s / 0.5 rad/s |
+| Feedback integration scale | 1.0 |
+| Feedback minimum speed | 2 m/s |
+| Maximum PSCM/core input age | 150 ms |
+| Allowed timestamp lead | 5 ms |
+| Release comparison tolerance | one C1 wire quantum, 0.0005 rad |
+
+The integration scale, preview distances and blend thresholds are effective
+gains; none establishes stability. No wheel-response gain is fitted.
+Zero yaw error retains acquired bias while an eligible turn continues.
+Host anti-windup admits reachable correction within the combined C1 field
+and slew limits. Feedback overflow is not transferred into C0.
+
+The release logic scales bias as the bounded base decreases and resets on
+zero/reversal. When delayed curvature still represents a stronger or opposing
+request, or PSCM reports LimitReached, new integration is normally frozen.
+One exception permits measured-error backoff: measured turning must exceed
+both the delayed and current selected yaw requests in the base's direction,
+and total heading must still have the base's sign. Exceeding only an older,
+smaller request during turn-in does not qualify. The accepted increment may
+only reduce that existing total toward zero; it cannot grow the request or
+carry it through zero. Existing host field and slew limits still apply.
+
+The existing release-recovery exception requires fresh valid PSCM status with
+limit below 2, retained bias opposing the base, and both current and delayed
+requests aligned with that base. Measured turning must be below both requests
+in their direction. It then uses the current yaw deficit × the existing
+feedback gain × measurement interval to unwind only the opposing bias toward
+zero. The increment is clipped so recovery cannot cross zero bias or create
+demand beyond the existing base. Common host anti-windup still limits what
+can be accepted. A separate release-tracking exception is described below;
+other constrained cases remain frozen. PSCM limit 2 never permits either
+request-increasing exception.
+The no-new-bias restriction applies to `release_recovery`. It does not apply
+to the separate bounded `release_tracking` branch. Once release ends,
+ordinary eligible integration can add correction beyond the base as before;
+its existing limits and guards are unchanged.
+
+`release_recovery` and `feedback_recovery_active=true` indicate that the
+recovery branch actually changed bias on that update. If host anti-windup
+blocks the entire increment, the status remains `host_limit` and the flag is
+false. Recovery is evaluated only on fresh measurements; the flag is false
+on repeated-measurement updates and after reset.
+
+Diagnostics distinguish `release_backoff` and `pscm_backoff`; a release takes
+precedence when both conditions apply. While `feedback_backoff_active` is
+true, total C1 is also capped at the preceding continuous heading request in
+the current request direction and at zero in the opposite direction. This
+ceiling affects the output only: it is not stored or projected into bias.
+The measured-error increment can still update bias under the normal limits,
+but a changing model base does not create persistent integral suppression.
+The ceiling persists between repeated measurements; C1 cannot grow or reverse
+while it applies. The next fresh measurement clears it unless backoff is
+again warranted. It does not cap C0, and normal feedback has its own rules
+outside backoff. Independent slew remains 0.5 rad/s for C1 and 4 m/s for C0.
+Backoff still compares against the delayed reference, so response lag remains.
+Reducing a request does not demonstrate that physical overshoot is resolved.
+
+## V8 release guard and tracking
+
+`ReleaseGuard` retains selected-request history independently of feedback
+bias history. Driver-related feedback resets do not erase that reference,
+but the guard still requires current fresh valid PSCM status, no current
+driver override, and the existing input and speed eligibility. Invalid core
+input or disengagement resets its history with the controller.
+
+During release, measured yaw must exceed both the current and delay-matched
+requests in the requested turn direction. Only then does the guard cap
+same-direction C0/C1 growth at each preceding continuous request. Terms
+already reducing the turn, including an opposing C0 centering offset, remain
+available. The guard follows base allocation and C1 feedback, so changing
+model geometry cannot bypass it. Its ceilings affect outputs, never stored
+bias. No scalar-curvature cap replaces strong model geometry during turn-in
+or undertracking. Existing independent slew and field limits still apply.
+
+`release_tracking` addresses an eligible release deficit once bias is zero
+or already in the base's direction. Both current and delayed requests must
+align with that base, measured turning must be below both, and measured
+curvature must not be rising in the turn direction across the response
+interval by more than one C1 wire quantum after scaling by heading preview.
+Fresh valid PSCM status with limit below 2 is required. The current yaw deficit
+uses the existing integration gain and measurement interval;
+new C1 tracking increments are limited by command headroom captured at
+release entry, tapered with remaining desired curvature. The allowance is
+`max(0, entry_command_magnitude - abs(base)) × min(1, abs(desired) / entry_reference)`
+above the current base; any existing same-direction bias consumes it first.
+This limits new tracking integration, not the existing model base or bias.
+Only that additional allowance is tapered; strong model geometry remains
+available. A brief pause does not reacquire a higher entry
+ceiling; a full response interval without release ends the retained episode.
+Common host anti-windup, field and slew bounds still apply. Opposing bias
+continues through `release_recovery`, which stops at zero, before any separate
+tracking exception can be considered.
+
+Neither exception relaxes the PSCM LimitReached growth restriction. The
+reference delay and finite response time remain; these output policies are
+command-construction changes, not evidence of improved physical tracking.
+
+## PSCM status and driver handling
+
+card publishes `Lane_Assist_Data3_FD1` in `carStateSP.fordPscmStatus`, retaining
+the original CAN receipt timestamp. Republishing carStateSP or receiving
+unrelated frames cannot refresh it. The opendbc submodule is unchanged.
+
+Feedback requires valid fresh status, InProgress lateral state (2), capability
+LimitedModeAvailable or ExtendedModeAvailable (1 or 2), and no denial.
+Missing, malformed, stale, backward-timestamped, denied or unavailable status
+clears feedback bias/history and disables the separate release guard,
+leaving the base subject to its core validity gates.
+LimitReached (2) permits only the bounded request-reducing backoff described
+above and otherwise freezes integration. LimitWithDriverActive (3) clears
+feedback. Backoff still requires fresh, valid, InProgress status with an
+available capability and no denial. These generic PSCM reports do not identify
+a specific torque or rate limit.
+
+`steeringPressed`, raw torque above the existing Ford driver allowance, or
+nonfinite torque clear feedback. Below 2 m/s feedback also clears. A fresh
+feedback reference interval is required after override; the independent
+release guard can use retained valid request history once its current gates
+are satisfied. Base requests retain normal
+PSCM driver arbitration while lateral control remains authorized; an unset
+override flag cannot rule out subthreshold driver influence.
+
+## Gates and Sunnylink selection
+
+Core model/action/car-state freshness, finite-value, clock and speed checks
+remain in place. Invalid core inputs reset both commands and clear latActive.
+Raw model geometry is validated on every update, including repeated model
+timestamps; an invalid raw path cannot reuse the cached valid reference.
+Missing PSCM status disables feedback, not an otherwise valid base request.
+
+Vehicle → Ford → **C2-Free Path Tracking (Experimental)** retains the
+`FordVirtualAngleController` key, default-off setting and offroad/onroad cycle
+requirement. Enabled selects v8 on Ford CAN FD `FORD_F_150_LIGHTNING_MK1`
+regardless of missing or different EPS firmware-query results. Other platforms
+retain their existing controller. V8 takes priority over PSCM Coefficient
+Observer while selected; disabling and cycling offroad/onroad restores the
+previous selection. Controller selection does not force lateral engagement.
+
+The analyzed firmware is `RL38-14D003-AA`; removing the eligibility check
+is not validation of other firmware. No live device setting is changed.
+
+## Diagnostics and verification
+
+The 5 Hz `Ford C2-free path tracking` event keeps its name and identifies v8.
+`model_offset_base` / `model_heading_base` report the already weighted and
+encoded model contribution; `curvature_offset_base` / `curvature_heading_base`
+report the residual-curvature contribution. `model_share` and `base_guard`
+identify model-pose, blended, curvature-only, opposed-model and zero-request
+cases. `heading_base` is the bounded pre-feedback C1. `offset_target` and
+`heading_target` are the final targets after the independent release guard;
+`offset_target_unguarded` and `heading_target_unguarded` retain the inputs to
+that guard. The latter C1 already includes its normal feedback/backoff policy.
+
+The event retains source timestamps, measured curvature/yaw, final commands,
+slew scales, feedback bias/status/history, raw torque and PSCM status/age.
+`feedback_backoff_active` records the persistent heading ceiling, including
+cycles whose feedback status is `no_new_measurement`.
+`release_guard_active` and `release_guard_reference_curvature` expose the
+independent C0/C1 guard and its retained delayed reference.
+`feedback_release_tracking_active`, `feedback_release_ceiling` and
+`feedback_curvature_delta` identify accepted release
+tracking, the total-heading threshold used to admit new bias, and the
+measured-curvature change across the response interval (1/m). The tracking
+flag is true only when the branch accepts a bias change on a new measurement;
+it is false on repeated measurements. The ceiling/trend fields can describe
+an evaluated condition even when no increment is accepted.
+`feedback_recovery_active` records an accepted recovery increment on this
+update only; it does not persist between measurements.
+`feedback_yaw_error` retains its delayed-reference meaning. Recovery instead
+uses current error, reconstructed from logged `desired_curvature`,
+synchronized car-state speed and `yaw_rate`; those two errors can differ.
+During backoff or the independent release guard, `heading_target` can be lower in the request direction than
+the bounded sum of `heading_base` and `heading_bias`, because the temporary
+ceiling is not part of the stored bias.
+`model_heading_target` remains a filtered comparison reference; it is not the
+weighted model contribution. `angleState.saturated` is not an EPS-limit signal.
+
+Validation must cover large recorded maneuvers, flat-model centering, both
+turn directions, model/action disagreement, share transitions, release and
+reversal, release/limit backoff without growth or zero crossing, status/driver
+resets, reference causality, bounds, slew and CAN packing with C2/C3 zero.
+Recovery checks cover both directions, stopping at zero bias, repeated
+measurements, current-and-delayed agreement, and rejection at PSCM limit 2.
+Old v3/v4 command-equality expectations do not define
+v8 success. Guard checks also cover driver reset/history rebuilding,
+same-direction growth, opposing coefficients, repeated measurements,
+undertracking and invalid-status inhibition. Tracking checks cover delayed
+curvature trends and tapered release-entry headroom. Historical v5–v7 replay
+results remain historical observations.
+
+The v8 recorded-input fixture contains 15,273 cycles with 4,879 selected
+evidence samples. Base allocation and output eligibility match v7. In the
+clean deficient exit, median absolute C1 changes from 0.0665 to 0.0845 rad
+while C0 stays unchanged. The growth guard also acts while feedback history
+rebuilds; the largest over-growth witness includes nearby driver input and
+is excluded from the strict autonomous tracking score. Both good comparison
+curves in that fixture retain their median requests, and the older large-turn
+fixtures retain their required command scale.
+
+On the earlier good drive, one comparison curve retains extra C1 after
+eligible release tracking: median magnitude changes from 0.121 to 0.128 rad.
+In its 103–110 s interval, tracking increments occur only while measured
+turning falls short, with a median current response/request ratio of 0.895.
+Acquired bias can persist after matching, as with ordinary integral feedback.
+This collateral command change remains a reason to compare new vehicle logs.
+Replay fixes recorded motion and planner outputs, so enabled vehicle logs
+are still required to assess tracking error, oscillation and interventions.

docs/how-to/car-port.md

@@ -30,7 +30,7 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 
 For historical reasons, openpilot still contains a small amount of car-specific logic. This will eventually be migrated to opendbc or otherwise removed.
 
-* `selfdrive/car/car_specific.py`: Brand-specific event logic
+* `openpilot/selfdrive/car/car_specific.py`: Brand-specific event logic
 
 # How do I port car?
 

docs/how-to/replay-a-drive.md

@@ -5,7 +5,7 @@ Replaying is a critical tool for openpilot development and debugging.
 ## Replaying a route
 *Hardware required: none*
 
-Just run `tools/replay/replay --demo`.
+Just run `openpilot/tools/replay/replay --demo`.
 
 ## Replaying CAN data
 *Hardware required: jungle and comma four*

docs/how-to/turn-the-speed-blue.md

@@ -28,10 +28,10 @@ scons
 We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
 ```bash
 # in terminal 1
-tools/replay/replay --demo
+openpilot/tools/replay/replay --demo
 
 # in terminal 2
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -45,10 +45,10 @@ Now let’s update the speed display color in the UI.
 
 Search for the function responsible for rendering the current speed:
 ```bash
-git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
+git grep "_draw_current_speed" openpilot/selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
+You'll find the relevant code inside `openpilot/selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
 ```python
 def _draw_current_speed(self, rect: rl.Rectangle) -> None:
@@ -72,7 +72,7 @@ Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is
 
 After making changes, re-run the UI to see your new UI:
 ```bash
-./selfdrive/ui/ui.py
+./openpilot/selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 

docs/serve.py

@@ -0,0 +1,555 @@
+import argparse
+import functools
+import html
+import http.server
+import json
+import posixpath
+import re
+import shutil
+import threading
+import time
+import urllib.parse
+from pathlib import Path
+
+DOCS_DIR = Path(__file__).resolve().parent
+SITE_DIR = DOCS_DIR / "_site"
+TEMPLATE_FILE = DOCS_DIR / "template.html"
+EXCLUDE_DIRS = {"_site", "__pycache__"}
+
+REPO_URL = "https://github.com/commaai/openpilot/"
+
+# (title, target) pairs. target is a page path or an absolute URL.
+# A None target marks a section header.
+NAV: list[tuple[str, str | None]] = [
+  ("What is openpilot?", "index.md"),
+  ("How-to", None),
+  ("Turn the speed blue", "how-to/turn-the-speed-blue.md"),
+  ("Connect to a comma 3X or four", "how-to/connect-to-comma.md"),
+  ("Add support for a car", "how-to/car-port.md"),
+  ("Concepts", None),
+  ("Logs", "concepts/logs.md"),
+  ("Safety", "concepts/safety.md"),
+  ("Glossary", "concepts/glossary.md"),
+  ("Contributing", None),
+  ("Feedback", "contributing/feedback.md"),
+  ("Roadmap", "contributing/roadmap.md"),
+  ("Contributing Guide →", "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"),
+  ("Links", None),
+  ("Blog →", "https://blog.comma.ai"),
+  ("Bounties →", "https://comma.ai/bounties"),
+  ("GitHub →", "https://github.com/commaai"),
+  ("Discord →", "https://discord.comma.ai"),
+  ("X →", "https://x.com/comma_ai"),
+]
+
+GLOSSARY_DESCRIPTIONS = {
+  "onroad": "openpilot's system state while ignition is on.",
+  "offroad": "openpilot's system state while ignition is off.",
+  "route": "A route is a recording of an onroad session.",
+  "segment": "Routes are split into one minute chunks called segments.",
+  "comma connect": "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).",
+  "panda": "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).",
+  "comma four": "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).",
+}
+GLOSSARY_PAGE = "concepts/glossary.md"
+GLOSSARY_ROUTE = GLOSSARY_PAGE.removesuffix(".md")
+GLOSSARY_SKIP = frozenset("a code h1 h2 h3 h4 h5 h6 kbd pre script style".split())
+
+_ENTITY = re.compile(r"&(?:#x?[0-9a-fA-F]+|[a-zA-Z]+);")
+_LIST = re.compile(r"^(\s*)([*+-]|\d+\.)\s+(.*)$")
+_HEADING = re.compile(r"^(#{1,6})\s+(.*)$")
+_HR = re.compile(r"^(-{3,}|\*{3,}|_{3,})$")
+_ATTR_URL = re.compile(r"""(?P<pre>\b(?:href|src)=(?P<q>["']))(?P<url>.*?)(?P=q)""")
+_VOID = frozenset("br img hr meta link input".split())
+_URL = re.compile(r"https?://[^\s<>\[\]\"']+")
+_ADMONITION = re.compile(r"^\[!(NOTE|TIP|IMPORTANT|WARNING|CAUTION)\]$", re.I)
+
+
+def page_route(path: str) -> str:
+  path = path.removesuffix(".md")
+  return posixpath.dirname(path) or "." if posixpath.basename(path) == "index" else path
+
+
+def page_href(current: str, target: str) -> str:
+  route = posixpath.relpath(page_route(target), page_route(current))
+  return ("." if route == "." else route) + "/"
+
+
+def rewrite_relative_url(value: str, page: str) -> str | None:
+  url = urllib.parse.urlparse(value)
+  if value.startswith(("#", "/")) or url.scheme or url.netloc or not url.path:
+    return None
+  target = posixpath.normpath(posixpath.join(posixpath.dirname(page), url.path))
+  if target == ".." or target.startswith("../"):
+    return None
+  path = page_href(page, target) if target.endswith(".md") else posixpath.relpath(target, page_route(page))
+  return url._replace(path=path).geturl()
+
+
+def rewrite_html_urls(fragment: str, page: str) -> str:
+  def repl(m: re.Match[str]) -> str:
+    r = rewrite_relative_url(m.group("url"), page)
+    return m.group(0) if r is None else f'{m.group("pre")}{r}{m.group("q")}'
+
+  return _ATTR_URL.sub(repl, fragment)
+
+
+def esc(text: str, attr: bool = False) -> str:
+  held: list[str] = []
+
+  def hold(m: re.Match[str]) -> str:
+    held.append(m.group(0))
+    return f"\0{len(held) - 1}\0"
+
+  return re.sub(r"\0(\d+)\0", lambda m: held[int(m.group(1))], html.escape(_ENTITY.sub(hold, text), quote=attr))
+
+
+def clean_tooltip(description: str) -> str:
+  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
+  return re.sub(r"\s+", " ", re.sub(r"[*_~]", "", re.sub(r"`([^`]+)`", r"\1", text))).strip()
+
+
+def glossary_slug(label: str) -> str:
+  return label.replace(" ", "-").replace("_", "-").lower()
+
+
+GLOSSARY_TERMS = [(glossary_slug(l), re.compile(rf"(?<!\w){re.escape(l)}(?!\w)", re.I), clean_tooltip(d)) for l, d in GLOSSARY_DESCRIPTIONS.items()]
+GLOSSARY_DEFINITIONS = "\n".join(f'* <span id="{glossary_slug(l)}"></span>**{l}**: {d}' for l, d in GLOSSARY_DESCRIPTIONS.items())
+
+
+def inject_glossary(body: str, page: str) -> str:
+  if page == GLOSSARY_PAGE:
+    return body
+  route = "." if page == "index.md" else page.removesuffix(".md")
+  base, seen, out, skip, depth = f"{posixpath.relpath(GLOSSARY_ROUTE, route)}/#", set(), [], None, 0
+  for part in re.split(r"(<[^>]+>)", body):
+    if not part:
+      continue
+    if part.startswith("<"):
+      out.append(part)
+      if part.startswith("<!") or not (m := re.match(r"</?\s*([a-zA-Z0-9]+)", part)):
+        continue
+      tag = m.group(1).lower()
+      if tag not in GLOSSARY_SKIP:
+        continue
+      closing, void = part.startswith("</"), part.endswith("/>") or tag in _VOID
+      if closing and skip == tag and depth:
+        depth -= 1
+        skip = None if not depth else skip
+      elif not closing and not void:
+        skip, depth = (tag, 1) if skip is None else (skip, depth + (skip == tag))
+      continue
+    if depth:
+      out.append(part)
+      continue
+    cur, text = 0, part
+    while True:
+      best = None
+      for order, (slug, pat, tip) in enumerate(GLOSSARY_TERMS):
+        if slug in seen or (found := pat.search(text, cur)) is None:
+          continue
+        cand = (found.start(), found.start() - found.end(), order, slug, tip, found.end(), found.group(0))
+        if best is None or cand[:3] < best[:3]:
+          best = cand
+      if best is None:
+        out.append(text[cur:])
+        break
+      start, _, _, slug, tip, end, matched = best
+      out.append(text[cur:start])
+      out.append(
+        f'<a class="glossary-term" data-glossary-term="" href="{base}{slug}">'
+        + f'<span class="glossary-term__label">{matched}</span>'
+        + f'<span class="glossary-term__tooltip" data-search-exclude="">{esc(tip)}</span></a>'
+      )
+      seen.add(slug)
+      cur = end
+  return "".join(out)
+
+
+def slugify(text: str) -> str:
+  text = html.unescape(re.sub(r"<[^>]+>", "", text)).lower()
+  return re.sub(r"[-\s]+", "-", re.sub(r"[^\w\s-]", "", text, flags=re.UNICODE)).strip("-")
+
+
+def _parse_link(text: str, start: int) -> tuple[str, str, int] | None:
+  if start >= len(text) or text[start] != "[":
+    return None
+  depth, i = 0, start
+  while i < len(text):
+    depth += (text[i] == "[") - (text[i] == "]")
+    if text[i] == "]" and depth == 0:
+      label = text[start + 1 : i]
+      if i + 1 >= len(text) or text[i + 1] != "(":
+        return None
+      j, dp = i + 2, 1
+      while j < len(text) and dp:
+        dp += (text[j] == "(") - (text[j] == ")")
+        j += 1
+      return None if dp else (label, text[i + 2 : j - 1], j)
+    i += 1
+  return None
+
+
+def autolink_plain(text: str) -> str:
+  parts: list[str] = []
+  last = 0
+  for m in _URL.finditer(text):
+    start = m.start()
+    if start > 0 and text[start - 1].isalnum():
+      continue
+    parts.append(esc(text[last:start]))
+    url = m.group(0).rstrip(".,;:!?)]")
+    parts.append(f'<a href="{esc(url, True)}">{esc(url)}</a>')
+    last = start + len(url)
+  parts.append(esc(text[last:]))
+  return "".join(parts)
+
+
+def render_inline(text: str, page: str) -> str:
+  out, i, n = [], 0, len(text)
+  while i < n:
+    if text[i] == "\n" and i >= 2 and text[i - 2 : i] == "  " and out and out[-1].endswith("  "):
+      out[-1] = out[-1][:-2]
+      out.append("<br>\n")
+      i += 1
+      continue
+    if text[i] == "`" and (end := text.find("`", i + 1)) != -1:
+      out.append(f"<code>{esc(text[i + 1 : end])}</code>")
+      i = end + 1
+      continue
+    if text[i] == "!" and i + 1 < n and text[i + 1] == "[" and (p := _parse_link(text, i + 1)):
+      label, url, end = p
+      src = rewrite_relative_url(url, page) or url
+      out.append(f'<img alt="{esc(label, True)}" src="{esc(src, True)}">')
+      i = end
+      continue
+    if text[i] == "[" and (p := _parse_link(text, i)):
+      label, url, end = p
+      href = rewrite_relative_url(url, page) or url
+      out.append(f'<a href="{esc(href, True)}">{render_inline(label, page)}</a>')
+      i = end
+      continue
+    if text[i] == "<":
+      if text.startswith("<!--", i):
+        end = text.find("-->", i + 4)
+        end = n if end < 0 else end + 3
+        out.append(rewrite_html_urls(text[i:end], page))
+        i = end
+        continue
+      if m := re.match(r"<[^>]+>", text[i:]):
+        out.append(rewrite_html_urls(m.group(0), page))
+        i += len(m.group(0))
+        continue
+    if (text.startswith("**", i) or text.startswith("__", i)) and (end := text.find(text[i : i + 2], i + 2)) != -1:
+      out.append(f"<strong>{render_inline(text[i + 2 : end], page)}</strong>")
+      i = end + 2
+      continue
+    if text[i] in "*_" and i + 1 < n and text[i + 1] not in " \t\n" and (end := text.find(text[i], i + 1)) > i + 1:
+      out.append(f"<em>{render_inline(text[i + 1 : end], page)}</em>")
+      i = end + 1
+      continue
+    j = i + 1
+    while j < n and text[j] not in "`[<!*_":
+      j += 1
+    out.append(autolink_plain(text[i:j]))
+    i = j
+  return "".join(out)
+
+
+def _trow(line: str) -> list[str]:
+  return [c.strip() for c in line.strip().removeprefix("|").removesuffix("|").split("|")]
+
+
+def _is_sep(line: str) -> bool:
+  return "|" in line and all(re.fullmatch(r":?-{3,}:?", c.strip()) for c in _trow(line))
+
+
+def _align(sep: str) -> str:
+  s = sep.strip()
+  if s.startswith(":") and s.endswith(":"):
+    return ' style="text-align: center;"'
+  if s.endswith(":"):
+    return ' style="text-align: right;"'
+  if s.startswith(":"):
+    return ' style="text-align: left;"'
+  return ""
+
+
+def _list_info(line: str) -> tuple[int, str, str] | None:
+  m = _LIST.match(line)
+  return None if not m else (len(m.group(1)) // 4, "ol" if m.group(2)[-1] == "." else "ul", m.group(3))
+
+
+def _render_blocks(text: str, page: str) -> str:
+  lines, out, i, n = text.splitlines(), [], 0, 0
+  n = len(lines)
+  while i < n:
+    line, s = lines[i], lines[i].strip()
+    if not s:
+      i += 1
+      continue
+
+    if s.startswith("```"):
+      lang, body = s[3:].strip(), []
+      i += 1
+      while i < n and not lines[i].strip().startswith("```"):
+        body.append(lines[i])
+        i += 1
+      if i < n:
+        i += 1
+      code = html.escape("\n".join(body) + ("\n" if body else ""))
+      cls = f' class="language-{html.escape(lang)}"' if lang else ""
+      out.append(f"<pre><code{cls}>{code}</code></pre>")
+      continue
+
+    if m := _HEADING.match(s):
+      content, level = m.group(2).rstrip("#").strip(), len(m.group(1))
+      sid = slugify(content)
+      out.append(f'<h{level} id="{sid}">{render_inline(content, page)}<a class="headerlink" href="#{sid}" title="Permanent link">#</a></h{level}>')
+      i += 1
+      continue
+
+    if _HR.fullmatch(s):
+      out.append("<hr>")
+      i += 1
+      continue
+
+    if "|" in line and i + 1 < n and _is_sep(lines[i + 1]):
+      headers, aligns = _trow(line), [_align(c) for c in _trow(lines[i + 1])]
+      i += 2
+      rows = []
+      while i < n and "|" in lines[i] and lines[i].strip():
+        rows.append(_trow(lines[i]))
+        i += 1
+      parts = (
+        ["<table>", "<thead>", "<tr>"]
+        + [f"<th{aligns[j] if j < len(aligns) else ''}>{render_inline(h, page)}</th>" for j, h in enumerate(headers)]
+        + ["</tr>", "</thead>", "<tbody>"]
+      )
+      for row in rows:
+        parts.append("<tr>")
+        for j in range(len(headers)):
+          parts.append(f"<td{aligns[j] if j < len(aligns) else ''}>{render_inline(row[j] if j < len(row) else '', page)}</td>")
+        parts.append("</tr>")
+      out.append("\n".join(parts + ["</tbody>", "</table>"]))
+      continue
+
+    if _list_info(line):
+      items: list[tuple[int, str, list[str]]] = []
+      while i < n:
+        if not lines[i].strip():
+          if i + 1 < n and _list_info(lines[i + 1]):
+            i += 1
+            continue
+          break
+        info = _list_info(lines[i])
+        if not info:
+          break
+        level, kind, body = info
+        chunk = [body]
+        i += 1
+        while i < n and lines[i].strip() and _list_info(lines[i]) is None:
+          t = lines[i].strip()
+          if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+            break
+          chunk.append(lines[i])
+          i += 1
+        items.append((level, kind, chunk))
+
+      def render_list(items: list[tuple[int, str, list[str]]], start: int, min_level: int) -> tuple[str, int]:
+        if start >= len(items) or items[start][0] < min_level:
+          return "", start
+        kind, chunks, idx = items[start][1], [f"<{items[start][1]}>"], start
+        while idx < len(items) and items[idx][0] >= min_level:
+          level, ikind, body_lines = items[idx]
+          if level > min_level:
+            nested, idx = render_list(items, idx, level)
+            chunks[-1] = (chunks[-1][:-5] + nested + "</li>") if chunks[-1].endswith("</li>") else chunks[-1] + nested
+            continue
+          if ikind != kind:
+            chunks += [f"</{kind}>", f"<{ikind}>"]
+            kind = ikind
+          idx += 1
+          body = render_inline("\n".join(body_lines), page)
+          nested = ""
+          if idx < len(items) and items[idx][0] > min_level:
+            nested, idx = render_list(items, idx, min_level + 1)
+          chunks.append(f"<li>{body}{nested}\n</li>" if nested else f"<li>{body}</li>")
+        chunks.append(f"</{kind}>")
+        return "\n".join(chunks), idx
+
+      out.append(render_list(items, 0, items[0][0])[0])
+      continue
+
+    if s.startswith(">"):
+      q = []
+      while i < n and lines[i].strip().startswith(">"):
+        q.append(re.sub(r"^>\s?", "", lines[i].strip()))
+        i += 1
+      m = _ADMONITION.match(q[0].strip()) if q else None
+      if m:
+        kind = m.group(1).lower()
+        title = m.group(1).capitalize()
+        body = _render_blocks("\n".join(q[1:]), page)
+        out.append(f'<div class="admonition {kind}">\n<p class="admonition-title">{title}</p>\n{body}\n</div>')
+      else:
+        out.append(f"<blockquote>\n<p>{render_inline(chr(10).join(q), page)}</p>\n</blockquote>")
+      continue
+
+    if s.startswith("<!--"):
+      out.append(rewrite_html_urls(line, page))
+      i += 1
+      # Preserve a blank line after HTML comments (python-markdown does).
+      if i < n and not lines[i].strip():
+        out.append("")
+        while i < n and not lines[i].strip():
+          i += 1
+      continue
+
+    buf = [line]
+    i += 1
+    while i < n and lines[i].strip():
+      t = lines[i].strip()
+      if t.startswith(("```", ">")) or _HEADING.match(t) or _HR.fullmatch(t):
+        break
+      if "|" in lines[i] and i + 1 < n and _is_sep(lines[i + 1]):
+        break
+      buf.append(lines[i])
+      i += 1
+    out.append(f"<p>{render_inline(chr(10).join(buf), page)}</p>")
+
+  return "\n".join(out)
+
+
+def render_markdown(text: str, page: str) -> str:
+  return inject_glossary(_render_blocks(text, page), page)
+
+
+def page_title(source: str) -> str:
+  for line in source.splitlines():
+    if line.startswith("# "):
+      return line[2:].strip()
+  return "openpilot docs"
+
+
+def write_html_redirect(rel: Path) -> None:
+  if rel.name == "index.md":
+    return
+  target = f"{rel.stem}/"
+  out = SITE_DIR / rel.with_suffix(".html")
+  out.parent.mkdir(parents=True, exist_ok=True)
+  out.write_text(
+    "\n".join(
+      [
+        "<!doctype html>",
+        f'<meta http-equiv="refresh" content="0; url={html.escape(target)}">',
+        f'<link rel="canonical" href="{html.escape(target)}">',
+        f"<script>location.replace({json.dumps(target)} + location.search + location.hash)</script>",
+      ]
+    )
+  )
+
+
+def copy_assets() -> None:
+  for src in DOCS_DIR.rglob("*"):
+    if not src.is_file():
+      continue
+    rel = src.relative_to(DOCS_DIR)
+    if any(part in EXCLUDE_DIRS for part in rel.parts):
+      continue
+    if src.suffix == ".md" or src in (Path(__file__).resolve(), TEMPLATE_FILE):
+      continue
+    dest = SITE_DIR / rel
+    dest.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copy2(src, dest)
+
+
+def render_nav_html(current_page: str) -> str:
+  parts: list[str] = []
+  for title, target in NAV:
+    if target is None:
+      parts.append(f'<div class="nav-section">{html.escape(title)}</div>')
+    elif target.startswith(("http://", "https://")):
+      parts.append(f'<a href="{html.escape(target)}">{html.escape(title)}</a>')
+    else:
+      active = ' class="active"' if target == current_page else ""
+      parts.append(f'<a href="{html.escape(page_href(current_page, target))}"{active}>{html.escape(title)}</a>')
+  return "\n".join(parts)
+
+
+def build() -> None:
+  template = TEMPLATE_FILE.read_text()
+  pages = [
+    (path.relative_to(DOCS_DIR), path.read_text())
+    for path in sorted(DOCS_DIR.rglob("*.md"))
+    if path != DOCS_DIR / "README.md" and not any(part in EXCLUDE_DIRS for part in path.relative_to(DOCS_DIR).parts)
+  ]
+  pages.append((Path(GLOSSARY_PAGE), f"# openpilot glossary\n\n{GLOSSARY_DEFINITIONS}"))
+  pages.sort()
+
+  if SITE_DIR.exists():
+    shutil.rmtree(SITE_DIR)
+  SITE_DIR.mkdir(parents=True)
+  copy_assets()
+
+  for rel_path, source in pages:
+    rel = rel_path.as_posix()
+    body = render_markdown(source, rel)
+    title = page_title(source)
+    route = page_route(rel)
+    root = "../" * (0 if route == "." else len(route.split("/")))
+    edit_path = "serve.py" if rel == GLOSSARY_PAGE else rel
+    page_html = template
+    for name, value in {
+      "TITLE": html.escape(title),
+      "ROOT": root,
+      "HOME_HREF": page_href(rel, "index.md"),
+      "NAV": render_nav_html(rel),
+      "BODY": body,
+      "EDIT_URL": html.escape(f"{REPO_URL}blob/master/docs/{edit_path}"),
+    }.items():
+      page_html = page_html.replace(f"{{{{{name}}}}}", value)
+    out = SITE_DIR / ("" if route == "." else route) / "index.html"
+    out.parent.mkdir(parents=True, exist_ok=True)
+    out.write_text(page_html)
+    write_html_redirect(rel_path)
+
+  print(f"docs: built {len(pages)} pages into {SITE_DIR}")
+
+
+def _watched_files() -> list[Path]:
+  return [p for p in DOCS_DIR.rglob("*") if p.is_file() and not any(part in EXCLUDE_DIRS for part in p.relative_to(DOCS_DIR).parts)]
+
+
+def serve() -> None:
+  build()
+  mtimes = {p: p.stat().st_mtime for p in _watched_files()}
+  handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(SITE_DIR))
+  httpd = http.server.ThreadingHTTPServer(("", 0), handler)
+  print(f"docs: serving on http://localhost:{httpd.server_port}/ (watching for changes)")
+  try:
+    threading.Thread(target=httpd.serve_forever, daemon=True).start()
+    while True:
+      time.sleep(0.5)
+      new_mtimes = {p: p.stat().st_mtime for p in _watched_files()}
+      if new_mtimes != mtimes:
+        mtimes = new_mtimes
+        print("docs: change detected, rebuilding...")
+        try:
+          build()
+        except Exception as e:
+          print(f"docs: build failed: {e}")
+  except KeyboardInterrupt:
+    pass
+  finally:
+    httpd.shutdown()
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Build or serve the openpilot documentation site.")
+  parser.add_argument("--build", action="store_true", help="Build the site and exit.")
+  args = parser.parse_args()
+  if args.build:
+    build()
+  else:
+    serve()

docs/stylesheets/extra.css

@@ -1,42 +0,0 @@
-.md-logo img {
-  filter: invert(1);
-}
-
-.glossary-term {
-  position: relative;
-  color: inherit;
-  text-decoration: none;
-}
-
-.glossary-term__label {
-  border-bottom: 1px dotted currentColor;
-}
-
-.glossary-term__tooltip {
-  position: absolute;
-  top: calc(100% + 0.4rem);
-  left: 50%;
-  width: max-content;
-  max-width: min(30rem, 80vw);
-  padding: 0.65rem 0.8rem;
-  border-radius: 0.6rem;
-  background: rgb(26 26 26 / 96%);
-  color: white;
-  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
-  font-size: 0.85rem;
-  line-height: 1.45;
-  opacity: 0;
-  pointer-events: none;
-  transform: translateX(-50%) translateY(-0.15rem);
-  transition: opacity 120ms ease, transform 120ms ease;
-  visibility: hidden;
-  z-index: 20;
-}
-
-.glossary-term:hover .glossary-term__tooltip,
-.glossary-term:focus-visible .glossary-term__tooltip,
-.glossary-term:focus-within .glossary-term__tooltip {
-  opacity: 1;
-  transform: translateX(-50%) translateY(0);
-  visibility: visible;
-}

docs/template.html

@@ -0,0 +1,224 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>{{TITLE}} · openpilot docs</title>
+  <link rel="icon" href="{{ROOT}}assets/favicon.svg">
+
+  <style>
+:root {
+  --bg: #fff;
+  --bg-elev: #f5f5f5;
+  --bg-hover: #eef0ff;
+  --fg: #262626;
+  --fg-dim: #666;
+  --accent: #4051b5;
+  --border: #e5e5e5;
+  --max-width: 76rem;
+}
+
+* { box-sizing: border-box; }
+html { scrollbar-gutter: stable; }
+html, body { margin: 0; padding: 0; }
+body {
+  background: var(--bg);
+  color: var(--fg);
+  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, Helvetica, Arial, sans-serif;
+  line-height: 1.6;
+  font-size: 15px;
+}
+
+a { color: var(--accent); text-decoration: none; }
+a:hover { text-decoration: underline; }
+
+header.site {
+  display: flex; align-items: center; gap: 0.75rem;
+  min-height: 3rem;
+  padding: 0.5rem max(1.25rem, calc((100% - var(--max-width)) / 2));
+  background: var(--bg);
+  border-bottom: 1px solid var(--border);
+  position: sticky; top: 0; z-index: 10;
+}
+header.site img { display: block; height: 24px; filter: invert(1); }
+header.site .brand { display: flex; align-items: center; gap: 0.75rem; color: var(--fg); }
+header.site .brand:hover { text-decoration: none; }
+header.site .site-name { font-weight: 600; font-size: 1.05rem; }
+header.site .spacer { flex: 1; }
+header.site .social { display: flex; gap: 1rem; }
+header.site .social a { display: flex; color: var(--fg); }
+header.site .social a:hover { color: var(--accent); }
+header.site .social svg { width: 1.75rem; height: 1.75rem; fill: currentColor; }
+header.site .social a[aria-label="Discord"] svg { transform: scale(1.15); }
+
+.layout { display: flex; width: 100%; max-width: var(--max-width); margin: 0 auto; }
+
+nav.sidebar {
+  width: 14rem; flex-shrink: 0;
+  padding: 3.3rem 1.25rem 2rem 0;
+  position: sticky; top: 3rem; align-self: start;
+  max-height: calc(100vh - 3rem); overflow-y: auto;
+}
+nav.sidebar .nav-section { font-weight: 600; margin: 1.15rem 0.8rem 0.45rem; }
+nav.sidebar a {
+  display: block; padding: 0.28rem 0.8rem; border-radius: 0.45rem;
+  color: var(--fg); line-height: 1.35;
+}
+nav.sidebar a:hover { background: var(--bg-hover); text-decoration: none; }
+nav.sidebar a.active { background: var(--bg-hover); color: var(--accent); font-weight: 600; }
+
+main.content { width: min(100%, 46.5rem); min-width: 0; padding: 2.7rem 2rem 5rem; }
+main.content h1, main.content h2, main.content h3 { line-height: 1.25; margin-top: 1.8rem; }
+main.content h1 { margin-top: 0; }
+main.content img { max-width: 100%; }
+main.content table { border-collapse: collapse; display: block; overflow-x: auto; }
+main.content th, main.content td { border: 1px solid var(--border); padding: 0.4rem 0.6rem; text-align: left; }
+main.content th { background: var(--bg-elev); }
+main.content pre {
+  position: relative;
+  background: var(--bg-elev);
+  padding: 0.9rem 1rem;
+  border-radius: 0.25rem;
+  overflow-x: auto;
+}
+main.content code { font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace; }
+main.content :not(pre) > code { background: var(--bg-elev); padding: 0.1rem 0.35rem; border-radius: 0.2rem; font-size: 0.88em; }
+main.content blockquote { border-left: 3px solid var(--border); margin: 1rem 0; padding: 0.2rem 1rem; color: var(--fg-dim); }
+main.content .admonition {
+  margin: 1rem 0; padding: 0.5rem 1rem; border-radius: 0.3rem; border-left: 3px solid var(--border);
+  background: var(--bg-elev);
+}
+main.content .admonition .admonition-title { margin: 0.2rem 0 0.4rem; font-weight: 600; }
+main.content .admonition.note { border-left-color: #0969da; }
+main.content .admonition.note .admonition-title { color: #0969da; }
+main.content .admonition.tip { border-left-color: #1a7f37; }
+main.content .admonition.tip .admonition-title { color: #1a7f37; }
+main.content .admonition.important { border-left-color: #8250df; }
+main.content .admonition.important .admonition-title { color: #8250df; }
+main.content .admonition.warning { border-left-color: #9a6700; }
+main.content .admonition.warning .admonition-title { color: #9a6700; }
+main.content .admonition.caution { border-left-color: #cf222e; }
+main.content .admonition.caution .admonition-title { color: #cf222e; }
+main.content details { margin: 0.5rem 0; }
+main.content hr { border: none; border-top: 1px solid var(--border); margin: 2rem 0; }
+.headerlink { margin-left: 0.25rem; opacity: 0; font-size: 0.7em; }
+h1:hover .headerlink, h2:hover .headerlink, h3:hover .headerlink { opacity: 1; }
+
+.edit-link { margin-top: 3rem; font-size: 0.85rem; }
+
+.copy-btn {
+  position: absolute; top: 0.4rem; right: 0.4rem;
+  background: var(--bg); color: var(--fg-dim);
+  border: 1px solid var(--border); border-radius: 0.35rem;
+  padding: 0.2rem 0.5rem; font-size: 0.78rem; cursor: pointer;
+  opacity: 0; transition: opacity 120ms;
+}
+main.content pre:hover .copy-btn { opacity: 1; }
+
+@media (max-width: 48rem) {
+  nav.sidebar { display: none; }
+  main.content { padding: 2rem 1.25rem 4rem; }
+}
+
+.glossary-term {
+  position: relative;
+  color: inherit;
+}
+
+.glossary-term__label {
+  border-bottom: 1px dotted currentColor;
+}
+
+.glossary-term__tooltip {
+  position: absolute;
+  top: calc(100% + 0.4rem);
+  left: 50%;
+  width: max-content;
+  max-width: min(30rem, 80vw);
+  padding: 0.65rem 0.8rem;
+  border-radius: 0.6rem;
+  background: rgb(26 26 26 / 96%);
+  color: white;
+  box-shadow: 0 0.6rem 1.8rem rgb(0 0 0 / 22%);
+  font-size: 0.85rem;
+  line-height: 1.45;
+  opacity: 0;
+  pointer-events: none;
+  transform: translateX(-50%) translateY(-0.15rem);
+  transition: opacity 120ms ease, transform 120ms ease;
+  visibility: hidden;
+  z-index: 20;
+}
+
+.glossary-term:hover .glossary-term__tooltip,
+.glossary-term:focus-visible .glossary-term__tooltip,
+.glossary-term:focus-within .glossary-term__tooltip {
+  opacity: 1;
+  transform: translateX(-50%) translateY(0);
+  visibility: visible;
+}
+  </style>
+</head>
+<body>
+  <header class="site">
+    <a class="brand" href="{{HOME_HREF}}">
+      <img src="{{ROOT}}assets/comma-logo.png" alt="">
+      <span class="site-name">openpilot docs</span>
+    </a>
+    <span class="spacer"></span>
+    <div class="social">
+      <a href="https://github.com/commaai" aria-label="GitHub">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M12 .7A11.5 11.5 0 0 0 8.4 23c.6.1.8-.2.8-.5v-2c-3.3.7-4-1.4-4-1.4-.5-1.4-1.3-1.8-1.3-1.8-1.1-.7.1-.7.1-.7
+          1.2.1 1.8 1.2 1.8 1.2 1.1 1.8 2.8 1.3 3.5 1 .1-.8.4-1.3.8-1.6-2.7-.3-5.5-1.3-5.5-5.7 0-1.3.5-2.3 1.2-3.1
+          -.1-.3-.5-1.6.1-3.1 0 0 1-.3 3.2 1.2a11 11 0 0 1 5.8 0C15.8 6 16.8 6.3 16.8 6.3c.6 1.5.2 2.8.1 3.1
+          .8.8 1.2 1.8 1.2 3.1 0 4.4-2.8 5.4-5.5 5.7.4.4.8 1.1.8 2.2v2.1c0 .3.2.6.8.5A11.5 11.5 0 0 0 12 .7Z"/></svg>
+      </a>
+      <a href="https://discord.comma.ai" aria-label="Discord">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M20.3 4.4A16 16 0 0 0 16.3 3l-.5 1.1a15 15 0 0 0-7.6 0L7.7 3a16 16 0 0 0-4 1.4C1.1 8.2.4 11.9.8 15.5
+          a16 16 0 0 0 4.9 2.6l1.2-1.7-1.8-.9.4-.3c3.5 1.6 9.4 1.6 13 0l.4.3-1.8.9 1.2 1.7a16 16 0 0 0 4.9-2.6
+          c.5-4.2-.8-7.8-2.9-11.1ZM8.3 13.3c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z
+          m7.4 0c-1.1 0-1.9-1-1.9-2.2 0-1.3.8-2.3 1.9-2.3s2 1 1.9 2.3c0 1.2-.8 2.2-1.9 2.2Z"/></svg>
+      </a>
+      <a href="https://x.com/comma_ai" aria-label="X">
+        <svg viewBox="0 0 24 24" aria-hidden="true"><path d="
+          M18.2 2.3h3.3l-7.2 8.3 8.5 11.2h-6.7l-5.2-6.8-6 6.8H1.6l7.8-8.9L1.2 2.3h6.8l4.7 6.2 5.5-6.2Z
+          m-1.2 17.5h1.8L7 4.2H5Z"/></svg>
+      </a>
+    </div>
+  </header>
+
+  <div class="layout">
+    <nav class="sidebar">
+      {{NAV}}
+    </nav>
+
+    <main class="content">
+      {{BODY}}
+      <div class="edit-link">
+        <a href="{{EDIT_URL}}">Edit this page on GitHub</a>
+      </div>
+    </main>
+  </div>
+
+  <script>
+    document.addEventListener('DOMContentLoaded', function () {
+      document.querySelectorAll('pre').forEach(function (el) {
+        var btn = document.createElement('button');
+        btn.className = 'copy-btn';
+        btn.textContent = 'copy';
+        btn.addEventListener('click', function () {
+          var code = el.querySelector('code');
+          if (!code) return;
+          navigator.clipboard.writeText(code.innerText).then(function () {
+            btn.textContent = 'copied';
+            setTimeout(function () { btn.textContent = 'copy'; }, 1200);
+          });
+        });
+        el.appendChild(btn);
+      });
+    });
+  </script>
+</body>
+</html>

launch_chffrplus.sh

@@ -19,12 +19,14 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
-    MANIFEST="$DIR/system/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
+    MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    while true; do
+      $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+    done
   fi
 }
 
@@ -70,6 +72,14 @@ function launch {
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"
 
+  # submodule package symlinks for PYTHONPATH imports on device.
+  # on PC these come from editable installs via pyproject.toml / uv.
+  ln -sfn msgq_repo/msgq msgq
+  ln -sfn opendbc_repo/opendbc opendbc
+  ln -sfn rednose_repo/rednose rednose
+  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
+  ln -sfn tinygrad_repo/tinygrad tinygrad
+
   # hardware specific init
   if [ -f /AGNOS ]; then
     agnos_init
@@ -79,7 +89,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd system/manager
+  cd openpilot/system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.4"
+  export AGNOS_VERSION="19.7"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

msgq

@@ -1 +0,0 @@
-msgq_repo/msgq

opendbc

@@ -1 +0,0 @@
-opendbc_repo/opendbc

openpilot/cereal/README.md

@@ -24,17 +24,17 @@ things are not. Read more details [here](https://capnproto.org/language.html).
 ### Custom forks
 
 Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
+spec, however this could conflict with future changes made in mainline openpilot's cereal spec. Rebasing against mainline openpilot
 then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
+[custom.capnp](custom.capnp) that we will leave empty in mainline openpilot's cereal spec. **If you only modify those, you can ensure your
 fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
 
 An example of compatible changes:
 ```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
+diff --git a/openpilot/cereal/custom.capnp b/openpilot/cereal/custom.capnp
 index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
+--- a/openpilot/cereal/custom.capnp
++++ b/openpilot/cereal/custom.capnp
 @@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
  # DO rename the structs
  # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
@@ -48,10 +48,10 @@ index 3348e859e..3365c7b98 100644
  }
 
  struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
+diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
 index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
+--- a/openpilot/cereal/log.capnp
++++ b/openpilot/cereal/log.capnp
 @@ -2558,14 +2558,14 @@ struct Event {
 
      # DO change the name of the field
@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])

openpilot/cereal/SConscript

@@ -0,0 +1,22 @@
+Import('env', 'common', 'msgq')
+
+cereal_dir = Dir('.')
+gen_dir = Dir('gen')
+
+# Build cereal
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
+
+# Build messaging
+services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+
+socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
+
+Export('cereal', 'socketmaster')

openpilot/cereal/__init__.py

@@ -0,0 +1,11 @@
+import os
+import capnp
+from importlib.resources import as_file, files
+
+capnp.remove_import_hook()
+
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+  CEREAL_PATH = fspath.as_posix()
+  opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])

openpilot/cereal/custom.capnp

@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0xb526ba661d550a59;
@@ -69,6 +69,8 @@ struct LeadData {
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
   intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+  buttonsPressed @2 :UInt16;
+  buttonsReleaseToggle @3 :UInt16;
 
   enum AudibleAlert {
     none @0;
@@ -129,6 +131,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     downloaded @2;
     cached @3;
     failed @4;
+    verifying @5;
   }
 
   struct DownloadProgress {
@@ -137,10 +140,16 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Chunk {
+    fileName @0 :Text;
+    sha256 @1 :Text;
+  }
+
   struct Artifact {
     fileName @0 :Text;
     downloadUri @1 :DownloadUri;
     downloadProgress @2 :DownloadProgress;
+    chunks @3 :List(Chunk);
   }
 
   struct Model {
@@ -155,6 +164,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       policy @3;
       offPolicy @4;
       onPolicy @5;
+      chunked @6;
     }
   }
 
@@ -342,6 +352,8 @@ struct OnroadEventSP @0xda96579883444c35 {
     speedLimitChanged @21;
     speedLimitPending @22;
     e2eChime @23;
+    laneChangeRoadEdge @24;
+    bigModelReady @25;
   }
 }
 
@@ -371,6 +383,7 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+  fordLateralPath @5 :FordLateralPath;
 
   struct Param {
     key @0 :Text;
@@ -391,6 +404,15 @@ struct CarControlSP @0xa5cd762cd951a455 {
   }
 }
 
+struct FordLateralPath {
+  pathOffset @0 :Float32;     # c0 [m]
+  pathAngle @1 :Float32;      # c1 [rad]
+  curvature @2 :Float32;      # c2 [1/m]
+  curvatureRate @3 :Float32;  # c3 [1/m^2]
+  valid @4 :Bool;
+  enabled @5 :Bool;          # Startup-selected custom controller; independent of command validity.
+}
+
 struct BackupManagerSP @0xf98d843bfd7004a3 {
   backupStatus @0 :Status;
   restoreStatus @1 :Status;
@@ -435,6 +457,16 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 
 struct CarStateSP @0xb86e6369214c01c8 {
   speedLimit @0 :Float32;
+  fordPscmStatus @1 :FordPscmStatus;
+
+  struct FordPscmStatus {
+    valid @0 :Bool;
+    canMonoTime @1 :UInt64;  # Last accepted Lane_Assist_Data3_FD1 CAN receipt, not carStateSP publication time.
+    lateralState @2 :UInt8;  # LatCtlSte_D_Stat
+    limit @3 :UInt8;  # LatCtlLim_D_Stat: generic lateral limit, not a torque/rate diagnosis.
+    capability @4 :UInt8;  # LatCtlCpblty_D_Stat
+    denied @5 :Bool;  # LaActDeny_B_Actl
+  }
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -448,6 +480,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
 
 struct ModelDataV2SP @0xa1680744031fdb2d {
   laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;
 
   enum TurnDirection {
     none @0;
@@ -456,7 +490,30 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
   }
 }
 
-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct AssistedDrivingMilestoneState @0xcb9fd56c7057593a {
+  enabled @0 :Bool;
+  madsDistanceMeters @1 :Float64;
+  fullAssistDistanceMeters @2 :Float64;
+  event @3 :Event;
+
+  struct Event {
+    id @0 :UInt64;
+    category @1 :Category;
+    distanceMeters @2 :Float64;
+    previousDistanceMeters @3 :Float64;
+    unit @4 :Unit;
+  }
+
+  enum Category {
+    none @0;
+    mads @1;
+    fullAssist @2;
+  }
+
+  enum Unit {
+    imperial @0;
+    metric @1;
+  }
 }
 
 struct CustomReserved11 @0xc2243c65e0340384 {

openpilot/cereal/deprecated.capnp

@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
@@ -760,18 +760,6 @@ struct LateralLQRState @0x9024e2d790c82ade {
   steeringAngleDesiredDeg @6 :Float32;
 }
 
-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
 struct LateralPlannerSolution @0x84caeca5a6b4acfe {
   x @0 :List(Float32);
   y @1 :List(Float32);
@@ -787,3 +775,13 @@ struct GpsTrajectory @0x8cfeb072f5301000 {
   x @0 :List(Float32);
   y @1 :List(Float32);
 }
+
+struct AudioFeedbackDEPRECATED @0xed47e3c075be372a {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+
+  struct AudioData {
+    data @0 :Data;
+    sampleRate @1 :UInt32;
+  }
+}

openpilot/cereal/log.capnp

@@ -1,7 +1,7 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
+using Car = import "/car.capnp";
 using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 
@@ -75,7 +75,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     driverUnresponsive2 @37;
     driverUnresponsive3 @38;
     belowSteerSpeed @39;
-    lowBattery @40;
     accFaulted @41;
     sensorDataInvalid @42;
     commIssue @43;
@@ -107,18 +106,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     noGps @68;
     wrongCruiseMode @69;
     modeldLagging @70;
-    deviceFalling @71;
     fanMalfunction @72;
     cameraMalfunction @73;
     cameraFrameRate @74;
     processNotRunning @75;
     dashcamMode @76;
     selfdriveInitializing @77;
-    usbError @78;
     cruiseMismatch @79;
     canBusMissing @80;
     selfdrivedLagging @81;
     resumeBlocked @82;
+    carNotReady @103;
     steerTimeLimit @83;
     vehicleSensorsInvalid @84;
     locationdTemporaryError @85;
@@ -131,9 +129,15 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     aeb @92;
     userBookmark @95;
     excessiveActuation @96;
-    audioFeedback @97;
+    bigModelLoading @100;
+    bigModelFailed @102;
 
+    lowBatteryDEPRECATED @40;
     soundsUnavailableDEPRECATED @47;
+    deviceFallingDEPRECATED @71;
+    usbErrorDEPRECATED @78;
+    audioFeedbackDEPRECATED @97;
+    bigModelReadyDEPRECATED @101;
   }
 }
 
@@ -176,13 +180,13 @@ struct InitData {
 
   enum DeviceType {
     unknown @0;
-    neo @1;
+    neo @1;   # NEO, EON, & comma two
     chffrAndroid @2;
     chffrIos @3;
-    tici @4;
+    tici @4;  # comma three
     pc @5;
-    tizi @6;
-    mici @7;
+    tizi @6;  # comma 3X
+    mici @7;  # comma four
   }
 
   struct PandaInfo {
@@ -414,6 +418,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
   deviceType @45 :InitData.DeviceType;
 
+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -684,33 +692,68 @@ struct PeripheralState {
   }
 }
 
+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
+  }
+}
+
+struct ChestnutState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+  supplyFault @10 :Bool;
+}
+
 struct RadarState @0x9a185389d6fdd05f {
-  mdMonoTime @6 :UInt64;
-  carStateMonoTime @11 :UInt64;
+  mdMonoTime @6 :UInt64;  # for debugging
   radarErrors @13 :Car.RadarData.Error;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
 
   struct LeadData {
-    dRel @0 :Float32;
-    yRel @1 :Float32;
-    vRel @2 :Float32;
-    aRel @3 :Float32;
-    vLead @4 :Float32;
-    dPath @6 :Float32;
-    vLat @7 :Float32;
-    vLeadK @8 :Float32;
-    aLeadK @9 :Float32;
-    fcw @10 :Bool;
-    status @11 :Bool;
-    aLeadTau @12 :Float32;
-    modelProb @13 :Float32;
-    radar @14 :Bool;
-    radarTrackId @15 :Int32 = -1;
+    dRel @0 :Float32;  # m from the front bumper of the car
+    yRel @1 :Float32;  # m in car frame, left positive
+    vRel @2 :Float32;  # m/s relative longitudinal speed
+    vLead @4 :Float32;  # m/s absolute lead speed
+    vLeadK @8 :Float32;  # kalman-filtered lead speed
+    aLeadK @9 :Float32;  # kalman-filtered lead accel
+    present @11 :Bool;  # true if a lead is present
+    aLeadTau @12 :Float32;  # lead accel time constant
+    modelProb @13 :Float32;  # vision model lead probability
+    radar @14 :Bool;  # true if lead is radar-matched (vs vision-only)
+    radarTrackId @15 :Int32 = -1;  # for debugging
 
     deprecated :group {
+      aRel @3 :Float32;
       aLead @5 :Float32;
+      dPath @6 :Float32;
+      vLat @7 :Float32;
+      fcw @10 :Bool;
     }
   }
 
@@ -723,11 +766,12 @@ struct RadarState @0x9a185389d6fdd05f {
     calPerc @9 :Int8;
     canMonoTimes @10 :List(UInt64);
     cumLagMs @5 :Float32;
+    carStateMonoTime @11 :UInt64;
     radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
   }
 }
 
-struct LiveCalibrationData {
+struct ExtrinsicsCalibration @0x96df70754d8390bc {
   calStatus @11 :Status;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
@@ -771,13 +815,31 @@ struct SelfdriveState {
   alertStatus @5 :AlertStatus;
   alertSize @6 :AlertSize;
   alertType @7 :Text;
-  alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  alertSound @13 :AudibleAlert;
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
   experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    preAlert @9;
+    complete @10;
+  }
+
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
     disabled @0;
     preEnabled @1;
@@ -798,6 +860,10 @@ struct SelfdriveState {
     mid @2;
     full @3;
   }
+
+  deprecated :group {
+    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+  }
 }
 
 struct ControlsState @0x97ff69c53601abf1 {
@@ -818,7 +884,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
 
-    curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
+    curvatureState @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
     indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
   }
@@ -867,6 +933,18 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @3 :Bool;
   }
 
+  struct LateralCurvatureState @0xad9d8095c06f7c61 {
+    active @0 :Bool;
+    actualCurvature @1 :Float32;
+    desiredCurvature @2 :Float32;
+    error @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+  }
+
   deprecated :group {
     vEgo @0 :Float32;
     vEgoRaw @32 :Float32;
@@ -906,7 +984,7 @@ struct ControlsState @0x97ff69c53601abf1 {
     alertStatus @38 :SelfdriveState.AlertStatus;
     alertSize @39 :SelfdriveState.AlertSize;
     alertType @44 :Text;
-    alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
+    alertSound2 @56 :SelfdriveState.AudibleAlert;
     engageable @41 :Bool;  # can OP be engaged?
     state @31 :SelfdriveState.OpenpilotState;
     enabled @19 :Bool;
@@ -927,6 +1005,7 @@ struct DrivingModelData {
   frameIdExtra @1 :UInt32;
   frameDropPerc @6 :Float32;
   modelExecutionTime @7 :Float32;
+  big @8 :Bool;
 
   action @2 :ModelDataV2.Action;
 
@@ -973,6 +1052,7 @@ struct ModelDataV2 {
   timestampEof @3 :UInt64;
   modelExecutionTime @15 :Float32;
   rawPredictions @16 :Data;
+  big @27 :Bool;
 
   # predicted future position, orientation, etc..
   position @4 :XYZTData;
@@ -989,7 +1069,6 @@ struct ModelDataV2 {
   roadEdgeStds @14 :List(Float32);
 
   # predicted lead cars
-  leads @11 :List(LeadDataV2);
   leadsV3 @18 :List(LeadDataV3);
 
   meta @12 :MetaData;
@@ -999,8 +1078,9 @@ struct ModelDataV2 {
   action @26: Action;
 
   lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
+  leadsDEPRECATED @11 :List(LeadDataV2DEPRECATED);
 
-  struct LeadDataV2 {
+  struct LeadDataV2DEPRECATED {
     prob @0 :Float32; # probability that car is your lead at time t
     t @1 :Float32;
 
@@ -1120,7 +1200,7 @@ struct EncodeIndex {
   }
 }
 
-struct AndroidLogEntry {
+struct OperatingSystemLogEntry {
   id @0 :UInt8;
   ts @1 :UInt64;
   priority @2 :UInt8;
@@ -1258,7 +1338,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
 struct LiveLocationKalman {
 
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
 
   positionECEF @0 : Measurement;
   positionGeodetic @1 : Measurement;
@@ -1313,9 +1393,9 @@ struct LiveLocationKalman {
 }
 
 
-struct LivePose {
+struct DeviceMotion @0xc24ca2b57206b44d {
   # More info on reference frames:
-  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  # https://github.com/commaai/openpilot/tree/master/openpilot/common/transformations
   orientationNED @0 :XYZMeasurement;
   velocityDevice @1 :XYZMeasurement;
   accelerationDevice @2 :XYZMeasurement;
@@ -2108,8 +2188,11 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
 
 struct DriverMonitoringState {
   lockout @0 :Bool;
-  alertCountLockoutPercent @1 :Int8;
-  alertTimeLockoutPercent @2 :Int8;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
 
   alwaysOn @3 :Bool;
   alwaysOnLockout @4 :Bool;
@@ -2173,6 +2256,11 @@ struct DriverMonitoringState {
     calibratedPercent @0 :Int8;
     offset @1 :Float32;
   }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
 }
 
 struct Boot {
@@ -2187,7 +2275,7 @@ struct Boot {
   }
 }
 
-struct LiveParametersData {
+struct VehicleParameters @0xd9058dcb967c2753 {
   valid @0 :Bool;
   gyroBias @1 :Float32;
   angleOffsetDeg @2 :Float32;
@@ -2221,8 +2309,8 @@ struct LiveParametersData {
   }
 }
 
-struct LiveTorqueParametersData {
-  liveValid @0 :Bool;
+struct LateralTorqueParameters @0xe61690eb0b091692 {
+  valid @0 :Bool;
   latAccelFactorRaw @1 :Float32;
   latAccelOffsetRaw @2 :Float32;
   frictionCoefficientRaw @3 :Float32;
@@ -2238,7 +2326,7 @@ struct LiveTorqueParametersData {
   calPerc @13 :Int8;
 }
 
-struct LiveDelayData {
+struct LateralDelay @0x98dfdb22c44df8d4 {
   lateralDelay @0 :Float32;
   validBlocks @1 :Int32;
   status @2 :Status;
@@ -2247,6 +2335,7 @@ struct LiveDelayData {
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
   calPerc @6 :Int8;
+  version @7 :Int32;
 
   enum Status {
     unestimated @0;
@@ -2423,11 +2512,6 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
-struct AudioFeedback {
-  audio @0 :AudioData;
-  blockNum @1 :UInt16;
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2460,9 +2544,9 @@ struct Event {
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
-    liveTracks @131 :Car.RadarData;
+    radarTracks @131 :Car.RadarData;
     sendcan @17 :List(CanData);
-    liveCalibration @19 :LiveCalibrationData;
+    extrinsicsCalibration @19 :ExtrinsicsCalibration;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
@@ -2473,42 +2557,43 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gpsLocation @21 :GpsLocationData;
-    liveParameters @61 :LiveParametersData;
-    liveTorqueParameters @94 :LiveTorqueParametersData;
-    liveDelay @146 : LiveDelayData;
+    vehicleParameters @61 :VehicleParameters;
+    lateralTorqueParameters @94 :LateralTorqueParameters;
+    lateralDelay @146 : LateralDelay;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @151 :DriverMonitoringState;
-    livePose @129 :LivePose;
+    deviceMotion @129 :DeviceMotion;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
-    roadCameraState @2 :FrameData;
-    driverCameraState @70: FrameData;
+    narrowRoadCameraState @2 :FrameData;
+    cabinCameraState @70: FrameData;
     wideRoadCameraState @74: FrameData;
-    roadEncodeIdx @15 :EncodeIndex;
-    driverEncodeIdx @76 :EncodeIndex;
+    narrowRoadEncodeIdx @15 :EncodeIndex;
+    cabinEncodeIdx @76 :EncodeIndex;
     wideRoadEncodeIdx @77 :EncodeIndex;
-    qRoadEncodeIdx @90 :EncodeIndex;
+    qNarrowRoadEncodeIdx @90 :EncodeIndex;
 
-    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamNarrowRoadEncodeIdx @117 :EncodeIndex;
     livestreamWideRoadEncodeIdx @118 :EncodeIndex;
-    livestreamDriverEncodeIdx @119 :EncodeIndex;
+    livestreamCabinEncodeIdx @119 :EncodeIndex;
 
     # microphone data
     soundPressure @103 :SoundPressure;
     rawAudioData @147 :AudioData;
 
     # systems stuff
-    androidLog @20 :AndroidLogEntry;
+    operatingSystemLog @20 :OperatingSystemLogEntry;
     managerState @78 :ManagerState;
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
+    chestnutState @152 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
@@ -2521,21 +2606,20 @@ struct Event {
     # driving feedback
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
-    audioFeedback @149 :AudioFeedback;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
 
     # *********** debug ***********
     testJoystick @52 :Joystick;
-    roadEncodeData @86 :EncodeData;
-    driverEncodeData @87 :EncodeData;
+    narrowRoadEncodeData @86 :EncodeData;
+    cabinEncodeData @87 :EncodeData;
     wideRoadEncodeData @88 :EncodeData;
-    qRoadEncodeData @89 :EncodeData;
+    qNarrowRoadEncodeData @89 :EncodeData;
     alertDebug @133 :DebugAlert;
 
-    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamNarrowRoadEncodeData @120 :EncodeData;
     livestreamWideRoadEncodeData @121 :EncodeData;
-    livestreamDriverEncodeData @122 :EncodeData;
+    livestreamCabinEncodeData @122 :EncodeData;
 
     # *********** Custom: reserved for forks ***********
 
@@ -2558,7 +2642,7 @@ struct Event {
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
     modelDataV2SP @116 :Custom.ModelDataV2SP;
-    customReserved10 @136 :Custom.CustomReserved10;
+    assistedDrivingMilestoneState @136 :Custom.AssistedDrivingMilestoneState;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;
@@ -2571,6 +2655,7 @@ struct Event {
 
     # *********** legacy + deprecated ***********
     model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
+    audioFeedbackDEPRECATED @149 :Deprecated.AudioFeedbackDEPRECATED;
     liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
     liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
     liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;

openpilot/cereal/messaging/__init__.py

@@ -7,12 +7,43 @@ import os
 import capnp
 import time
 
-from typing import Optional, List, Union, Dict
+from typing import Union
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
+__all__ = (
+  "NO_TRAVERSAL_LIMIT",
+  "Context",
+  "FrequencyTracker",
+  "IpcError",
+  "MultiplePublishersError",
+  "Poller",
+  "PubMaster",
+  "PubSocket",
+  "SocketEventHandle",
+  "SubMaster",
+  "SubSocket",
+  "delete_fake_prefix",
+  "drain_sock",
+  "drain_sock_raw",
+  "fake_event_handle",
+  "get_fake_prefix",
+  "log_from_bytes",
+  "new_message",
+  "pub_sock",
+  "recv_one",
+  "recv_one_or_none",
+  "recv_one_retry",
+  "recv_sock",
+  "reset_context",
+  "set_fake_prefix",
+  "sub_sock",
+  "toggle_fake_events",
+  "wait_for_one_event",
+)
+
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
@@ -22,8 +53,8 @@ def pub_sock(endpoint: str) -> PubSocket:
   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:
+def sub_sock(endpoint: str, poller: Poller | None = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: int | None = 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,
@@ -39,7 +70,7 @@ def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event
     return msg
 
 
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+def new_message(service: str | None, size: int | None = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
   args = {
     'valid': False,
     'logMonoTime': int(time.monotonic() * 1e9),
@@ -54,14 +85,14 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
   return dat
 
 
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
+def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> list[capnp.lib.capnp._DynamicStructReader]:
   """Receive all message currently available on the queue"""
   msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
   return [log_from_bytes(m) for m in msgs]
 
 
 # TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_sock(sock: SubSocket, wait: bool = False) -> capnp.lib.capnp._DynamicStructReader | None:
   """Same as drain sock, but only returns latest message. Consider using conflate instead."""
   dat = None
 
@@ -82,14 +113,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
   return dat
 
 
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive()
   if dat is not None:
     dat = log_from_bytes(dat)
   return dat
 
 
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
+def recv_one_or_none(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader | None:
   dat = sock.receive(non_blocking=True)
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -148,27 +179,27 @@ class FrequencyTracker:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+  def __init__(self, services: list[str], poll: str | None = None,
+               ignore_alive: list[str] | None = None, ignore_avg_freq: list[str] | None = None,
+               ignore_valid: list[str] | None = None, addr: str = "127.0.0.1", frequency: float | None = None):
     self.frame = -1
     self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
+    self.seen = dict.fromkeys(services, False)
+    self.updated = dict.fromkeys(services, False)
+    self.recv_time = dict.fromkeys(services, 0.0)
+    self.recv_frame = dict.fromkeys(services, 0)
     self.sock = {}
     self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
+    self.logMonoTime = dict.fromkeys(services, 0)
 
     # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
     on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.static_freq_services = {s for s in services if not on_demand[s]}
     self.alive = {s: on_demand[s] for s in services}
     self.freq_ok = {s: on_demand[s] for s in services}
     self.valid = {s: on_demand[s] for s in services}
 
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
+    self.freq_tracker: dict[str, FrequencyTracker] = {}
     self.poller = Poller()
     polled_services = set([poll, ] if poll is not None else services)
     self.non_polled_services = set(services) - polled_services
@@ -211,7 +242,7 @@ class SubMaster:
       msgs.append(recv_one_or_none(self.sock[s]))
     self.update_msgs(time.monotonic(), msgs)
 
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
+  def update_msgs(self, cur_time: float, msgs: list[capnp.lib.capnp._DynamicStructReader]) -> None:
     self.frame += 1
     self.updated = dict.fromkeys(self.services, False)
     for msg in msgs:
@@ -234,21 +265,21 @@ class SubMaster:
       self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
       self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_alive(self, service_list: list[str] | None = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_freq_ok(self, service_list: list[str] | None = None) -> bool:
     return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
 
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_valid(self, service_list: list[str] | None = None) -> bool:
     return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
 
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+  def all_checks(self, service_list: list[str] | None = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:
-  def __init__(self, services: List[str]):
+  def __init__(self, services: list[str]):
     self.sock = {}
     for s in services:
       self.sock[s] = pub_sock(s)

openpilot/cereal/messaging/bridge.cc

@@ -1,7 +1,7 @@
 #include <cassert>
 
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 ExitHandler do_exit;

openpilot/cereal/messaging/bridge_zmq.cc

@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 #include <cassert>
 #include <cstring>

openpilot/cereal/messaging/messaging.h

@@ -8,7 +8,7 @@
 
 #include <capnp/serialize.h>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"