Update Python packages

* ci: lfs pointers survive gc

* comma got gc'ed

* format

.gitattributes

@@ -3,7 +3,7 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
-openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
 openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text

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

@@ -115,21 +115,7 @@ jobs:
           env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
             ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
             ${{ github.workspace }}/${{ env.SMALL_PKL }} \
-            --device-input "*" --out-of-band --benchmark-runs 1
-
-      - 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')
-          "
+            --out-of-band --benchmark-runs 1
 
       - name: Prepare output
         env:
@@ -142,8 +128,7 @@ jobs:
           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/"
+          cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
 
           ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
 
@@ -221,20 +206,6 @@ jobs:
               raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
           "
 
-      - 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: Compile big warp
         run: |
           source ${UV_PROJECT_ENVIRONMENT}/bin/activate
@@ -274,8 +245,7 @@ jobs:
           PKL_BASE="big_driving_tinygrad.pkl"
           mkdir -p "$OUTPUT_DIR"
 
-          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
-          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
 
           PKL_LFS_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.BIG_PKL }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
 
@@ -390,24 +360,14 @@ jobs:
           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()
-              })
+          matches = sorted(dm_dir.glob('dmonitoring_*_tinygrad.pkl'))
+          assert len(matches) == 1, f'expected one DM pkl in {dm_dir}, found {matches}'
+          pkl_name = matches[0].name
 
           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)
+          with open(dm_dir / pkl_name, 'rb') as f:
+              while block := f.read(1024*1024):
+                  digest.update(block)
 
           metadata = {
               'bundles': [{
@@ -421,8 +381,7 @@ jobs:
                       'type': 'chunked',
                       'artifact': {
                           'file_name': pkl_name,
-                          'download_uri': {'url': '', 'sha256': digest.hexdigest()},
-                          'chunks': chunks
+                          'download_uri': {'url': '', 'sha256': digest.hexdigest()}
                       }
                   }]
               }]
@@ -481,23 +440,10 @@ jobs:
           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 }}/tinygrad_repo/examples/openpilot/compile_onnx.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')
-          "
+            ${{ github.workspace }}/${{ env.DM_PKL }} \
+            --out-of-band --benchmark-runs 1
 
       - name: Compile DM warp
         run: |
@@ -531,8 +477,7 @@ jobs:
       - 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 ${{ github.workspace }}/${{ env.DM_PKL }} dm_output/
           cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/
 
       - name: Upload DM artifact

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

@@ -137,6 +137,7 @@ jobs:
     needs: build_model
     runs-on: ubuntu-latest
     permissions:
+      actions: read
       id-token: write
       contents: write
     steps:
@@ -179,18 +180,21 @@ jobs:
           echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
 
       - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
+        env:
+          GH_TOKEN: ${{ github.token }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          id=$(gh api -X GET "repos/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID/artifacts" -f name="$ARTIFACT_NAME" --jq '.artifacts[0].id')
+          url=$(curl -sf -o /dev/null -w '%{redirect_url}' -H "Authorization: Bearer $GH_TOKEN" "https://api.github.com/repos/$GITHUB_REPOSITORY/actions/artifacts/$id/zip")
+          sudo apt-get install -y -qq aria2 > /dev/null
+          aria2c -q -x16 -s16 -k8M --max-tries=5 --file-allocation=none -o model.zip "$url" && unzip -q model.zip -d output && rm model.zip
 
       - name: Create models folder
         env:
           ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
           mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
-          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
+          cp output/metadata.json "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
 
       - name: Upload to Hugging Face
         env:

.github/workflows/compile-warp-kernels.yaml

@@ -2,8 +2,6 @@ name: Compile warp for sunnypilot modeld
 
 on:
   workflow_dispatch:
-  schedule:
-    - cron: '0 0 * * 0'
 
 jobs:
   compile_warps:
@@ -43,13 +41,13 @@ jobs:
 
             WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
             echo "Compiling $WARP_PKL on QCOM"
-            taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
-              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${WARP_PKL}"
+            taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${WARP_PKL}"
 
             BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
             echo "Compiling $BIG_WARP_PKL on AMD"
-            taskset -c 7 env DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
-              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${BIG_WARP_PKL}"
+            taskset -c 7 env DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${BIG_WARP_PKL}"
           done
 
       - name: Re-enable powersave
@@ -60,6 +58,11 @@ jobs:
 
       - name: Create Pull Request
         uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          GIT_CONFIG_COUNT: 1
+          GIT_CONFIG_KEY_0: credential.https://huggingface.co.helper
+          GIT_CONFIG_VALUE_0: '!f() { test "$1" = get && echo username=user && echo "password=$HF_TOKEN"; }; f'
         with:
           author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
           token: ${{ secrets.GITHUB_TOKEN }}
@@ -71,3 +74,7 @@ jobs:
           labels: bot
           add-paths: |
             openpilot/sunnypilot/modeld_v2/models/*.pkl
+
+      - name: Reset lfs access
+        if: always()
+        run: git config --local --unset-all "lfs.$(git config -f .lfsconfig lfs.url).access" || true

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

@@ -1,5 +1,5 @@
-name: Download HF model chunks
-description: Resolve and download model chunks from HuggingFace in parallel
+name: Download HF model
+description: Resolve and download models from HuggingFace in parallel
 
 inputs:
   hf_repo:
@@ -19,7 +19,7 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Download model chunks
+    - name: Download models
       shell: bash
       env:
         HF_REPO: ${{ inputs.hf_repo }}
@@ -33,7 +33,7 @@ runs:
         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/${HF_PATH}/default_models.json"
-          local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
+          local DEFAULTS BUNDLE ARTIFACT FILE_URL BASE_URL
           DEFAULTS=$(curl -fsSL "$JSON_URL")
           if [ -n "$TINYGRAD_REF" ]; then
             BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg tg "$TINYGRAD_REF" '
@@ -51,20 +51,12 @@ runs:
           fi
 
           ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
-          BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
-          NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
+          FILE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url')
+          BASE_URL=$(echo "$FILE_URL" | sed 's|/[^/]*$||')
 
           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}/${CANONICAL}.chunkmanifest"
+          ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${FILE_URL}', safe=':/'))")
+          printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}" >> "$DOWNLOAD_LIST"
 
           if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
             for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
@@ -87,7 +79,7 @@ runs:
         done
 
         TOTAL=$(wc -l < "$DOWNLOAD_LIST")
-        echo "Downloading $TOTAL chunks with 8 parallel connections..."
+        echo "Downloading $TOTAL files with 8 parallel connections..."
         xargs -P8 -d'\n' -I{} bash -c '
           URL="${1%%	*}"
           DEST="${1#*	}"

.github/workflows/lfs-maintenance.yaml

@@ -33,7 +33,7 @@ jobs:
 
       - name: LFS Fetch
         run: |
-          git lfs fetch
+          git lfs fetch || echo "::warning::some objects are missing on commaai/openpilot-lfs; mirroring the rest"
 
       - name: Set up Git
         run: |
@@ -68,6 +68,7 @@ jobs:
           git config lfs.activitytimeout 300
           git config lfs.transfer.maxretries 5
           git config lfs.concurrenttransfers 4
+          git config lfs.allowincompletepush true
 
       - name: Push LFS
         id: sync-and-commit
@@ -81,3 +82,80 @@ jobs:
           done
           echo "All push attempts failed"
           exit 1
+
+      - name: Checkout sunnypilot
+        uses: actions/checkout@v4
+        with:
+          repository: 'sunnypilot/sunnypilot'
+          path: sunnypilot
+          fetch-depth: 0
+          filter: blob:limit=1k
+          lfs: false
+
+      - name: Reference objects on sunnypilot-lfs
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          set -euo pipefail
+          GIT_LFS_SKIP_SMUDGE=1 git clone --quiet https://huggingface.co/sunnypilot/sunnypilot-lfs hf-lfs
+          mkdir -p hf-lfs/all
+          cat > scan_pointers.py <<'EOF'
+          import re, subprocess, sys, threading
+          repo = sys.argv[1]
+          chk = subprocess.run(["git", "-C", repo, "cat-file", "--batch-all-objects",
+                                "--batch-check=%(objectname) %(objecttype) %(objectsize)"],
+                               capture_output=True, text=True, check=True).stdout
+          small = [f[0] for f in (l.split() for l in chk.splitlines()) if f[1] == "blob" and int(f[2]) < 1024]
+          p = subprocess.Popen(["git", "-C", repo, "cat-file", "--batch=%(objectsize)"],
+                               stdin=subprocess.PIPE, stdout=subprocess.PIPE)
+          def feed():
+            for sha in small:
+              p.stdin.write(sha.encode() + b"\n")
+            p.stdin.close()
+          threading.Thread(target=feed, daemon=True).start()
+          rx = re.compile(rb"^version https://git-lfs\.github\.com/spec/v1\noid sha256:([0-9a-f]{64})\nsize ([0-9]+)\n")
+          seen = {}
+          for _ in small:
+            n = int(p.stdout.readline()); body = p.stdout.read(n); p.stdout.read(1)
+            m = rx.match(body)
+            if m:
+              seen.setdefault(m.group(1).decode(), m.group(2).decode())
+          for oid, size in sorted(seen.items()):
+            print(oid, size)
+          EOF
+          for repo in . sunnypilot; do
+            python3 scan_pointers.py "$repo"
+          done | sort -u | while read -r oid size; do
+            [ -e "hf-lfs/all/$oid" ] && continue
+            printf 'version https://git-lfs.github.com/spec/v1\noid sha256:%s\nsize %s\n' "$oid" "$size" > "hf-lfs/all/$oid"
+            echo "$oid"
+          done > new_oids.txt
+          echo "new pointer files: $(wc -l < new_oids.txt)"
+
+          dropped=0
+          while mapfile -t -n 100 chunk && ((${#chunk[@]})); do
+            body=$(for oid in "${chunk[@]}"; do
+                     size=$(awk '/^size /{print $2}' "hf-lfs/all/$oid")
+                     printf '{"oid":"%s","size":%s}\n' "$oid" "$size"
+                   done | jq -s '{operation:"download",transfers:["basic"],objects:.}')
+            for attempt in 1 2 3 4 5; do
+              resp=$(curl -sS -u "user:${HF_TOKEN}" -w '\n%{http_code}' \
+                       -H 'Accept: application/vnd.git-lfs+json' -H 'Content-Type: application/vnd.git-lfs+json' \
+                       --data "$body" "${LFS_URL}/objects/batch") && [ "$(tail -n1 <<<"$resp")" = 200 ] && break
+              echo "batch check attempt $attempt failed ($(tail -n1 <<<"$resp")), retrying in 60s"; sleep 60
+            done
+            [ "$(tail -n1 <<<"$resp")" = 200 ] || { echo "batch check failed"; exit 1; }
+            for oid in $(sed '$d' <<<"$resp" | jq -r '.objects[] | select(.error) | .oid'); do
+              rm -f "hf-lfs/all/$oid"; dropped=$((dropped+1))
+            done
+          done < new_oids.txt
+          echo "dropped (not on HF): $dropped"
+
+          cd hf-lfs
+          git add -A all
+          if git diff --cached --quiet; then
+            echo "nothing new to reference"
+            exit 0
+          fi
+          git commit -q -m "Reference $(git diff --cached --name-only | wc -l | tr -d ' ') new LFS objects"
+          git push origin HEAD:main

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

@@ -102,56 +102,39 @@ jobs:
           cat $GITHUB_OUTPUT
 
       - name: Fetch Models
-        env:
-          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
           cd ${{ github.workspace }}/openpilot/openpilot
+          fetch_lfs() {
+            sudo apt-get install -y -qq aria2 > /dev/null # Parallel ranges because gh is flaky
+            LFS_URL=$(git config -f "$(git rev-parse --show-toplevel)/.lfsconfig" lfs.url)
+            for f in "$@"; do
+              grep -qs "^version https://git-lfs" "$f" || continue
+              OID=$(awk -F'sha256:' '/^oid/{print $2}' "$f"); SIZE=$(awk '/^size/{print $2}' "$f")
+              HREF=$(curl -fsSL --retry 3 -X POST -H "Accept: application/vnd.git-lfs+json" -H "Content-Type: application/vnd.git-lfs+json" "$LFS_URL/objects/batch" \
+                -d "{\"operation\":\"download\",\"transfer\":[\"basic\"],\"objects\":[{\"oid\":\"$OID\",\"size\":$SIZE}]}" | jq -r '.objects[0].actions.download.href')
+              aria2c -x 16 -s 16 -k 16M --max-tries=5 --retry-wait=5 --file-allocation=none --summary-interval=30 --allow-overwrite=true \
+                -d "$(dirname "$f")" -o "$(basename "$f")" "$HREF"
+              echo "$OID  $f" | sha256sum -c -
+            done
+          }
+          UPSTREAM_PKL=selfdrive/modeld/models/big_driving_tinygrad.pkl
           if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
-            ONNX_COUNT=$(find selfdrive/modeld/models -maxdepth 1 -type f -name "*.onnx" ! -name "big_*.onnx" ! -name "dmonitoring_*.onnx" 2>/dev/null | wc -l)
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
+            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
+          elif compgen -G "selfdrive/modeld/models/big_*.onnx" > /dev/null; then
+            fetch_lfs selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/big_*.pkl
+            find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
+          elif [ -f "$UPSTREAM_PKL" ]; then
+            echo "No big model ONNX tracked: converting commaai's precompiled $UPSTREAM_PKL, with the tinygrad it was built with"
+            fetch_lfs "$UPSTREAM_PKL"
+            find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -path "$UPSTREAM_PKL" -delete
+            GITMODULES="$(git rev-parse --show-toplevel)/.gitmodules"
+            TG_NAME=$(git config -f "$GITMODULES" --get-regexp '^submodule\..*\.path$' | awk '$2 == "tinygrad_repo" {sub(/^submodule\./, "", $1); sub(/\.path$/, "", $1); print $1}')
+            TG_URL=$(git config -f "$GITMODULES" "submodule.$TG_NAME.url" | sed 's|^\.\./\.\./|https://github.com/|')
+            echo "$TG_URL $(git rev-parse HEAD:tinygrad_repo) $(sha256sum "$UPSTREAM_PKL" | cut -d' ' -f1)" > selfdrive/modeld/models/upstream_pkl.txt
           else
-            ONNX_COUNT=$(find selfdrive/modeld/models -maxdepth 1 -type f -name "big_*.onnx" 2>/dev/null | wc -l)
-          fi
-          if [ "$ONNX_COUNT" -eq 0 ]; then
-            echo "Detected NEW stock architecture (no ONNX files tracked). Fetching from HF and skipping LFS pull."
-            COMMIT_MSG=$(git log -1 --pretty=%B)
-            HF_HASH=$(echo "$COMMIT_MSG" | grep -oE '[a-f0-9]{8}' | head -n 1)
-
-            if [ -n "$HF_HASH" ]; then
-              echo "Downloading ONNX for hash $HF_HASH from HuggingFace."
-              pip install huggingface_hub
-              rm -f selfdrive/modeld/models/*.onnx
-              python3 - <<EOF
-          import sys, os, shutil
-          from huggingface_hub import HfApi, hf_hub_download
-          short_hash = "$HF_HASH"
-          target_dir = "selfdrive/modeld/models"
-          repo = "commaai/openpilot_driving_models"
-          api = HfApi()
-          files = list(api.list_repo_tree(repo, repo_type="model", recursive=True))
-          matching_folder = next((f.path.split("/")[0] for f in files if f.path.startswith(short_hash)), None)
-          if not matching_folder:
-            print(f"Could not find HF folder for hash {short_hash}")
-            sys.exit(1)
-          os.makedirs(target_dir, exist_ok=True)
-          for f in files:
-            if f.path.startswith(matching_folder) and f.path.endswith(".onnx"):
-              p = hf_hub_download(repo_id=repo, repo_type="model", filename=f.path)
-              shutil.copy2(p, os.path.join(target_dir, os.path.basename(f.path)))
-          EOF
-              rm -f selfdrive/modeld/models/*.pkl
-              touch selfdrive/modeld/models/new_arch.txt
-            else
-              echo "Could not parse HuggingFace hash from commit message."
-              exit 1
-            fi
-          else
-            if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
-              git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
-              rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
-            else
-              git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/big_*.pkl" -X ""
-              find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
-            fi
+            echo "::error::no big model ONNX or precompiled big_driving_tinygrad.pkl at this ref"
+            exit 1
           fi
 
           if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx selfdrive/modeld/models/*.pkl 2>/dev/null; then
@@ -162,10 +145,11 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
+          compression-level: 0
           path: |
             ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
             ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
-            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/new_arch.txt
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/upstream_pkl.txt
           if-no-files-found: error
 
   build_model:
@@ -224,11 +208,11 @@ jobs:
           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_QCOM="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 OPENPILOT_HACKS=1"
           if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
             echo "CHESTNUT build"
             export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
             OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
           else
             echo "QCOM build"
@@ -238,20 +222,20 @@ jobs:
 
           NATIVE_PKL=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*.pkl" -print -quit)
 
-          if [ -f "${{ env.MODELS_DIR }}/new_arch.txt" ]; then
-            echo "Detected new arch"
-            DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" -print -quit)
-            if [ -n "$DOWNLOADED_ONNX" ]; then
-              echo "Compiling ONNX: $DOWNLOADED_ONNX"
-              env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
-                "$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --out-of-band --benchmark-runs 1
-
-              echo "Chunking pkl"
-              python3 -c "from openpilot.common.file_chunker import chunk_file, get_chunk_targets; import os; p='$OUTPUT_PKL'; chunk_file(p, get_chunk_targets(p, os.path.getsize(p)))"
-            else
-              echo "Failed to find downloaded ONNX."
-              exit 1
-            fi
+          if [ -f "${{ env.MODELS_DIR }}/upstream_pkl.txt" ]; then
+            read -r TG_URL TG_SHA _ < "${{ env.MODELS_DIR }}/upstream_pkl.txt"
+            echo "Converting commaai's precompiled model with tinygrad $TG_SHA"
+            UPSTREAM_TG="${{ runner.temp }}/upstream_tinygrad"
+            rm -rf "$UPSTREAM_TG" && git init -q "$UPSTREAM_TG" && git -C "$UPSTREAM_TG" fetch -q --depth 1 "$TG_URL" "$TG_SHA" && git -C "$UPSTREAM_TG" checkout -q FETCH_HEAD
+            CONVERTED="${{ runner.temp }}/big_driving_tinygrad_plain.pkl"
+            env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
+              "${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl" "$CONVERTED"
+            mv "$CONVERTED" "$OUTPUT_PKL"
+          elif NEW_ARCH_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}*driving*.onnx" -print -quit) &&
+               [ -n "$NEW_ARCH_ONNX" ] && grep -qa new_img "$NEW_ARCH_ONNX"; then # the new architecture: one ONNX taking the warped frames as new_img
+            echo "Compiling new architecture ONNX: $NEW_ARCH_ONNX"
+            env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
+              "$NEW_ARCH_ONNX" "$OUTPUT_PKL" --device-input "*" --benchmark-runs 1
           else
             echo "Detected onnx architecture. Routing to native compile_modeld.py."
             # Detect model type and build compile args
@@ -317,8 +301,7 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
+            --include='/${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}driving_tinygrad.pkl' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
@@ -329,6 +312,7 @@ jobs:
             --output-dir "${{ env.OUTPUT_DIR }}" \
             --custom-name "${{ env.MODEL_NAME }}" \
             --upstream-branch "${{ inputs.upstream_branch }}" \
+            $([ -f "${{ env.MODELS_DIR }}/upstream_pkl.txt" ] && echo "--onnx-sha256 $(cut -d' ' -f3 "${{ env.MODELS_DIR }}/upstream_pkl.txt")") \
             ${{ inputs.is_20hz && '--is-20hz' || '' }}
 
       - name: Write artifact name to file
@@ -340,6 +324,7 @@ jobs:
         with:
           name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
           path: ${{ env.OUTPUT_DIR }}
+          compression-level: 0
 
       - name: Upload artifact name file
         uses: actions/upload-artifact@v4

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

@@ -503,8 +503,8 @@ 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
+      - name: Download models from HF
+        uses: ./.github/workflows/download-hf-model
         with:
           hf_repo: sunnypilot/sunnypilot_models_v1
           dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
@@ -573,8 +573,8 @@ 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
+      - name: Download models from HF
+        uses: ./.github/workflows/download-hf-model
         with:
           hf_repo: sunnypilot/sunnypilot_models_v1
           dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
@@ -594,8 +594,14 @@ jobs:
       - name: Publish chestnut branch
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
           CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
+          cp .lfsconfig "${{ env.OUTPUT_DIR }}/"
+          echo 'openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text' > "${{ env.OUTPUT_DIR }}/.gitattributes"
+          git lfs install
+          git config --global credential.helper store
+          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \

.github/workflows/test_models.yml

@@ -47,38 +47,22 @@ jobs:
         with:
           submodules: true
 
-      - name: Download Model Chunks in Parallel
+      - name: Download model
         env:
           HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          MODEL_URL: ${{ matrix.artifact.download_uri.url }}
+          MODEL_FILE: ${{ matrix.artifact.file_name }}
+        shell: bash
         run: |
-          mkdir -p /tmp/model_chunks
-          echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
-
-          BASE_URL="${{ matrix.artifact.download_uri.url }}"
-          export BASE_DIR=$(dirname "$BASE_URL")
-
-          python3 -c '
-          import json, os
-          with open("chunks.json") as f:
-            chunks = json.load(f)
-          manifest_path = f"/tmp/model_chunks/${{ matrix.artifact.file_name }}.chunkmanifest"
-          with open(manifest_path, "w") as f:
-            f.write(str(len(chunks)))
-          base_dir = os.environ["BASE_DIR"]
-          hf_token = os.environ.get("HF_TOKEN", "")
-          with open("/tmp/curl_config.txt", "w") as f:
-            for c in chunks:
-              fn = c["file_name"]
-              f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
-              if hf_token:
-                f.write(f"header = \"Authorization: Bearer {hf_token}\"\n")
-          '
-          curl -Z --parallel-immediate --parallel-max 12 --retry 3 --retry-all-errors -s -S -f -L -K /tmp/curl_config.txt
+          mkdir -p /tmp/models
+          AUTH=()
+          if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
+          curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "/tmp/models/$MODEL_FILE" "$MODEL_URL"
 
       - name: Run Model Compatibility Test
         env:
           MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
-          MODEL_CHUNK_DIR: "/tmp/model_chunks"
+          MODEL_DIR: "/tmp/models"
         run: |
           export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
           python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true

Jenkinsfile

@@ -161,6 +161,14 @@ def step(String name, String cmd, Map args = [:]) {
   return [name, cmd, args]
 }
 
+def chestnutStage(String name = "chestnut") {
+  deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
+    step("build", "./openpilot/selfdrive/test/chestnut.sh"),
+    step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+    step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
+  ])
+}
+
 node {
   env.CI = "1"
   env.PYTHONWARNINGS = "error"
@@ -171,6 +179,36 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
+  if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
+    sh 'git fetch --no-tags origin nightly-chestnut'
+    env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
+    if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
+      error("invalid nightly-chestnut source commit")
+    }
+    def results = []
+    try {
+      timeout(time: 12, unit: 'HOURS') {
+        for (int run = 1; run <= 100; run++) {
+          results << "run ${run}: INCOMPLETE"
+          try {
+            chestnutStage("chestnut ${run}/100")
+            results[run - 1] = "run ${run}: PASS"
+          } catch (hudson.AbortException e) {
+            results[run - 1] = "run ${run}: FAIL"
+            echo e.toString()
+          }
+        }
+      }
+    } finally {
+      writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
+      archiveArtifacts artifacts: 'chestnut_stress_report.txt'
+    }
+    if (results.any { !it.endsWith('PASS') }) {
+      error("chestnut stress test failed")
+    }
+    return
+  }
+
   def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
                          'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
@@ -204,9 +242,18 @@ node {
     }
 
     if (env.BRANCH_NAME == '__nightly-chestnut') {
-      deviceStage("build nightly-chestnut", "mici-chestnut-ci", [], [
-        step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
-      ])
+      parallel (
+        'nightly-chestnut': {
+          deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+        'nightly-chestnut-dev': {
+          deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+      )
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
@@ -261,12 +308,7 @@ node {
         ])
       },
       'chestnut': {
-        deviceStage("chestnut", "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
-          step("build", "./openpilot/selfdrive/test/chestnut.sh"),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
-          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
-          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
-        ])
+        chestnutStage()
       },
 
     )

RELEASES.md

@@ -1,4 +1,14 @@
-Version 0.11.2 (2026-08-12)
+Version 0.11.3 (2026-XX-XX)
+========================
+* Autospeed
+  * On supported cars, openpilot will intelligently decide what speed to drive based on the scene, including:
+    * stopping at red lights, and going at green lights
+    * slowing down for curves
+    * adjusting speed based on surrounding traffic
+  * This behavior was previously available with openpilot's "Experimental mode", but is now out of beta and always enabled
+  * With openpilot deciding which speed to drive, the car's cruise speed is treated as a maximum speed openpilot will not exceed
+
+Version 0.11.2 (2026-10-14)
 =======================
 * New driving model
   * Big model with 880M parameters

SConstruct

@@ -20,7 +20,7 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
+release = not os.path.exists(File('#.gitmodules').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
@@ -316,8 +316,6 @@ 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()
@@ -326,7 +324,6 @@ 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):
@@ -342,13 +339,3 @@ 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 str(t).endswith('.pkl'):  # chunked during release packaging
-      continue
-    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))

docs/CARS.md

@@ -4,10 +4,11 @@
 
 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.
 
-# 345 Supported Cars
+# 351 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|ADX 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=Acura ADX 2025-26">Buy Here</a></sub></details>|||
 |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>1,5</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>|||
@@ -16,12 +17,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>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>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>|||
@@ -33,8 +34,8 @@ 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>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|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 MEB connector<br>- 1 comma four<br>- 1 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>|||
+|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](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 MEB connector<br>- 1 comma four<br>- 1 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>|||
@@ -86,7 +87,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 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 Hatchback 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 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>|||
@@ -94,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>1,5</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|CR-V Hybrid 2023-27|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 2023-27">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>|||
@@ -111,7 +112,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2026|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 Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 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 Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 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 Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 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 Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Honda|Pilot 2026|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 Pilot 2026">Buy Here</a></sub></details>|||
+|Honda|Prelude 2026|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 Prelude 2026">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-26|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 Ridgeline 2017-26">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 Azera Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Azera Hybrid 2020">Buy Here</a></sub></details>|||
@@ -163,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>|||
+|Kia|Ceed Plug-in Hybrid 2021|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 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 Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 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 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=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (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 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=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (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 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=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -188,7 +192,7 @@ 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)|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|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|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>||
@@ -197,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|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 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=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 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 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=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Sportage Plug-in Hybrid 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 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=Kia Sportage Plug-in Hybrid 2023">Buy Here</a></sub></details>|||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
@@ -225,51 +230,52 @@ 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>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>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>|||
+|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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[<sup>6</sup>](#footnotes)|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[<sup>6</sup>](#footnotes)|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>7</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>7</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>7</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>7</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>7</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/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/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>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) 2020-24[<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) 2020-24">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<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) 2023-25">Buy Here</a></sub></details>|||
+|Rivian|R1S 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 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 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 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 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 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 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 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>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>18</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<sup>10</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 HW2.5) 2019">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</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>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</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>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>10</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) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>10</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) 2023-25">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>|||
@@ -282,8 +288,8 @@ 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>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 2018-20|All|Stock|0 mph[<sup>12</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>12</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>|||
@@ -315,44 +321,44 @@ 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>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|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 MEB connector<br>- 1 comma four<br>- 1 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|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 MEB connector<br>- 1 comma four<br>- 1 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>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](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 MEB connector<br>- 1 comma four<br>- 1 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|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](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 MEB connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>18</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>18</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>18</sup>](#footnotes)|||
+|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](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 />
@@ -360,18 +366,19 @@ A supported vehicle is one that just works when you install a comma device. All
 <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>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>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. 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 />
+<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. 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>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</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>13</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>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>17</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>18</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/).

launch_chffrplus.sh

@@ -56,6 +56,8 @@ function launch {
           mv "$DIR" /data/safe_staging/old_openpilot
           mv "${STAGING_ROOT}/finalized" "$DIR"
           cd "$DIR"
+          # releases before the openpilot/ move can't swap AGNOS on newer AGNOS, use ours
+          [ ! -L system/hardware/tici/agnos.json ] && /data/safe_staging/old_openpilot/openpilot/common/hardware/comma/agnos.py --verify system/hardware/tici/agnos.json && sudo reboot
 
           echo "Restarting launch script ${LAUNCHER_LOCATION}"
           unset AGNOS_VERSION

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7"
+  export AGNOS_VERSION="19.9"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/custom.capnp

@@ -345,7 +345,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     silentParkBrake @11;
     controlsMismatchLateral @12;
     hyundaiRadarTracksConfirmed @13;
-    experimentalModeSwitched @14;
+    experimentalModeSwitchedDEPRECATED @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
     laneTurnLeft @17;

openpilot/cereal/log.capnp

@@ -128,6 +128,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     personalityChanged @91;
     aeb @92;
     userBookmark @95;
+    userBookmarkNotPaired @104;
     excessiveActuation @96;
     bigModelLoading @100;
     bigModelFailed @102;
@@ -166,12 +167,7 @@ struct InitData {
   gitSrcCommit @23 :Text;
   gitSrcCommitDate @24 :Text;
 
-  androidProperties @16 :Map(Text, Text);
-
-  pandaInfo @8 :PandaInfo;
-
   dirty @9 :Bool;
-  passive @12 :Bool;
   params @17 :Map(Text, Data);
 
   commands @19 :Map(Text, Data);
@@ -189,6 +185,17 @@ struct InitData {
     mici @7;  # comma four
   }
 
+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    pandaInfo @8 :PandaInfo;
+    passive @12 :Bool;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
+    androidProperties @16 :Map(Text, Text);
+  }
+
   struct PandaInfo {
     hasPanda @0 :Bool;
     dongleId @1 :Text;
@@ -199,14 +206,6 @@ struct InitData {
   struct ChffrAndroidExtra {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
-
-  deprecated :group {
-    gctx @1 :Text;
-    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
-    androidSensors @6 :List(Deprecated.AndroidSensor);
-    chffrAndroidExtra @7 :ChffrAndroidExtra;
-    iosBuildInfo @14 :Deprecated.IosBuildInfo;
-  }
 }
 
 struct FrameData {
@@ -572,6 +571,9 @@ struct PandaState @0xa7649e2575e4591e {
   controlsAllowedLateral @38 :Bool;
   controlsAllowedLongitudinal @39 :Bool;
 
+  nmiReset @40 :Bool;
+  hardfaultReset @41 :Bool;
+
   enum FaultStatus {
     none @0;
     faultTemp @1;
@@ -694,6 +696,7 @@ struct PeripheralState {
 
 struct UsbState {
   devices @0 :List(Device);
+  connected @1 :Bool;
 
   struct Device {
     busnum @0 :UInt8;
@@ -819,7 +822,6 @@ struct SelfdriveState {
   alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;
 
   # configurable driving settings
-  experimentalMode @10 :Bool;
   personality @11 :LongitudinalPersonality;
 
   enum AudibleAlert {
@@ -863,6 +865,7 @@ struct SelfdriveState {
 
   deprecated :group {
     alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+    experimentalMode @10 :Bool;
   }
 }
 
@@ -1237,6 +1240,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   shouldStop @37: Bool;
   allowThrottle @38: Bool;
   allowBrake @39: Bool;
+  accelBoost @40 :Float32;
 
 
   solverExecutionTime @35 :Float32;
@@ -2234,6 +2238,7 @@ struct DriverMonitoringState {
       pose @0: Bool;
       eye @1: Bool;
       phone @2: Bool;
+      sleep @3: Bool;
     }
 
     struct Pose {
@@ -2705,8 +2710,8 @@ struct Event {
     driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
     gpsNMEADEPRECATED @3 :GPSNMEAData;
     uploaderStateDEPRECATED @79 :UploaderState;
-    navInstructionDEPRECATED @82 :NavInstruction;
-    navRouteDEPRECATED @83 :NavRoute;
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
     navThumbnailDEPRECATED @84 :Thumbnail;
     gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
     mapRenderStateDEPRECATED @105: MapRenderState;

openpilot/cereal/services.py

@@ -52,6 +52,8 @@ _services: dict[str, tuple] = {
   "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
   "clocks": (True, 0.1, 1),

openpilot/common/api/__init__.py

@@ -1,4 +1,4 @@
-from openpilot.common.api.comma_connect import CommaConnectApi
+from openpilot.common.api.comma_connect import API_HOST as API_HOST, CommaConnectApi
 
 
 class Api:

openpilot/common/constants.py

@@ -16,6 +16,10 @@ class CV:
   DEG_TO_RAD = np.pi / 180.
   RAD_TO_DEG = 1. / DEG_TO_RAD
 
+  # Length
+  METER_TO_FOOT = 3.28084
+  METER_TO_MILE = 1. / 1609.344
+
   # Mass
   LB_TO_KG = 0.453592
 

openpilot/common/esim/base.py

@@ -1,6 +1,8 @@
 from abc import ABC, abstractmethod
 from dataclasses import dataclass
 
+WEBBING_ICCID_PREFIX = "8985235"
+
 
 class LPAError(RuntimeError):
   pass
@@ -19,7 +21,7 @@ class Profile:
 
   @property
   def is_comma(self) -> bool:
-    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+    return self.provider == 'Webbing' and self.iccid.startswith(WEBBING_ICCID_PREFIX)
 
   @property
   def display_name(self) -> str:

openpilot/common/file_chunker.py

@@ -1,75 +0,0 @@
-#!/usr/bin/env python3
-import io
-import sys
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def _chunk_paths(path, num_chunks):
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def get_chunk_targets(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return _chunk_paths(path, num_chunks)
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  Path(manifest_path).unlink(missing_ok=True)
-  with open(path, 'rb') as f:
-    for chunk_path in chunk_paths:
-      with open(chunk_path, 'wb') as out:
-        out.write(f.read(CHUNK_SIZE))
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-class ChunkStream(io.RawIOBase):
-  def __init__(self, paths):
-    self._paths = iter(paths)
-    self._f = None
-
-  def readable(self):
-    return True
-
-  def readinto(self, b):
-    n = 0
-    view = memoryview(b)
-    while n < len(b):
-      if self._f is None:
-        p = next(self._paths, None)
-        if p is None:
-          break
-        self._f = open(p, 'rb')
-      count = self._f.readinto(view[n:])
-      if not count:
-        self._f.close()
-        self._f = None
-        continue
-      n += count
-    return n
-
-def open_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(path):
-    paths = [path]
-  elif os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-  else:
-    raise FileNotFoundError(path)
-  return io.BufferedReader(ChunkStream(paths))
-
-
-if __name__ == "__main__":
-  path = sys.argv[1]
-  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
-  chunk_file(path, chunk_paths)

openpilot/common/gpio.py

@@ -27,16 +27,6 @@ def gpio_read(pin: int) -> bool | None:
 
   return val
 
-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
 @cache
 def get_irq_action(irq: int) -> list[str]:
   try:

openpilot/common/hardware/comma/agnos.json

@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
-    "hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "size": 46897152,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615.img.xz",
+    "hash": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
+    "hash_raw": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
+    "size": 46962688,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
+    "ondevice_hash": "3ef4769bb1cc73bfc31f96f073b46af42dcc0bad4ab2dde32d11929745d0cd28"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
-    "hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
-    "hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img.xz",
+    "hash": "9aebca09b9d142718e71efbfe44b723010eec6e70067c043c63186067291739d",
+    "hash_raw": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
     "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
+    "ondevice_hash": "270b76c5c5568828e3883390b83ea445425a104dd42119d68f06093ce6b6fcef",
     "alt": {
-      "hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
+      "hash": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img",
       "size": 4718592000
     }
   }

openpilot/common/hardware/comma/hardware.py

@@ -8,6 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path
 
 from openpilot.cereal import log
+from openpilot.common.esim.base import WEBBING_ICCID_PREFIX
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
@@ -207,6 +208,8 @@ class HardwareComma(HardwareBase):
 
   def get_network_metered(self, network_type) -> bool:
     if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      if self.get_modem_state().get("iccid", "").startswith(WEBBING_ICCID_PREFIX):
+        return True
       from openpilot.common.params import Params
       return Params().get_bool("GsmMetered")
     try:

openpilot/common/hardware/comma/modem.py

@@ -17,6 +17,8 @@ from ipaddress import IPv4Address, AddressValueError
 
 from enum import Enum
 
+from openpilot.common.esim.base import WEBBING_ICCID_PREFIX
+
 logging.basicConfig(
   level=logging.INFO,
   format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
@@ -44,7 +46,6 @@ NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
                 11: "nr", 12: "nr", 13: "nr"}
 
 DIAL_CID = 1
-WEBBING_ICCID_PREFIX = "8985235"
 
 PPPD_CMD = [
   "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",

openpilot/common/hardware/comma/power_monitor.py

@@ -9,25 +9,22 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.filter_simple import FirstOrderFilter
 
 
-def read_power(panda=None):
-  if panda is not None and panda.get_type() == panda.HW_TYPE_CUATRO:
-    health = panda.health()
-    return health['voltage'] * health['current'] / 1e6
+def read_power():
   with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
     return int(f.read()) / 1e6
 
-def sample_power(seconds=5, panda=None) -> list[float]:
+def sample_power(seconds=5) -> list[float]:
   rate = 123
   rk = Ratekeeper(rate, print_delay_threshold=None)
 
   pwrs = []
   for _ in range(rate*seconds):
-    pwrs.append(read_power(panda))
+    pwrs.append(read_power())
     rk.keep_time()
   return pwrs
 
-def get_power(seconds=5, panda=None):
-  pwrs = sample_power(seconds, panda)
+def get_power(seconds=5):
+  pwrs = sample_power(seconds)
   return np.mean(pwrs)
 
 def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):

openpilot/common/hardware/comma/updater

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6a7adb302d378dda7b1788a841b89e4f905c872550a70a76650dcde977b4ece0
-size 24709209
+oid sha256:f92c0a9b41613e063b6a1cd086729f5555d9df6482249e171ed1e276272cad7d
+size 24709520

openpilot/common/hardware/usb.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-CHESTNUT_FW_VERSION = "ed4e39b7"
+CHESTNUT_FW_VERSION = "8516b768"
 CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
 CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
 CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
@@ -36,6 +36,10 @@ def read_int(path: Path, base: int = 10) -> int:
     return 0
 
 
+def cable_connected() -> bool:
+  return read_int(TYPEC_CC_ORIENTATION_PATH) != 0
+
+
 def usb_devices() -> list[Path]:
   try:
     devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
@@ -91,3 +95,4 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
       chestnut_present = True
 
   device_state.chestnutPresent = chestnut_present
+  device_state.usbState.connected = cable_connected()

openpilot/common/params_keys.h

@@ -40,8 +40,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
     {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
-    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitBranch", {PERSISTENT, STRING}},
@@ -69,7 +67,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
     {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
-    {"LastGPSPosition", {PERSISTENT, STRING}},
+    {"LastGPSPosition", {PERSISTENT, BYTES}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
     {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
@@ -139,6 +137,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"ChestnutRetry", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"InitialCruiseSpeedKph", {PERSISTENT, INT, "40"}},
+    {"NavDestination", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"NavigationEnabled", {PERSISTENT, BOOL, "0"}},
+    {"Offroad_ChestnutModelError", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_Pairing", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_UploadsIgnored", {CLEAR_ON_MANAGER_START, JSON}},
+    {"PairingEmail", {PERSISTENT, STRING}},
+    {"PairingProvider", {PERSISTENT, STRING}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -249,7 +256,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
     {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-    {"LanefulStrength", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
     {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
 
     // mapd

openpilot/common/realtime.py

@@ -91,8 +91,13 @@ class Ratekeeper:
     self.avg_dt.add_value(self._last_monitor_time - prev)
 
     lagged = False
-    remaining = self._next_frame_time - time.monotonic()
-    self._next_frame_time += self._interval
+    now = time.monotonic()
+    remaining = self._next_frame_time - now
+    if remaining < -self._interval:
+      # more than a frame behind (e.g. a stall): resync instead of running catch-up frames back-to-back
+      self._next_frame_time = now + self._interval
+    else:
+      self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True

openpilot/common/utils.py

@@ -5,7 +5,6 @@ import contextlib
 import subprocess
 import time
 import functools
-from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
@@ -157,20 +156,6 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
     return default
 
 
-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
 def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
   rows = [list(row) for row in tabular_data]
 

openpilot/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.2"
+#define COMMA_VERSION "0.11.3"

openpilot/selfdrive/assets/icons/couch.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:911f59f248015600da7ecc689398103d47dfc57f6be17ac8c8e543a726a6c64b
-size 3311

openpilot/selfdrive/assets/icons/couch.svg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dd5d8d3fce5e30662797f7eeed224f5775b2cabcc055f01f5ebf6e7b2657b616
-size 1801

openpilot/selfdrive/assets/icons/experimental.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1e58deb1778cf2826339f27e9f09eecc79ea137c1436210c14b71c352a649c77
-size 34953

openpilot/selfdrive/assets/icons/experimental.svg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b7ab989c9fe22e7d2119bac5284cdccfba2889477d69f5f6c6b4470c7ee0aab3
-size 1801

openpilot/selfdrive/assets/icons/experimental_grey.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8f37a02dd914405c6f86f415700dd5985eb976b923e7abd6580d2da76533594e
-size 9466

openpilot/selfdrive/assets/icons/experimental_grey.svg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:90d441310f8e1833c661d8a4f0546aab2eb50eb21cc21beb0aff0d27b5ee6066
-size 1571

openpilot/selfdrive/assets/icons/experimental_white.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6b2dad33fead9f064c3a548651d6ef37daf82b6127c329683f538ec6e986ecbc
-size 11204

openpilot/selfdrive/assets/icons/experimental_white.svg

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:82648254da89edb0cf65ef63fc5e6e0741414051bfea8a40449132fd61b1ed0f
-size 1533

openpilot/selfdrive/assets/icons_mici/experimental_mode.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:01841b602632c66ab14a8e52b874a1623f09641dc2ef0620f4e2d00bb4a913f3
-size 16243

openpilot/selfdrive/assets/icons_mici/longitudinal/car.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0936a3d890a3ad68ffe021e4905b9b9e59ffc2ae19ee9c703daa3e7c92e7c78
+size 1793

openpilot/selfdrive/assets/icons_mici/longitudinal/car_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c7ba72642b0350ee764c924586fa66ff94915be4aba1813797e67eb4b74376
+size 33215

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_1.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71dc069bd3dc5b11ba8e1b52eb3a1025ee0ad8c82834f94b4b2269ec0d401920
+size 237

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_1_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a6fe02cf19105c0051a6664a424c1bf2ede364c6cf3791f235c86ffa203f39
+size 10348

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_2.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f500f118dca3eedbd86fc6cc943ad8be67fe5d4f7b474d5b452cd757ad805c3
+size 282

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_2_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a49996f0ce069a048abe94ba9424de655dcff53745676ab35e045204af88a3c
+size 12103

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_3.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8542374779f1908dc52c8a126bc041efea4c4d605afdd34e3bf8e520a7e78bf2
+size 320

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_3_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e656b387c1a7e8de54d3e1b1c246f442cffe3c5e0924273d6d6d897c00b568
+size 13868

openpilot/selfdrive/assets/icons_mici/onroad/bookmark.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fd91685bf656e828648acf035a4737acb2c4709e8514cf0aa0a10fa470a9bb60
-size 11580
+oid sha256:92431d37a844206570d73d48f39dd8d934539a89668fe8d5f4cccae38f7b301b
+size 11530

openpilot/selfdrive/assets/icons_mici/onroad/bookmark_fill.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efe7d12ae82e0f5a1bd773129cf1eafe3c8c36ff5cba43a6c95f295706062b5
+size 19724

openpilot/selfdrive/assets/icons_mici/settings/device/apple.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb645e59636687d61d20283bae65b68ddda6f7b2d4fda01a6e613a842e3b41f
+size 823

openpilot/selfdrive/assets/icons_mici/settings/device/commacare.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df07383a6ddfe8cd7eeb2f22271cbd13068327ca0978873f8d10368860562e40
+size 111083

openpilot/selfdrive/assets/icons_mici/settings/device/github.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7518f3409e2ff8f7e99fb7f0c06afa8bdf0b0a506147b5cf9d4931b820a1a75
+size 1107

openpilot/selfdrive/assets/icons_mici/settings/device/google.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a18e3de5f455b4089a824da8d5d78d5d532ef71facb05cc75c178b24d5beeb7
+size 920

openpilot/selfdrive/assets/icons_mici/settings/device/green_cell.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710e74b526adb5bbac15cd8915a828dd673dd8ce15b2fd694c64c182eef6f56f
+size 13744

openpilot/selfdrive/assets/icons_mici/settings/device/green_settings.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25db08a9038b5faa3b200ef5625cb216d7f4b31ea3d49fb0395f9b726bfaf8e6
+size 13135

openpilot/selfdrive/assets/icons_mici/settings/device/paired_apple.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547f466cc59d29647f3bf131d8444d7f22b63b186bcea55ceb8109c68ca74fe8
+size 2345

openpilot/selfdrive/assets/icons_mici/settings/device/paired_github.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55050096cd98e7f4ea3e843d927c18815e458dfbd5e7d100b503db92075d061b
+size 2373

openpilot/selfdrive/assets/icons_mici/settings/device/paired_google.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c439ed89bc0357e86c005d5dbb6f1ad2b8d72cdc0890e3201d842d8c3928f1
+size 2443

openpilot/selfdrive/assets/icons_mici/settings/device/phone.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aeccd3e0d8517f74eb34f7d73632c0b29b0ad5df5b9686c0f509bb6b136561e
+size 1728

openpilot/selfdrive/assets/sounds/critical_max.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d02369e21d3c78a3a5ece7e78deedb82343bc3228a28db73da48b5c27860004
+size 52374

openpilot/selfdrive/assets/sounds/dm_critical_max.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bef898e4e784baf98f3ceca53cbe95b1020da5e01162cdaa14b79b1ce0b1340
+size 52374

openpilot/selfdrive/assets/sounds/warning.wav

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+oid sha256:884e828e5c51d980d41b6e2400fcb4f4a926275018a00674d8239184e1eb96db
 size 73026

openpilot/selfdrive/car/card.py

@@ -178,7 +178,7 @@ class Car:
     self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
-    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.initial_cruise_speed = self.params.get("InitialCruiseSpeedKph", return_default=True)
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -211,7 +211,7 @@ class Car:
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.initial_cruise_speed)
 
     # TODO: mirror the carState.cruiseState struct?
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -296,7 +296,7 @@ class Car:
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      self.initial_cruise_speed = self.params.get("InitialCruiseSpeedKph", return_default=True)
 
       # sunnypilot
       self.v_cruise_helper.read_custom_set_speed_params()

openpilot/selfdrive/car/cruise.py

@@ -13,7 +13,6 @@ V_CRUISE_MIN = 8
 V_CRUISE_MAX = 145
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
-V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
 IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
 
 ButtonEvent = car.CarState.ButtonEvent
@@ -138,16 +137,14 @@ class VCruiseHelper(VCruiseHelperSP):
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
+  def initialize_v_cruise(self, CS, initial_speed: int) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
-
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
-      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(np.clip(max(CS.vEgo * CV.MS_TO_KPH, initial_speed), V_CRUISE_INITIAL, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph

openpilot/selfdrive/car/tests/test_cruise_speed.py

@@ -14,7 +14,7 @@ ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 
 
-def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
+def run_cruise_simulation(cruise, personality, t_end=20.):
   man = Maneuver(
     '',
     duration=t_end,
@@ -24,7 +24,6 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
     cruise_values=[cruise],
     prob_lead_values=[0.0],
     breakpoints=[0.],
-    e2e=e2e,
     personality=personality,
   )
   valid, output = man.evaluate()
@@ -32,8 +31,7 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
   return output[-1, 3]
 
 
-@parameterized_class(("e2e", "personality", "speed"), itertools.product(
-                      [True, False], # e2e
+@parameterized_class(("personality", "speed"), itertools.product(
                       log.LongitudinalPersonality.schema.enumerants, # personality
                       [5,35])) # speed
 class TestCruiseSpeed(OpenpilotTestCase):
@@ -41,7 +39,7 @@ class TestCruiseSpeed(OpenpilotTestCase):
     print(f'Testing {self.speed} m/s')
     cruise_speed = float(self.speed)
 
-    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.personality)
     self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')
 
 
@@ -59,16 +57,16 @@ class TestVCruiseHelper(OpenpilotTestCase):
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego, experimental_mode):
+  def enable(self, v_ego):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), V_CRUISE_INITIAL)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -92,7 +90,7 @@ class TestVCruiseHelper(OpenpilotTestCase):
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
@@ -102,7 +100,7 @@ class TestVCruiseHelper(OpenpilotTestCase):
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0, False)
+    self.enable(0)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -122,7 +120,7 @@ class TestVCruiseHelper(OpenpilotTestCase):
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -143,11 +141,10 @@ class TestVCruiseHelper(OpenpilotTestCase):
     Asserts allowed cruise speeds on enabling with SET.
     """
 
-    for experimental_mode in (True, False):
-      for v_ego in np.linspace(0, 100, 101):
-        self.reset_cruise_speed_state()
-        assert not self.v_cruise_helper.v_cruise_initialized
+    for v_ego in np.linspace(0, 100, 101):
+      self.reset_cruise_speed_state()
+      assert not self.v_cruise_helper.v_cruise_initialized
 
-        self.enable(float(v_ego), experimental_mode)
-        assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-        assert self.v_cruise_helper.v_cruise_initialized
+      self.enable(float(v_ego))
+      assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+      assert self.v_cruise_helper.v_cruise_initialized

openpilot/selfdrive/controls/lib/accel_boost.py

@@ -0,0 +1,38 @@
+import numpy as np
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+
+ACCEL_BOOST_MAX = 0.2
+ACCEL_BOOST_RATE = 0.025
+ACCEL_BOOST_PER_OVERRIDE = 0.05
+ACCEL_BOOST_MIN_SPEED = 10 * CV.MPH_TO_MS
+
+
+class AccelBoost:
+  def __init__(self):
+    self.total_boost = 0.0
+    self.boost_this_override = 0.0
+    self.boost_eligible = False
+
+  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
+    enabled = sm['selfdriveState'].enabled
+    gas_pressed = sm['carState'].gasPressed
+    v_ego = sm['carState'].vEgo
+    speed_scale = np.interp(v_ego, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
+    boost_scale = speed_scale * np.interp(output_a_target_e2e, [-1.0, -0.5, 5.0], [0.0, 1.0, 1.0], right=0.0)
+    model_limited = output_a_target_e2e + self.total_boost * boost_scale < min(output_a_target_mpc, a_cruise) - 0.1
+
+    if not enabled or not gas_pressed:
+      self.boost_this_override = 0.0
+      # Latch eligibility before the override changes the lead plan.
+      self.boost_eligible = enabled and model_limited
+
+    if not enabled:
+      self.total_boost = 0.0
+    elif gas_pressed and self.boost_eligible:
+      increase = min(ACCEL_BOOST_RATE * DT_MDL * speed_scale,
+                     ACCEL_BOOST_PER_OVERRIDE - self.boost_this_override, ACCEL_BOOST_MAX - self.total_boost)
+      self.total_boost += increase
+      self.boost_this_override += increase
+
+    return output_a_target_e2e + self.total_boost * boost_scale

openpilot/selfdrive/controls/lib/drive_helpers.py

@@ -4,7 +4,6 @@ from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
-CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MIN_STABLE_DELAY = 0.3

openpilot/selfdrive/controls/lib/latcontrol_curvature.py

@@ -1,11 +1,13 @@
 import math
+import numpy as np
+from collections import deque
 
 from openpilot.cereal import log
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
 
-CURVATURE_SATURATION_THRESHOLD = 1e-3  # 1/m
+LAT_ACCEL_SATURATION_THRESHOLD = 0.5  # m/s^2
 
 
 class LatControlCurvature(LatControl):
@@ -20,6 +22,8 @@ class LatControlCurvature(LatControl):
     else:
       self.pid = None
       self.kf = 1.
+    self.desired_curvature_buffer_len = int(1. / self.dt)
+    self.desired_curvature_buffer = deque([0.] * self.desired_curvature_buffer_len, maxlen=self.desired_curvature_buffer_len)
 
   def reset(self):
     super().reset()
@@ -30,6 +34,9 @@ class LatControlCurvature(LatControl):
     curvature_log = log.ControlsState.LateralCurvatureState.new_message()
     actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
     error = desired_curvature - actual_curvature
+    self.desired_curvature_buffer.append(desired_curvature)
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.desired_curvature_buffer_len))
+    expected_curvature = self.desired_curvature_buffer[-delay_frames]
 
     if not active:
       output_curvature = 0.0
@@ -53,6 +60,6 @@ class LatControlCurvature(LatControl):
     curvature_log.actualCurvature = float(actual_curvature)
     curvature_log.desiredCurvature = float(desired_curvature)
     curvature_log.output = float(output_curvature)
-    curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
+    curvature_log.saturated = bool(self._check_saturation(abs(expected_curvature - actual_curvature) * CS.vEgo ** 2 > LAT_ACCEL_SATURATION_THRESHOLD, CS,
                                                           False, curvature_limited))
     return 0.0, float(output_curvature), curvature_log

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import math
 import numpy as np
 
 import openpilot.cereal.messaging as messaging
@@ -8,6 +7,7 @@ from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
@@ -17,39 +17,15 @@ from openpilot.common.swaglog import cloudlog
 
 from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
 
-A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 J_CRUISE_VALS = [1.6, 1.2, 0.8, 0.6]
-A_CRUISE_MIN = -1.2
+J_CRUISE_BP = [0., 10.0, 25., 40.]
+A_CRUISE_MIN = -0.5
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
-ALLOW_THROTTLE_THRESHOLD = 0.4
-MIN_ALLOW_THROTTLE_SPEED = 2.5
 
-# Lookup table for turns
-_A_TOTAL_MAX_V = [1.7, 3.2]
-_A_TOTAL_MAX_BP = [20., 40.]
 
-def get_max_accel(v_ego):
-  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
-
-def get_coast_accel(pitch):
-  return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
-
-def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle):
-  max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
-
-  if not e2e:
-    a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
-    a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
-    a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
-    max_accel = min(max_accel, a_x_allowed)
-    if not allow_throttle:
-      clipped_accel_coast = max(accel_coast, ACCEL_MIN)
-      coast_limit = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [max_accel, clipped_accel_coast])
-      max_accel = min(max_accel, coast_limit)
-
-  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
-  j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+def get_cruise_accel(v_cruise, v_ego, a_cruise_prev, dt):
+  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, ACCEL_MAX)
+  j_cruise = np.interp(v_ego, J_CRUISE_BP, J_CRUISE_VALS)
   target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
 
   return target_accel
@@ -62,7 +38,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
     self.fcw = False
     self.dt = dt
-    self.allow_throttle = True
+    self.accel_boost = AccelBoost()
 
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.a_cruise = init_a
@@ -76,11 +52,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
 
-    if len(sm['carControl'].orientationNED) == 3:
-      accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
-    else:
-      accel_coast = ACCEL_MAX
-
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
@@ -95,12 +66,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
     reset_state = reset_state or not v_cruise_initialized
 
-    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
-    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
-
-    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['vehicleParameters'].angleOffsetDeg
-
     if reset_state:
       self.v_desired_filter.x = v_ego
       self.output_a_target = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
@@ -116,7 +81,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
+    if self.CP.openpilotLongitudinalControl:
+      self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
+    else:
+      self.mpc.set_cur_state(v_ego, sm['carState'].aEgo)
     self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -138,17 +106,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    experimental_mode = sm['selfdriveState'].experimentalMode
-
-    self.a_cruise = get_cruise_accel(experimental_mode, v_cruise, v_ego,
-                                     self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
-                                     accel_coast, self.allow_throttle)
+    self.a_cruise = get_cruise_accel(v_cruise, v_ego, self.a_cruise, self.dt)
     cruise_should_stop = should_stop(v_ego, self.a_cruise)
 
+    output_a_target_e2e = self.accel_boost.update(sm, output_a_target_e2e, output_a_target_mpc, self.a_cruise)
+
     candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
-                  (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
-    if experimental_mode:
-      candidates.append((output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e))
+                  (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop),
+                  (output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e)]
 
     output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
     self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
@@ -175,9 +140,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.aTarget = float(self.output_a_target)
+    longitudinalPlan.accelBoost = float(self.accel_boost.total_boost)
     longitudinalPlan.shouldStop = bool(self.output_should_stop)
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)
 

openpilot/selfdrive/controls/plannerd.py

@@ -28,7 +28,7 @@ def main():
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'vehicleParameters', 'radarState', 'modelV2', 'selfdriveState',
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', 'selfdriveStateSP', gps_location_service],
                            poll='modelV2', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 

openpilot/selfdrive/controls/tests/test_following_distance.py

@@ -13,7 +13,7 @@ def desired_follow_distance(v_ego, v_lead, t_follow=None):
     t_follow = get_T_FOLLOW()
   return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
-def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
+def run_following_distance_simulation(v_lead, t_end=100.0, personality=0):
   man = Maneuver(
     '',
     duration=t_end,
@@ -22,7 +22,6 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
     initial_distance_lead=100,
     speed_lead_values=[v_lead],
     breakpoints=[0.],
-    e2e=e2e,
     personality=personality,
   )
   valid, output = man.evaluate()
@@ -30,8 +29,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
   return output[-1,2] - output[-1,1]
 
 
-@parameterized_class(("e2e", "personality", "speed"), itertools.product(
-                      [True, False], # e2e
+@parameterized_class(("personality", "speed"), itertools.product(
                       [log.LongitudinalPersonality.relaxed, # personality
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
@@ -39,9 +37,8 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
 class TestFollowingDistance(OpenpilotTestCase):
   def test_following_distance(self):
     v_lead = float(self.speed)
-    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
+    simulation_steady_state = run_following_distance_simulation(v_lead, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
-    err_ratio = 0.2 if self.e2e else 0.1
     abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
     self.assertAlmostEqual(simulation_steady_state, correct_steady_state,
-                           delta=err_ratio * correct_steady_state + abs_err_margin)
+                           delta=0.2 * correct_steady_state + abs_err_margin)

openpilot/selfdrive/controls/tests/test_latcontrol.py

@@ -8,12 +8,14 @@ from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.gm.values import CAR as GM
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -22,7 +24,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 class TestLatControl(OpenpilotTestCase):
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
-                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque),
+                         (VOLKSWAGEN.VOLKSWAGEN_ID4_MK2, LatControlCurvature)])
   def test_saturation(self, car_name, controller):
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)

openpilot/selfdrive/locationd/models/car_kf.py

@@ -80,7 +80,6 @@ class CarKalman(KalmanFilter):
   }
 
   global_vars = [
-    'mass',
     'rotational_inertia',
     'center_to_front',
     'center_to_rear',
@@ -99,7 +98,10 @@ class CarKalman(KalmanFilter):
 
     # globals
     global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
-    m, j, aF, aR, cF_orig, cR_orig = global_vars
+    j, aF, aR, cF_orig, cR_orig = global_vars
+    # Tire stiffness and rotational inertia are already divided by vehicle mass, which cancels out of the model.
+    # Use unit mass to preserve the standard bicycle-model equations below.
+    m = 1
 
     # make functions and jacobians with sympy
     # state variables
@@ -166,8 +168,7 @@ class CarKalman(KalmanFilter):
     self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial,
                               dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog)
 
-  def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
-    self.filter.set_global("mass", mass)
+  def set_globals(self, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
     self.filter.set_global("rotational_inertia", rotational_inertia)
     self.filter.set_global("center_to_front", center_to_front)
     self.filter.set_global("center_to_rear", center_to_rear)

openpilot/selfdrive/locationd/models/pose_kf.py

@@ -40,7 +40,7 @@ class PoseKalman(KalmanFilter):
   initial_P = np.diag([0.01**2, 0.01**2, 0.01**2,
                        10**2, 10**2, 10**2,
                        1**2, 1**2, 1**2,
-                       1**2, 1**2, 1**2,
+                       0.1**2, 0.1**2, 0.1**2,
                        100**2, 100**2, 100**2,
                        0.01**2, 0.01**2, 0.01**2])
 

openpilot/selfdrive/locationd/paramsd.py

@@ -36,12 +36,11 @@ class VehicleParamsLearner:
     self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial
 
     self.kf.set_globals(
-      mass=CP.mass,
-      rotational_inertia=CP.rotationalInertia,
+      rotational_inertia=CP.rotationalInertiaPerMass,
       center_to_front=CP.centerToFront,
       center_to_rear=CP.wheelbase - CP.centerToFront,
-      stiffness_front=CP.tireStiffnessFront,
-      stiffness_rear=CP.tireStiffnessRear
+      stiffness_front=CP.tireStiffnessFrontPerMass,
+      stiffness_rear=CP.tireStiffnessRearPerMass
     )
 
     self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio

openpilot/selfdrive/modeld/SConscript

@@ -1,14 +1,20 @@
+import ctypes.util
 import glob
 import os
-import time
 from SCons.Script import Action, Value
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.selfdrive.modeld.helpers import chestnut_present
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 
 
 Import('env', 'arch')
+
+# TODO: add GCC support to tinygrad?
+# tinygrad's CPU:LLVM backend requires libLLVM, skip the build on PC if it's not available
+if arch not in ('comma_arm64', 'Darwin') and ctypes.util.find_library('LLVM') is None:
+  print("\033[93mmodeld: LLVM not found, skipping tinygrad model compilation. Install LLVM to compile models.\033[0m")
+  Return()
+
 lenv = env.Clone()
 lenv.PrependENVPath('PYTHONPATH', Dir('#tinygrad_repo').abspath)
 
@@ -24,64 +30,40 @@ else:
   # JIT=2 disables graph batching, which produces incorrect outputs after buffers change.
   tg_flags = 'DEV=METAL JIT=2' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
-CHESTNUT = chestnut_present()
-if CHESTNUT:
-  chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32'
-  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
-  chestnut_lock = File("models/.chestnut.lock").abspath
-
 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 warp_deps = [File("#openpilot/system/camerad/cameras/nv12_info.py")]
 compiler = Dir('#tinygrad_repo/examples/openpilot').abspath
-# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
-taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
-
-def chestnut_action(command):
-  def do_compile(target, source, env):
-    from openpilot.system.hardware.chestnut.flash import link_up
-    # chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
-    for _ in range(10):
-      if link_up():
-        break
-      time.sleep(1)
-    else:
-      print("Chestnut not ready, skipping warp build")
-      return
-    return env.Execute(command)
-  return Action(do_compile, "  [CHESTNUT] $TARGET")
+# build on all cores
+taskset = 'taskset -c 0-7 ' if arch == 'comma_arm64' else ''
 
 def compile_model(onnx_path, pkl_path):
   onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
   cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_onnx.py" '
-         f'"{onnx_path}" "{target_pkl_path}" --device-input "*" --out-of-band --benchmark-runs 1')
+         f'"{onnx_path}" "{target_pkl_path}" --out-of-band --benchmark-runs 1')
   lenv.Command(
     target_pkl_path,
     tinygrad_files + [onnx_path, Value(cmd)],
     Action(cmd, "  [ONNX] $TARGET"),
   )
 
-compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
-compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
+if not os.getenv('SKIP_TINYGRAD_COMPILE'):
+  compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygrad.pkl')
+  compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
-for chestnut in [False, True] if CHESTNUT else [False]:
-  file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
-  for cam_w, cam_h in camera_configs:
-    warp_pkl_path = File(f"models/{file_prefix}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
-    stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
-    cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
-           f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
-           f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
-           f'--output {warp_pkl_path}')
-    action = chestnut_action(cmd) if chestnut else cmd
-    node = lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], action)
-    if chestnut:
-      lenv.SideEffect(chestnut_lock, node)
+for cam_w, cam_h in camera_configs:
+  warp_pkl_path = File(f"models/driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
+  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+  cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
+         f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
+         f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
+         f'--output {warp_pkl_path}')
+  lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
-for cam_w, cam_h in camera_configs:
+for cam_w, cam_h in [] if os.getenv('SKIP_TINYGRAD_COMPILE') else camera_configs:
   dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
   stride, y_height, uv_height, frame_size = get_nv12_info(cam_w, cam_h)
   cmd = (f'{tg_flags} {mac_brew_string} python3 "{compiler}/compile_warp.py" '

openpilot/selfdrive/modeld/dmonitoringmodeld.py

@@ -16,7 +16,6 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -28,7 +27,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
-    jits = load_oob(open_file_chunked(MODEL_PKL_PATH))
+    jits = load_oob(MODEL_PKL_PATH)
     self.DEV = jits['input_specs']['input_img'][2]
     self.input_shapes = jits['metadata']['input_shapes']
     self.output_slices = pickle.loads(base64.b64decode(jits['metadata']['metadata']['output_slices']))

openpilot/selfdrive/modeld/helpers.py

@@ -1,9 +1,8 @@
-import io
-import pickle
-import struct
+import sys
+import time
 from pathlib import Path
 
-from openpilot.common.file_chunker import get_manifest_path
+from openpilot.common.hardware import AGNOS
 from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
@@ -13,15 +12,12 @@ def modeld_pkl_path(chestnut: bool):
   prefix = 'big_' if chestnut else ''
   return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
 
-def load_oob(f):
-  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
-  def buffers():
-    while (h := f.read(8)):
-      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
-      if f.readinto(pb) != pb.raw().nbytes:
-        raise EOFError("incomplete model buffer")
-      yield pb
-  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
+def load_oob(path, chestnut=False):
+  from tinygrad import Context
+  device = 'USB+AMD:LLVM' if chestnut else 'QCOM' if AGNOS else 'METAL' if sys.platform == 'darwin' else 'CPU:LLVM'
+  with Context(DEV=device):
+    from tinygrad_repo.examples.openpilot.helpers import load_pickle
+    return load_pickle(path, out_of_band=True)
 
 def chestnut_present() -> bool:
   for d in USB_DEVICES_PATH.glob("*"):
@@ -34,7 +30,15 @@ def chestnut_present() -> bool:
       pass
   return False
 
+def wait_for_chestnut(timeout: float = 10.) -> None:
+  # the cable is detected before chestnut enumerates
+  st = time.monotonic()
+  while not chestnut_present():
+    if time.monotonic() - st > timeout:
+      raise TimeoutError("chestnut did not enumerate")
+    time.sleep(0.1)
+
 def chestnut_compiled() -> bool:
   path = modeld_pkl_path(chestnut=True)
-  return (path.is_file() or Path(get_manifest_path(path)).is_file()) and all(
+  return path.is_file() and all(
     (MODELS_DIR / f'big_driving_warp_{size}_tinygrad.pkl').is_file() for size in ('1344x760', '1928x1208'))

openpilot/selfdrive/modeld/modeld.py

@@ -2,11 +2,15 @@
 from collections.abc import Callable
 import base64
 import ctypes
+import gc
 from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
+os.environ.setdefault('AM_POWER_LIMIT', '100')
+os.environ.setdefault('AM_PERF_LEVEL', 'high')
 from tinygrad.device import Buffer, Device
 from tinygrad.dtype import DType, dtypes
+from tinygrad.engine.realize import lower_and_compile
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import round_up
 from tinygrad.uop.ops import UOp
@@ -25,6 +29,7 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
+from openpilot.common.hardware.usb import cable_connected
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
@@ -34,9 +39,8 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob, wait_for_chestnut
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
@@ -134,8 +138,8 @@ class FrameMeta:
 
 
 def input_view(buffer: Buffer, shape: tuple[int, ...], dtype: DType, offset: int) -> Tensor:
-  view = buffer.view(math.prod(shape), dtype, offset).ensure_allocated()
-  return Tensor(UOp.from_buffer(view)).reshape(shape)
+  view = buffer.view(math.prod(shape) * dtype.itemsize, offset).ensure_allocated()
+  return Tensor(UOp.from_buffer(view, dtype)).reshape(shape)
 
 
 class ModelState(ModelStateBase):
@@ -143,7 +147,7 @@ class ModelState(ModelStateBase):
 
   def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
     ModelStateBase.__init__(self)
-    jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
+    jits = load_oob(modeld_pkl_path(chestnut), chestnut)
     self.model_device = jits['input_specs']['new_img'][2]
     self.input_shapes = {name: (shape, np.dtype(dtype)) for name, (shape, dtype, _) in jits['input_specs'].items()}
     self.state_pairs = {name: f'next_{name}' for name in self.input_shapes if f'next_{name}' in jits['metadata']['output_shapes']}
@@ -158,7 +162,9 @@ class ModelState(ModelStateBase):
     self.pack_inputs()
     with open(MODELS_DIR / f'{"big_" if chestnut else ""}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl', 'rb') as f:
       self.run_warp = pickle.load(f)['run']
+    self.run_warp.captured._linear = lower_and_compile(self.run_warp.captured._linear)
     self.run_model = jits['run']
+    self.run_model.captured._linear = lower_and_compile(self.run_model.captured._linear)
     self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in jits['output_specs'].items()}
     for name, next_name in self.state_pairs.items():
       state = self.input_queues[name]
@@ -203,6 +209,8 @@ class ModelState(ModelStateBase):
     self.input_device.copy_from(self.input_host)
     self.input_queues['new_img'] = self.run_warp(**self.warp_inputs)
     self.run_model(output_buffers=self.outputs, **self.input_queues)
+    if self.chestnut and (err := Device[self.outputs['outputs'].device].error_state.host.view(fmt='q')[0]):
+      raise RuntimeError(f"chestnut failed with {err}")
     if after_enqueue is not None:
       after_enqueue()
     model_output = self.outputs['outputs'].numpy()[0]
@@ -228,14 +236,15 @@ class ModelState(ModelStateBase):
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  CHESTNUT = chestnut_present() and chestnut_compiled()
+  CHESTNUT = chestnut_compiled() and (chestnut_present() or cable_connected())
   if CHESTNUT:
-    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
+    from tinygrad.runtime.ops_amd import AMDDevice
+    AMDDevice.wait_timeout_ms = 3000
   params = Params()
   params.put_bool("ChestnutLoading", CHESTNUT)
   params.remove("ChestnutActive")
 
-  config_realtime_process(7, 54)
+  gc.disable()
 
   # visionipc clients
   while True:
@@ -268,6 +277,7 @@ def main(demo=False):
     def load_big():
       nonlocal big_model
       try:
+        wait_for_chestnut()
         m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
         m.warmup()
         big_model = m
@@ -277,7 +287,13 @@ def main(demo=False):
     loader.start()
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
-    params.put_bool("ChestnutActive", model is not None)
+    if model is None and not params.get_bool("ChestnutRetry"):
+      # a crank can cut the chestnut power during the load, retry once with an onroad cycle
+      cloudlog.error("big model load failed, cycling onroad to retry")
+      params.put_bool("ChestnutRetry", True)
+      params.put_bool("OnroadCycleRequested", True)
+    else:
+      params.put_bool("ChestnutActive", model is not None)
 
   small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
   if model is None:
@@ -286,10 +302,13 @@ def main(demo=False):
   params.put_bool("ChestnutLoading", False)
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
+  config_realtime_process(7, 54)
+
   # messaging
   pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutGpuState"] if CHESTNUT else [])
   pm = PubMaster(pub_socks)
-  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
+  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState",
+                  "carControl", "controlsState", "lateralDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -407,7 +426,7 @@ def main(demo=False):
                        run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutGpuState'].frequency) == 0)
       model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
     except Exception:
-      if not params.get_bool("ChestnutActive"):
+      if not model.chestnut:
         raise
       # fallback to small model
       cloudlog.exception("big model failed, fall back to small")
@@ -427,6 +446,8 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       mdv2sp_send = messaging.new_message('modelDataV2SP')
 
+      if not sm['carControl'].latActive:
+        prev_action.desiredCurvature = sm['controlsState'].curvature
       action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
       prev_action = action
       fill_model_msg(modelv2_send, model_output, action,

openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:76cc0a9bc3af7a318889483dcbe126337f8d338f5abcbe664a8988c9b18b6639
-size 776634338
+oid sha256:d4c7a3fcfc95813826ca871a80bea18df833aacb2eb6f5333e25a01e65b1a422
+size 799941965

openpilot/selfdrive/modeld/models/big_driving_warp_1344x760_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c994e4500fe9f34daa8f33202a8606d3817e09e2c79ae8f9795e37159b5143
+size 850515

openpilot/selfdrive/modeld/models/big_driving_warp_1928x1208_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e30b5cada2c2a861999de6103c42053fae524850e30d63cd8f4d9e9bdd319e54
+size 850258

openpilot/selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2
-size 7497335
+oid sha256:dee5a294e8afaacc9295ac5d100e00733ecac278e79264b96331e40a3ede1b04
+size 7844499

openpilot/selfdrive/monitoring/policy.py

@@ -51,6 +51,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
+    self._SLEEP_THRESH = 0.75
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
@@ -138,6 +139,7 @@ class DriverMonitoring:
     self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
     self.phone_prob = 0.
+    self.sleep_prob = 0.
 
     self.alert_level = AlertLevel.none
     self.always_on = always_on
@@ -240,6 +242,7 @@ class DriverMonitoring:
     self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
     self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
     self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
+    self.distracted_types['sleep'] = bool(self.sleep_prob > self.settings._SLEEP_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
@@ -277,6 +280,7 @@ class DriverMonitoring:
     self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                       * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
+    self.sleep_prob = driver_data.sleepProb
 
     self._get_distracted_types()
     self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
@@ -406,6 +410,7 @@ class DriverMonitoring:
     dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
     dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
     dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.distractedTypes.sleep = self.distracted_types['sleep']
     dm.visionPolicyState.faceDetected = self.face_detected
     dm.visionPolicyState.pose.pitch = self.pose.pitch
     dm.visionPolicyState.pose.yaw = self.pose.yaw

openpilot/selfdrive/monitoring/test_monitoring.py

@@ -28,6 +28,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
   ds.leftDriverData.phoneProb = 0.
+  ds.leftDriverData.sleepProb = 0.
   return ds
 
 

openpilot/selfdrive/navigation/helpers.py

@@ -0,0 +1,9 @@
+import time
+
+
+def latest_gps_source(sm) -> str | None:
+  """The service with the freshest usable GPS fix, or None."""
+  now = time.monotonic()
+  sources = [s for s in ('gpsLocation', 'gpsLocationExternal')
+             if sm.valid[s] and sm[s].hasFix and 0 <= now - sm.recv_time[s] < 2]
+  return max(sources, key=lambda s: sm.logMonoTime[s]) if sources else None

openpilot/selfdrive/navigation/mapsd.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+import time
+
+import numpy as np
+
+import openpilot.cereal.messaging as messaging
+from msgq.visionipc import VisionIpcServer
+from openpilot.cereal.visionipc import VisionStreamType
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.navigation.helpers import latest_gps_source
+from openpilot.selfdrive.navigation.pmtiles import PMTiles
+from openpilot.selfdrive.navigation.renderer import SIZE, MapRenderer
+from openpilot.selfdrive.navigation.route import RouteTracker
+from openpilot.selfdrive.navigation.tiles import RemoteTiles
+
+RETRY_SECONDS = 10
+
+
+class MapsD:
+  def __init__(self):
+    self.renderer = None
+    self.tracker = None
+    self.route = np.empty((0, 2))
+    self.prefetched = False
+    self.retry_at = 0.0
+
+  def update(self, sm) -> tuple[np.ndarray, int]:
+    """The map frame for the latest messages: black with a zero timestamp without a usable map, never stale."""
+    if sm.updated['navRoute']:
+      route = np.array([(c.longitude, c.latitude) for c in sm['navRoute'].coordinates], dtype=np.float64).reshape((-1, 2))
+      if not np.array_equal(route, self.route):
+        self.route = route
+        self.tracker = RouteTracker(route) if len(route) >= 2 else None  # progress along the route starts over
+        self.prefetched = False
+    now = time.monotonic()
+    source = latest_gps_source(sm)
+    try:
+      if self.tracker is not None and now >= self.retry_at:
+        if self.renderer is None:
+          self.renderer = MapRenderer(PMTiles(RemoteTiles()))
+        if not self.prefetched:
+          # TODO: fetch the tiles more intelligently on demand
+          # Every tile the route can show is fetched up front, so each render below is a cache hit.
+          self.renderer.prefetch(self.route)
+          self.prefetched = True
+        if source is not None:
+          gps = sm[source]
+          # As in training, the map is centered on the route and headed along it, not at the GPS fix.
+          image, valid = self.renderer.render(*self.tracker.snap(gps.longitude, gps.latitude), self.route)
+          if valid:
+            return image, sm.logMonoTime[source]
+    except Exception:  # a failed fetch, or a corrupt cached tile
+      cloudlog.exception('mapsd.render_failed')
+      self.close()  # a changed archive needs a fresh reader
+      self.retry_at = now + RETRY_SECONDS
+    return np.zeros((SIZE, SIZE), dtype=np.uint8), 0
+
+  def close(self):
+    if self.renderer is not None:
+      self.renderer.archive.close()
+    self.renderer = None
+    self.prefetched = False
+
+
+def main():
+  rk = Ratekeeper(20.0)
+  sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal', 'navRoute'])
+  server = VisionIpcServer('mapsd')
+  server.create_buffers_with_sizes(VisionStreamType.VISION_STREAM_MAP, 4, SIZE, SIZE, SIZE * SIZE, SIZE, SIZE * SIZE)
+  server.start_listener()
+  mapsd = MapsD()
+  try:
+    while True:
+      sm.update(0)
+      image, timestamp = mapsd.update(sm)
+      server.send(VisionStreamType.VISION_STREAM_MAP, image.tobytes(), rk.frame, timestamp, time.monotonic_ns())
+      rk.keep_time()
+  finally:
+    mapsd.close()
+
+
+if __name__ == '__main__':
+  main()

openpilot/selfdrive/navigation/navd.py

@@ -0,0 +1,225 @@
+#!/usr/bin/env python3
+import os
+
+import numpy as np
+import requests
+
+import openpilot.cereal.messaging as messaging
+from openpilot.common.api import API_HOST, Api
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.navigation.helpers import latest_gps_source
+from openpilot.selfdrive.navigation.route import along_path, local_meters
+
+REROUTE_DISTANCE = 25
+MANEUVER_TRANSITION_THRESHOLD = 10
+REROUTE_COUNTER_MIN = 3
+ROUTE_RESEND_PERIOD = 10  # updates (seconds); a restarted mapsd gets the route within this
+RECOMPUTE_HOLD = 10  # updates (seconds) between route requests
+
+
+def set_banner(instruction, banners, distance_to_maneuver):
+  """Fill the banner fields from the banner to show now: the last one still ahead of the ego, else the first."""
+  if not banners:
+    return
+  banner = next((b for b in reversed(banners) if distance_to_maneuver < b['distanceAlongGeometry']), banners[0])
+  instruction.showFull = distance_to_maneuver < banner['distanceAlongGeometry']
+  primary = banner['primary']
+  instruction.maneuverPrimaryText = primary.get('text') or ''
+  instruction.maneuverType = primary.get('type') or ''
+  instruction.maneuverModifier = primary.get('modifier') or ''
+  if banner.get('secondary') is not None:
+    instruction.maneuverSecondaryText = banner['secondary']['text']
+
+
+class RouteEngine:
+  def __init__(self, sm, pm, params=None):
+    self.sm = sm
+    self.pm = pm
+    self.params = params if params is not None else Params()
+
+    self.last_position = None  # (longitude, latitude)
+    self.last_bearing = None
+
+    self.nav_destination = None
+    self.step_idx = None
+    self.route = None
+    self.route_geometry = None  # an (n, 2) array of (longitude, latitude) per step
+
+    self.recompute_hold = 0
+    self.reroute_counter = 0
+
+    self.mapbox_token = os.environ.get("MAPBOX_TOKEN")
+    self.api = Api(self.params.get("DongleId")) if self.mapbox_token is None else None
+    self.mapbox_host = "https://api.mapbox.com" if self.mapbox_token is not None else API_HOST.rstrip('/') + '/v1/nav'
+
+  def update(self):
+    self.sm.update(0)
+
+    source = latest_gps_source(self.sm)
+    if source is not None:
+      gps = self.sm[source]
+      self.last_position, self.last_bearing = (gps.longitude, gps.latitude), gps.bearingDeg
+    route = self.route
+    try:
+      self.recompute_route(gps_ok=source is not None)
+      self.send_instruction()
+    except Exception:
+      cloudlog.exception("navd.failed_to_compute")
+    # mapsd dedupes repeats, so a periodic resend is how a restarted mapsd gets the route
+    if self.route is not route or self.sm.frame % ROUTE_RESEND_PERIOD == 0:
+      self.send_route()
+
+  def recompute_route(self, gps_ok: bool):
+    if self.last_position is None:
+      return
+
+    destination = self.params.get("NavDestination")
+    if destination is None:
+      self.clear_route()
+      self.recompute_hold = 0
+      return
+    new_destination = (destination['longitude'], destination['latitude'])
+
+    # Don't recompute when GPS drifts in tunnels
+    if not gps_ok and self.step_idx is not None:
+      return
+
+    self.recompute_hold -= 1
+    if (self.should_recompute() or new_destination != self.nav_destination) and self.recompute_hold <= 0:
+      self.recompute_hold = RECOMPUTE_HOLD
+      self.calculate_route(new_destination)
+      self.reroute_counter = 0
+
+  def calculate_route(self, destination):
+    assert self.last_position is not None
+    cloudlog.warning(f"Calculating route {self.last_position} -> {destination}")
+    self.nav_destination = destination
+
+    lang = self.params.get('LanguageSetting')
+    if lang is not None:
+      lang = lang.replace('main_', '')
+
+    token = self.mapbox_token
+    if token is None:
+      token = self.api.get_token()
+
+    params = {
+      'access_token': token,
+      'geometries': 'geojson',
+      'overview': 'full',
+      'steps': 'true',
+      'banner_instructions': 'true',
+      'alternatives': 'false',
+      'language': lang,
+    }
+    if self.last_bearing is not None:
+      params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90;"
+
+    coords_str = ';'.join(f'{lon},{lat}' for lon, lat in (self.last_position, destination))
+    url = self.mapbox_host + '/directions/v5/mapbox/driving-traffic/' + coords_str
+    try:
+      resp = requests.get(url, params=params, timeout=10)
+      if resp.status_code != 200:
+        cloudlog.event("API request failed", status_code=resp.status_code, text=resp.text, error=True)
+      resp.raise_for_status()
+
+      r = resp.json()
+      if len(r['routes']):
+        self.route = r['routes'][0]['legs'][0]['steps']
+        self.route_geometry = [np.array(step['geometry']['coordinates'], dtype=np.float64).reshape((-1, 2)) for step in self.route]
+        self.step_idx = 0
+      else:
+        cloudlog.warning("Got empty route response")
+        self.clear_route()
+
+    except requests.exceptions.RequestException:
+      cloudlog.exception("failed to get route")
+      self.clear_route()
+
+  def send_instruction(self):
+    msg = messaging.new_message('navInstruction', valid=True)
+
+    if self.step_idx is None:
+      msg.valid = False
+      self.pm.send('navInstruction', msg)
+      return
+
+    assert self.route is not None and self.route_geometry is not None and self.last_position is not None
+    step = self.route[self.step_idx]
+    along_geometry, _ = along_path(self.route_geometry[self.step_idx], self.last_position)
+    distance_to_maneuver_along_geometry = step['distance'] - along_geometry
+
+    # Banner instructions are for the following maneuver step, don't use empty last step
+    banner_step = step
+    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
+      banner_step = self.route[max(self.step_idx - 1, 0)]
+
+    # Current instruction
+    msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
+    set_banner(msg.navInstruction, banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
+
+    # Total remaining distance and time: the rest of this step, then every step after it
+    remaining = 1.0 - along_geometry / max(step['distance'], 1)
+    future = self.route[self.step_idx + 1:]
+    msg.navInstruction.distanceRemaining = step['distance'] * remaining + sum(s['distance'] for s in future)
+    msg.navInstruction.timeRemaining = step['duration'] * remaining + sum(s['duration'] for s in future)
+
+    self.pm.send('navInstruction', msg)
+
+    # Transition to next route segment
+    if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD:
+      if self.step_idx + 1 < len(self.route):
+        self.step_idx += 1
+        self.recompute_hold = 0
+      else:
+        cloudlog.warning("Destination reached")
+
+        # Clear route if driving away from destination
+        if np.linalg.norm(local_meters(self.last_position, self.nav_destination)) > REROUTE_DISTANCE:
+          self.params.remove("NavDestination")
+          self.clear_route()
+
+  def send_route(self):
+    coords = np.concatenate(self.route_geometry) if self.route_geometry is not None else np.empty((0, 2))
+    msg = messaging.new_message('navRoute', valid=True)
+    msg.navRoute.coordinates = [{'longitude': lon, 'latitude': lat} for lon, lat in coords.tolist()]
+    self.pm.send('navRoute', msg)
+
+  def clear_route(self):
+    self.route = None
+    self.route_geometry = None
+    self.step_idx = None
+    self.nav_destination = None
+
+  def should_recompute(self):
+    if self.step_idx is None:
+      return True
+
+    assert self.route is not None and self.route_geometry is not None and self.last_position is not None
+    # Don't recompute in last segment, assume destination is reached
+    if self.step_idx == len(self.route) - 1:
+      return False
+
+    # TODO: Check for going wrong way in segment
+    if along_path(self.route_geometry[self.step_idx], self.last_position)[1] > REROUTE_DISTANCE:
+      self.reroute_counter += 1
+    else:
+      self.reroute_counter = 0
+    return self.reroute_counter > REROUTE_COUNTER_MIN
+
+
+def main():
+  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
+  sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
+
+  rk = Ratekeeper(1.0)
+  route_engine = RouteEngine(sm, pm)
+  while True:
+    route_engine.update()
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()

openpilot/selfdrive/navigation/pmtiles.py

@@ -0,0 +1,136 @@
+"""PMTiles v3 reader for the gzip-compressed Protomaps MVT basemap, over any byte-range source."""
+import gzip
+import struct
+from bisect import bisect_right
+from functools import lru_cache
+
+HEADER_LENGTH = 127
+
+
+def read_varint(data: bytes, offset: int) -> tuple[int, int]:
+  value = 0
+  for shift in range(0, 70, 7):
+    if offset >= len(data):
+      raise ValueError("Truncated varint")
+    byte = data[offset]
+    offset += 1
+    value |= (byte & 127) << shift
+    if byte < 128:
+      return value, offset
+  raise ValueError("Varint exceeds 64 bits")
+
+
+def tile_id(z: int, x: int, y: int) -> int:
+  """PMTiles orders each zoom level along a Hilbert curve."""
+  if not 0 <= z <= 26 or not 0 <= x < 1 << z or not 0 <= y < 1 << z:
+    raise ValueError("Invalid tile coordinates")
+  distance = 0
+  size = (1 << z) // 2
+  while size:
+    rx, ry = int(bool(x & size)), int(bool(y & size))
+    distance += size * size * ((3 * rx) ^ ry)
+    if not ry:
+      if rx:
+        x, y = size - 1 - x, size - 1 - y
+      x, y = y, x
+    size //= 2
+  return ((1 << (2 * z)) - 1) // 3 + distance
+
+
+def decode_directory(data: bytes) -> tuple[list[int], list[tuple[int, int, int]]]:
+  count, offset = read_varint(data, 0)
+  if count > len(data):
+    raise ValueError("Invalid directory entry count")
+  columns = []
+  for _ in range(4):
+    column = []
+    for _ in range(count):
+      value, offset = read_varint(data, offset)
+      column.append(value)
+    columns.append(column)
+  ids, runs, lengths, offsets = columns
+  for i in range(count):
+    if i:
+      ids[i] += ids[i - 1]
+    if offsets[i] == 0:
+      if i == 0:
+        raise ValueError("First directory offset cannot be implicit")
+      offsets[i] = offsets[i - 1] + lengths[i - 1]
+    else:
+      offsets[i] -= 1
+    if lengths[i] == 0 or (i and ids[i] <= ids[i - 1]):
+      raise ValueError("Invalid directory entry")
+  if offset != len(data):
+    raise ValueError("Trailing directory data")
+  return ids, list(zip(runs, lengths, offsets, strict=True))
+
+
+class PMTiles:
+  def __init__(self, source):
+    """source has size, read(offset, length), prefetch(ranges) and close()."""
+    self.source = source
+    self.size = source.size
+    try:
+      header = self.read(0, HEADER_LENGTH)
+      if header[:8] != b'PMTiles\x03':
+        raise ValueError("Expected a PMTiles v3 archive")
+      self.root_offset, self.root_length, _, _, self.leaf_offset, self.leaf_length, self.data_offset, self.data_length = struct.unpack_from('<8Q', header, 8)
+      compression, tile_type, self.min_zoom, self.max_zoom = header[97:99], header[99], header[100], header[101]
+      if compression != b'\x02\x02' or tile_type != 1:
+        raise ValueError("Expected gzip-compressed MVT vector tiles")
+      if not 0 <= self.min_zoom <= self.max_zoom <= 26:
+        raise ValueError("Unsupported PMTiles zoom range")
+      for offset, length in ((self.root_offset, self.root_length), (self.leaf_offset, self.leaf_length), (self.data_offset, self.data_length)):
+        if offset + length > self.size:
+          raise ValueError("PMTiles section outside archive")
+      self.directory = lru_cache(maxsize=32)(self._read_directory)
+      self.directory(self.root_offset, self.root_length)
+    except Exception:
+      self.source.close()
+      raise
+
+  def read(self, offset: int, length: int) -> bytes:
+    if offset < 0 or length < 0 or offset + length > self.size:
+      raise ValueError("PMTiles read outside archive")
+    data = self.source.read(offset, length)
+    if len(data) != length:
+      raise ValueError("Truncated PMTiles archive")
+    return data
+
+  def _read_directory(self, offset: int, length: int):
+    return decode_directory(gzip.decompress(self.read(offset, length)))
+
+  def locate(self, z: int, x: int, y: int) -> tuple[int, int] | None:
+    """The byte range of a tile in the archive, or None when there is no such tile."""
+    if not self.min_zoom <= z <= self.max_zoom:
+      return None
+    target = tile_id(z, x, y)
+    offset, length = self.root_offset, self.root_length
+    for _ in range(4):
+      ids, entries = self.directory(offset, length)
+      index = bisect_right(ids, target) - 1
+      if index < 0:
+        return None
+      run, length, offset = entries[index]
+      if run:
+        if target >= ids[index] + run:
+          return None
+        if offset + length > self.data_length:
+          raise ValueError("Tile outside PMTiles data section")
+        return self.data_offset + offset, length
+      if offset + length > self.leaf_length:
+        raise ValueError("Directory outside PMTiles leaf section")
+      offset += self.leaf_offset
+    raise ValueError("PMTiles directory nesting exceeds four levels")
+
+  def get(self, z: int, x: int, y: int) -> bytes | None:
+    located = self.locate(z, x, y)
+    return gzip.decompress(self.read(*located)) if located else None
+
+  def prefetch(self, tiles):
+    """Cache the (z, x, y) tiles ahead of reads."""
+    self.source.prefetch([located for located in (self.locate(*tile) for tile in tiles) if located])
+
+  def close(self):
+    self.directory.cache_clear()
+    self.source.close()

openpilot/selfdrive/navigation/renderer.py

@@ -0,0 +1,208 @@
+"""Deterministic CPU rasterization of Protomaps roads and a supplied route.
+
+Styled after the training map renderer: 1 m per pixel, the ego three quarters
+down the frame, pure white roads whose casings are part of the stroke, bridges cutting over the roads beneath
+them, a grey route and a white ego arrow.
+"""
+import math
+from functools import lru_cache
+
+import numpy as np
+
+from openpilot.selfdrive.navigation.pmtiles import PMTiles
+from openpilot.selfdrive.navigation.route import cumulative_distance, nearest_segment
+from openpilot.selfdrive.navigation.vector_tile import Road, decode_roads
+
+SIZE = 256
+ZOOM = 15  # tile zoom; the style zoom is derived from the 1 m per pixel scale instead
+FORWARD_OFFSET = 64.0  # the ego sits three quarters down the frame
+EGO = np.array([SIZE / 2, SIZE / 2 + FORWARD_OFFSET])  # pixel position of the ego
+EARTH_CIRCUMFERENCE = 40075016.68557849  # equatorial, for Web Mercator
+BACKGROUND = 0
+ROAD_INTENSITY = 255
+ROUTE_INTENSITY = 128
+ROUTE_WIDTH = 5.0  # pixels
+CUT_WIDTH = 3.0  # black separator under a bridge, added to the road width
+MAX_ROAD_DISTANCE = 100.0  # meters from the ego to the nearest road centerline for a valid map
+ARROW = np.array([(0, -9), (7, 7), (0, 3), (-7, 7)], dtype=np.float64)  # ego marker, pixels around the ego
+ARROW_OUTLINE = 2.0  # pixels
+
+
+# The training style's road classes as (zoom, width, zoom, width) stops for the interior and for one side of the
+# casing, in pixels. Casings are white there too, so they only widen the stroke. Only each class's top interval is
+# kept: the style zoom at 1 m per pixel stays above 14 until 78 degrees of latitude, where the lower stops begin.
+MAJOR, MEDIUM, STREET, MINOR, TRACK = range(5)
+STOPS = np.array([[[5, 0.75, 18, 32], [10, 1, 18, 2]],  # MAJOR: motorway, trunk, primary
+                  [[5, 0.1, 18, 26], [10, 0.75, 18, 2]],  # MEDIUM: secondary, tertiary
+                  [[14, 2, 18, 18], [12, 0.75, 20, 2]],  # STREET: residential, unclassified, living streets, major links
+                  [[14, 0.5, 18, 12], [12, 0.75, 20, 2]],  # MINOR: service roads and minor links
+                  [[14, 1, 18, 12], [12, 0.75, 20, 2]]], dtype=np.float64)  # TRACK
+
+
+def stroke_widths(zoom: float, styles: np.ndarray, levels: np.ndarray) -> np.ndarray:
+  """Full stroke width of each segment: the style's exponential (base 1.5) interpolation between its stops, flat
+  beyond them, with the casing on both sides except for tunnels, which are drawn at their interior width."""
+  z0, w0, z1, w1 = np.moveaxis(STOPS, -1, 0)
+  z = np.clip(zoom, z0, z1)
+  table = w0 + (w1 - w0) * (1.5 ** (z - z0) - 1) / (1.5 ** (z1 - z0) - 1)  # (style, interior / casing)
+  return table[styles, 0] + np.where(levels < 0, 0, 2 * table[styles, 1])
+
+
+def road_style(road: Road) -> int | None:
+  """The style for a road, or None when hidden. Protomaps kind_detail is the underlying OSM highway type."""
+  detail = road.detail
+  if detail in ('platform', 'pier', 'raceway'):
+    return None
+  if detail in ('motorway', 'trunk', 'primary') or (not detail and road.kind == 'highway'):
+    return MAJOR
+  if detail in ('secondary', 'tertiary') or (not detail and road.kind == 'major_road'):
+    return MEDIUM
+  if detail == 'track':
+    return TRACK
+  if detail in ('secondary_link', 'tertiary_link', 'service', 'driveway', 'parking_aisle', 'alley') or (
+    road.kind == 'other' and detail != 'living_street'):
+    return MINOR
+  return STREET
+
+
+def road_level(road: Road) -> int:
+  """Draw order: tunnels, then ground roads, then bridges, each cutting over the levels beneath."""
+  return 1 if road.bridge else -1 if road.tunnel else 0
+
+
+def mercator(coordinates: np.ndarray) -> np.ndarray:
+  """Longitude/latitude -> normalized Web Mercator, x east / y south."""
+  longitude, latitude = coordinates.T
+  y = (1.0 - np.arcsinh(np.tan(np.deg2rad(latitude))) / np.pi) / 2.0
+  return np.column_stack(((longitude + 180.0) / 360.0, y))
+
+
+def project(points: np.ndarray, longitude: float, latitude: float, bearing: float) -> np.ndarray:
+  """Mercator points to pixels of a frame at a position, headed along a bearing in degrees clockwise from north."""
+  origin = mercator(np.array([[longitude, latitude]]))[0]
+  delta = points - origin
+  delta[:, 0] = (delta[:, 0] + 0.5) % 1.0 - 0.5  # wrap across the antimeridian
+  delta *= EARTH_CIRCUMFERENCE * math.cos(math.radians(latitude))  # meters, which are pixels
+  c, s = math.cos(math.radians(bearing)), math.sin(math.radians(bearing))
+  return EGO + delta @ np.array([[c, -s], [s, c]])  # x right, y down
+
+
+def draw_segments(image: np.ndarray, starts: np.ndarray, ends: np.ndarray, radii: np.ndarray | float, intensity: int,
+                  *, overlay: bool = False, caps: np.ndarray | None = None):
+  """Strokes with round joins and one pixel of analytic edge antialiasing.
+
+  caps is (segments, 2): whether each segment's start/end gets a round cap; without it every end is round.
+  Max blending (the default) makes draw order irrelevant; overlay replaces the pixels beneath.
+  """
+  radii = np.broadcast_to(np.asarray(radii, dtype=np.float64), (len(starts),))
+  reach = radii[:, None] + 1
+  low = np.maximum(np.floor(np.minimum(starts, ends) - reach), 0).astype(int)
+  high = np.minimum(np.ceil(np.maximum(starts, ends) + reach), [image.shape[1] - 1, image.shape[0] - 1]).astype(int)
+  # Cull offscreen segments in one pass, then loop over plain Python floats.
+  visible = np.flatnonzero((high >= low).all(axis=1))
+  round_caps = np.ones((len(starts), 2), dtype=bool) if caps is None else caps
+  for i, (sx, sy), (ex, ey), (x0, y0), (x1, y1), radius in zip(visible.tolist(), starts[visible].tolist(), ends[visible].tolist(),
+                                                               low[visible].tolist(), high[visible].tolist(), radii[visible].tolist(),
+                                                               strict=True):
+    dx, dy = ex - sx, ey - sy
+    px = np.arange(x0, x1 + 1) + (0.5 - sx)
+    py = (np.arange(y0, y1 + 1) + (0.5 - sy))[:, None]
+    along = (px * dx + py * dy) / max(dx * dx + dy * dy, 1e-12)
+    t = np.clip(along, 0, 1)
+    alpha = np.clip(radius + 0.5 - np.hypot(px - t * dx, py - t * dy), 0, 1)
+    if not round_caps[i, 0]:
+      alpha = alpha * (along >= 0)
+    if not round_caps[i, 1]:
+      alpha = alpha * (along <= 1)
+    view = image[y0:y1 + 1, x0:x1 + 1]
+    if overlay:
+      view[:] = np.rint(view * (1 - alpha) + intensity * alpha).astype(np.uint8)
+    else:
+      np.maximum(view, np.rint(alpha * intensity).astype(np.uint8), out=view)
+
+
+def draw_vehicle(image: np.ndarray):
+  """The training ego marker: a white arrow with a black outline, drawn over everything else."""
+  arrow = ARROW + EGO
+  (x0, y0), (x1, y1) = (np.floor(arrow.min(axis=0)) - 2).astype(int), (np.ceil(arrow.max(axis=0)) + 2).astype(int)
+  px, py = np.meshgrid(np.arange(x0, x1) + 0.5, np.arange(y0, y1) + 0.5)
+  inside = np.zeros(px.shape, dtype=bool)
+  for a, b, c in ((arrow[0], arrow[1], arrow[2]), (arrow[0], arrow[2], arrow[3])):  # the concave arrow as two triangles
+    sides = [(q[0] - p[0]) * (py - p[1]) - (q[1] - p[1]) * (px - p[0]) for p, q in ((a, b), (b, c), (c, a))]
+    inside |= ((sides[0] >= 0) & (sides[1] >= 0) & (sides[2] >= 0)) | ((sides[0] <= 0) & (sides[1] <= 0) & (sides[2] <= 0))
+  image[y0:y1, x0:x1][inside] = 255
+  draw_segments(image, arrow, np.roll(arrow, -1, axis=0), ARROW_OUTLINE / 2, 0, overlay=True)
+
+
+class MapRenderer:
+  def __init__(self, archive: PMTiles):
+    self.archive = archive
+    self.zoom = min(max(ZOOM, archive.min_zoom), archive.max_zoom)
+    self.roads = lru_cache(maxsize=128)(self._load_roads)
+
+  def _load_roads(self, x: int, y: int):
+    """A tile's visible road segments as flat arrays: mercator starts/ends, style index, level and polyline end flags."""
+    tile = self.archive.get(self.zoom, x, y)
+    if tile is None:
+      return None
+    starts, ends, styles, levels, caps = [np.empty((0, 2))], [np.empty((0, 2))], [np.empty(0, int)], [np.empty(0, int)], [np.empty((0, 2), bool)]
+    for road in decode_roads(tile):
+      style = road_style(road)
+      if style is None:
+        continue
+      points = (road.points + np.array([x, y])) / (1 << self.zoom)
+      n = len(points) - 1
+      starts.append(points[:-1])
+      ends.append(points[1:])
+      styles.append(np.full(n, style))
+      levels.append(np.full(n, road_level(road)))
+      ends_of_line = np.zeros((n, 2), dtype=bool)
+      ends_of_line[0, 0] = ends_of_line[-1, 1] = True
+      caps.append(ends_of_line)
+    return np.concatenate(starts), np.concatenate(ends), np.concatenate(styles), np.concatenate(levels), np.concatenate(caps)
+
+  def view_tiles(self, longitude: float, latitude: float) -> list[tuple[int, int]]:
+    """Tiles covering the view at a point for every heading."""
+    origin = mercator(np.array([[longitude, latitude]]))[0]
+    # A bounding circle includes all headings, forward offset and road stroke widths.
+    radius = (SIZE / math.sqrt(2) + FORWARD_OFFSET + 16) / (EARTH_CIRCUMFERENCE * math.cos(math.radians(latitude)))
+    count = 1 << self.zoom
+    low = np.floor((origin - radius) * count).astype(int)
+    high = np.floor((origin + radius) * count).astype(int)
+    return [(x % count, y) for y in range(low[1], high[1] + 1) for x in range(low[0], high[0] + 1) if 0 <= y < count]
+
+  def route_tiles(self, route: np.ndarray) -> set[tuple[int, int]]:
+    """Every tile the view can show while the pose is snapped onto the route, sampled every 100 m."""
+    distance = cumulative_distance(route)
+    samples = np.column_stack([np.interp(np.arange(0, distance[-1], 100), distance, route[:, axis]) for axis in (0, 1)])
+    return {tile for lon, lat in np.vstack((samples, route)).tolist() for tile in self.view_tiles(lon, lat)}
+
+  def prefetch(self, route: np.ndarray):
+    self.archive.prefetch((self.zoom, x, y) for x, y in self.route_tiles(route))
+
+  def render(self, longitude: float, latitude: float, bearing: float, route: np.ndarray) -> tuple[np.ndarray, bool]:
+    """The map image at a position and bearing, and whether every tile was present with a road near the ego."""
+    image = np.full((SIZE, SIZE), BACKGROUND, dtype=np.uint8)
+    loaded = [self.roads(x, y) for x, y in self.view_tiles(longitude, latitude)]
+    tiles = [tile for tile in loaded if tile is not None]
+    # The training renderer's latitude-dependent style zoom: the web mercator zoom with one meter per pixel
+    # at this latitude, under the 512-pixel tile convention. Tile zoom and style zoom are independent.
+    style_zoom = math.log2(math.cos(math.radians(latitude)) * EARTH_CIRCUMFERENCE / 256) - 1
+    road_distance = math.inf
+    if tiles:
+      starts, ends, styles, levels, caps = (np.concatenate(column) for column in zip(*tiles, strict=True))
+      starts, ends = project(starts, longitude, latitude, bearing), project(ends, longitude, latitude, bearing)
+      widths = stroke_widths(style_zoom, styles, levels)
+      if len(starts):
+        road_distance = nearest_segment(starts, ends, EGO)[2]
+      for level in np.unique(levels):
+        chosen = levels == level
+        if level > levels.min():
+          # Cut the roads beneath, open at way endpoints so a bridge does not end in a black oval.
+          draw_segments(image, starts[chosen], ends[chosen], (widths[chosen] + CUT_WIDTH) / 2, BACKGROUND,
+                        overlay=True, caps=~caps[chosen])
+        draw_segments(image, starts[chosen], ends[chosen], widths[chosen] / 2, ROAD_INTENSITY)
+    pixels = project(mercator(route), longitude, latitude, bearing)
+    draw_segments(image, pixels[:-1], pixels[1:], ROUTE_WIDTH / 2, ROUTE_INTENSITY, overlay=True)
+    draw_vehicle(image)
+    return image, len(tiles) == len(loaded) and road_distance <= MAX_ROAD_DISTANCE

openpilot/selfdrive/navigation/route.py

@@ -0,0 +1,71 @@
+"""Planar geometry for routes, and route-relative map pose and progress tracking."""
+import numpy as np
+
+METERS_PER_DEGREE = 2 * np.pi * 6371008.8 / 360  # mean Earth radius, as Mapbox measures distances
+
+# Training renders the map on the route rather than at the measured position:
+# the ego is projected onto the route, the frame is centered there and headed along the route's tangent.
+PROJECTION_WINDOW = (-30.0, 100.0)  # meters around the previous progress to search; a loop cannot capture the ego
+HEADING_HALF_WINDOW = 50.0  # meters; the heading is the chord of the route this far behind and ahead
+
+
+def local_meters(points, origin) -> np.ndarray:
+  """Equirectangular east/north meters of (longitude, latitude) points around an origin."""
+  origin = np.asarray(origin, dtype=np.float64)
+  scale = np.array([METERS_PER_DEGREE * np.cos(np.radians(origin[1])), METERS_PER_DEGREE])
+  return (np.asarray(points, dtype=np.float64) - origin) * scale
+
+
+def nearest_segment(starts: np.ndarray, ends: np.ndarray, point) -> tuple[int, float, float]:
+  """(index, fraction along it, distance) of the closest spot on the segments, in the inputs' units."""
+  ab = ends - starts
+  t = np.clip(((point - starts) * ab).sum(axis=1) / np.maximum((ab * ab).sum(axis=1), 1e-12), 0, 1)
+  d = np.linalg.norm(starts + t[:, None] * ab - point, axis=1)
+  i = int(d.argmin())
+  return i, float(t[i]), float(d[i])
+
+
+def cumulative_distance(route: np.ndarray) -> np.ndarray:
+  """Meters along [(longitude, latitude), ...]."""
+  (lon1, lat1), (lon2, lat2) = route[:-1].T, route[1:].T
+  steps = np.hypot((lon2 - lon1) * np.cos(np.radians((lat1 + lat2) / 2)), lat2 - lat1) * METERS_PER_DEGREE
+  return np.r_[0.0, np.cumsum(steps)]
+
+
+def along_path(path: np.ndarray, point) -> tuple[float, float]:
+  """(meters along a (longitude, latitude) path to a point, and the point's distance from the path):
+  the path up to the start of the nearest segment, then straight to the point."""
+  local, p = local_meters(path, path[0]), local_meters(point, path[0])
+  segment, _, lateral = nearest_segment(local[:-1], local[1:], p)
+  return float(cumulative_distance(path)[segment] + np.linalg.norm(local_meters(point, path[segment]))), lateral
+
+
+class RouteTracker:
+  """Progress of the ego along a route, in meters, and the map pose at that progress."""
+
+  def __init__(self, route: np.ndarray):
+    self.route = np.asarray(route, dtype=np.float64).reshape((-1, 2))
+    self.path = local_meters(self.route, self.route[0])
+    self.distance = cumulative_distance(self.route)
+    self.progress = -np.inf  # the first fix may land anywhere on the route
+
+  def project(self, longitude: float, latitude: float) -> float:
+    """Advance to the nearest spot on the route within the window ahead of the previous progress."""
+    near = np.flatnonzero((self.distance[1:] >= self.progress + PROJECTION_WINDOW[0]) & (self.distance[:-1] <= self.progress + PROJECTION_WINDOW[1]))
+    if not len(near):  # only before the first fix, when the progress is still -inf
+      near = np.arange(len(self.path) - 1)
+    point = local_meters([longitude, latitude], self.route[0])
+    segment, along, _ = nearest_segment(self.path[near], self.path[near + 1], point)
+    segment = near[segment]
+    self.progress = max(self.progress, self.distance[segment] + along * (self.distance[segment + 1] - self.distance[segment]))
+    return self.progress
+
+  def pose(self, progress: float) -> tuple[float, float, float]:
+    """(longitude, latitude, bearing) on the route at a progress, headed along the +-50m chord."""
+    ends = np.clip([progress - HEADING_HALF_WINDOW, progress, progress + HEADING_HALF_WINDOW], 0, self.distance[-1])
+    (lon0, lon, lon1), (lat0, lat, lat1) = (np.interp(ends, self.distance, self.route[:, axis]) for axis in (0, 1))
+    bearing = np.degrees(np.arctan2((lon1 - lon0) * np.cos(np.radians(lat0)), lat1 - lat0)) % 360
+    return float(lon), float(lat), float(bearing)
+
+  def snap(self, longitude: float, latitude: float) -> tuple[float, float, float]:
+    return self.pose(self.project(longitude, latitude))

openpilot/selfdrive/navigation/tests/test_navigation.py

@@ -0,0 +1,485 @@
+import gzip
+import re
+import struct
+import tempfile
+import threading
+import time
+import unittest
+from contextlib import closing, contextmanager
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from pathlib import Path
+from types import SimpleNamespace
+from unittest.mock import MagicMock, patch
+
+import numpy as np
+import requests
+
+import openpilot.cereal.messaging as messaging
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.navigation.mapsd import MapsD
+from openpilot.selfdrive.navigation.navd import REROUTE_COUNTER_MIN, ROUTE_RESEND_PERIOD, RouteEngine, set_banner
+from openpilot.selfdrive.navigation.pmtiles import PMTiles, decode_directory, tile_id
+from openpilot.selfdrive.navigation.renderer import MAJOR, MEDIUM, MINOR, SIZE, STREET, TRACK, MapRenderer, draw_segments, mercator, project, stroke_widths
+from openpilot.selfdrive.navigation.route import RouteTracker
+from openpilot.selfdrive.navigation.tiles import RemoteTiles
+from openpilot.selfdrive.navigation.vector_tile import decode_lines, decode_roads
+
+METER = 1 / 111319.49079327358  # degrees of latitude
+
+
+def draw_line(image, points, intensity, width, **kwargs):
+  draw_segments(image, points[:-1], points[1:], width / 2, intensity, **kwargs)
+
+
+def varint(value):
+  output = bytearray()
+  while value > 127:
+    output.append((value & 127) | 128)
+    value >>= 7
+  output.append(value)
+  return bytes(output)
+
+
+def field(number, value):
+  if isinstance(value, bytes):
+    return varint(number << 3 | 2) + varint(len(value)) + value
+  return varint(number << 3) + varint(value)
+
+
+def road_tile(crossing=None):
+  # One vertical line, from (2048, 0) to (2048, 4096), and one non-road layer. With crossing='bridge' or 'tunnel',
+  # a horizontal line from (1024, 2048) to (3072, 2048) at that level.
+  geometry = b''.join(varint(v) for v in [9, 4096, 0, 10, 0, 8192])
+  feature = field(2, b'\x00\x00') + field(3, 2) + field(4, geometry)
+  roads = field(15, 2) + field(1, b'roads') + field(2, feature)
+  if crossing is not None:
+    geometry = b''.join(varint(v) for v in [9, 2048, 4096, 10, 4096, 0])
+    roads += field(2, field(2, b'\x00\x00\x01\x01') + field(3, 2) + field(4, geometry))
+  roads += field(3, b'kind') + field(3, f'is_{crossing}'.encode()) + field(4, field(1, b'minor_road')) + field(4, field(7, 1)) + field(5, 4096)
+  return field(3, field(1, b'buildings')) + field(3, roads)
+
+
+def make_archive(payload=None, leaf=False, run=1, max_zoom=0):
+  """A PMTiles archive with one zoom-zero tile, in the root directory or in a leaf directory."""
+  tile = gzip.compress(road_tile() if payload is None else payload)
+  directory = gzip.compress(varint(1) + varint(0) + varint(run) + varint(len(tile)) + varint(1))
+  child = directory if leaf else b''
+  root = gzip.compress(varint(1) + varint(0) + varint(0) + varint(len(child)) + varint(1)) if leaf else directory
+  metadata = gzip.compress(b'{"vector_layers":[{"id":"roads"}]}')
+  header = bytearray(127)
+  header[:8] = b'PMTiles\x03'
+  offsets = [127, 127 + len(root), 127 + len(root) + len(metadata), 127 + len(root) + len(metadata) + len(child)]
+  struct.pack_into('<11Q', header, 8, offsets[0], len(root), offsets[1], len(metadata), offsets[2], len(child), offsets[3], len(tile), 1, 1, 1)
+  header[96:102] = bytes([1, 2, 2, 1, 0, max_zoom])
+  return bytes(header + root + metadata + child + tile)
+
+
+@contextmanager
+def local_archive(data):
+  """A PMTiles reader over in-memory bytes, bypassing the tile server."""
+  source = MagicMock(size=len(data))
+  source.read.side_effect = lambda offset, length: data[offset:offset + length]
+  with closing(PMTiles(source)) as archive:
+    yield archive
+
+
+def mapbox_response(steps):
+  response = MagicMock(status_code=200)
+  response.json.return_value = {'routes': [{'legs': [{'steps': steps}]}]}
+  return response
+
+
+def route_engine(sm, pm, values):
+  params = MagicMock()
+  params.get.side_effect = values.get
+  params.remove.side_effect = lambda key: values.pop(key, None)
+  with patch('openpilot.selfdrive.navigation.navd.Api') as api:
+    api.return_value.get_token.return_value = 'test-token'
+    return RouteEngine(sm, pm, params=params)
+
+
+class RangeHandler(BaseHTTPRequestHandler):
+  def do_GET(self):
+    self.server.requests.append(dict(self.headers))
+    if self.headers.get('If-Match', self.server.etag) != self.server.etag:
+      self.send_error(412)
+      return
+    if self.server.ignore_range:
+      self.send_response(200)
+      self.end_headers()
+      return
+    offset, end = map(int, re.fullmatch(r'bytes=(\d+)-(\d+)', self.headers['Range']).groups())
+    data = self.server.archive[offset:end + 1]
+    self.send_response(206)
+    self.send_header('Content-Range', f'bytes {offset}-{end}/{len(self.server.archive)}')
+    self.send_header('Content-Length', str(len(data)))
+    self.send_header('ETag', self.server.etag)
+    self.end_headers()
+    self.wfile.write(data)
+
+  def log_message(self, format: str, *args: object) -> None:  # noqa: A002  # stdlib override
+    pass
+
+
+class TileServerCase(unittest.TestCase):
+  """Serves a leaf-directory archive over HTTP range requests, with the comma API and tile cache stubbed."""
+
+  def setUp(self):
+    self.directory = tempfile.TemporaryDirectory()
+    self.addCleanup(self.directory.cleanup)
+    self.cache = Path(self.directory.name) / 'navigation' / 'tiles'
+    self.server = ThreadingHTTPServer(('127.0.0.1', 0), RangeHandler)
+    self.server.archive = make_archive(leaf=True)
+    self.server.etag = '"test-version"'
+    self.server.ignore_range = False
+    self.server.requests = []
+    threading.Thread(target=self.server.serve_forever, kwargs={'poll_interval': 0.01}, daemon=True).start()
+    self.addCleanup(self.server.server_close)
+    self.addCleanup(self.server.shutdown)
+    self.api = MagicMock(dongle_id='test-dongle')
+    self.api.get_token.return_value = 'device-token'
+    self.url = f'http://127.0.0.1:{self.server.server_port}/planet.pmtiles?sig=secret'
+    self.api.get.return_value.json.return_value = {'url': self.url, 'expires': time.time() + 86400}  # noqa: TID251
+    for name, value in [('Api', MagicMock(return_value=self.api)), ('Params', MagicMock()), ('PC', True)]:
+      self.enterContext(patch(f'openpilot.selfdrive.navigation.tiles.{name}', value))
+    self.enterContext(patch('openpilot.selfdrive.navigation.tiles.Paths.comma_home', return_value=self.directory.name))
+
+
+class TestEndToEnd(TileServerCase):
+  def test_navd_to_map_frames(self):
+    """navd routes a destination over messaging; mapsd fetches tiles over HTTP and renders map frames."""
+    destination = {'latitude': 0.01, 'longitude': 0}
+    self.enterContext(patch('requests.get', return_value=mapbox_response([
+      {'geometry': {'coordinates': [[0, -0.01], [0, 0.01]]}, 'distance': 2224, 'duration': 100, 'bannerInstructions': []}])))
+    with OpenpilotPrefix():
+      pm = messaging.PubMaster(['navInstruction', 'navRoute', 'gpsLocationExternal'])
+      sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal', 'navRoute'])
+      values = {'NavDestination': dict(destination)}
+      navd = route_engine(messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']), pm, values)
+      mapsd = MapsD()
+      self.addCleanup(mapsd.close)
+
+      def frame(fix=True):
+        gps = messaging.new_message('gpsLocationExternal', valid=True)
+        gps.gpsLocationExternal.hasFix = fix
+        pm.send('gpsLocationExternal', gps)
+        navd.update()
+        sm.update(0)
+        return mapsd.update(sm)
+
+      image, timestamp = frame()
+      # The route is centered over the white road, with the ego arrow three quarters down.
+      self.assertEqual((image[128, 128], image[128, 131], image[188, 128], image[195, 128]), (128, 255, 255, 0))
+      self.assertEqual(timestamp, sm.logMonoTime['gpsLocationExternal'])
+      fetched = len(self.server.requests)
+      tracker = mapsd.tracker
+      navd.send_route()  # the same route again, as a restarted mapsd would get it
+      frame()
+      self.assertIs(mapsd.tracker, tracker)  # progress along it is kept
+      values.pop('NavDestination')
+      self.assertFalse(frame()[0].any())  # black without a route
+      values['NavDestination'] = dict(destination)
+      self.assertEqual(frame()[0][128, 128], 128)
+      self.assertEqual(len(self.server.requests), fetched)  # the second route is served from the cache
+      image, timestamp = frame(fix=False)
+      self.assertFalse(image.any() or timestamp)  # black, not stale, without a fix
+      self.api.get.assert_called_once()
+      self.assertTrue(all('Range' in headers for headers in self.server.requests))
+      self.assertTrue(all(headers['If-Match'] == self.server.etag for headers in self.server.requests[1:]))
+      self.assertTrue(all(b'secret' not in p.read_bytes() for p in self.cache.iterdir()))
+      # The archive is replaced on the server and the cache evicted: the next fetch fails, the map goes black,
+      # and after a delay a fresh reader starts over on the new version.
+      self.server.etag = '"new-version"'
+      for cached in self.cache.iterdir():
+        cached.unlink()
+      values.pop('NavDestination')
+      frame()
+      values['NavDestination'] = dict(destination)
+      image, timestamp = frame()
+      self.assertFalse(image.any() or timestamp)
+      fetched = len(self.server.requests)
+      self.assertFalse(frame()[1])  # not retried yet
+      self.assertEqual(len(self.server.requests), fetched)
+      mapsd.retry_at = 0
+      self.assertEqual(frame()[0][128, 128], 128)
+      self.assertEqual((self.cache / 'version').read_text().split()[0], '"new-version"')
+
+
+class TestRemoteTiles(TileServerCase):
+  def test_shared_cache_and_refresh(self):
+    with closing(PMTiles(RemoteTiles())) as archive:
+      archive.source.expires = 0  # the signed URL is refreshed before the next fetch
+      self.assertEqual(archive.get(0, 0, 0), road_tile())
+      self.assertEqual(archive.get(0, 0, 0), road_tile())
+      self.assertEqual(self.api.get.call_count, 2)
+    count = len(self.server.requests)
+    with closing(PMTiles(RemoteTiles())) as archive:
+      self.assertEqual(archive.get(0, 0, 0), road_tile())
+    # A second reader revalidates only the header; directories and tiles are shared on disk.
+    self.assertEqual(len(self.server.requests), count + 1)
+    with patch('openpilot.selfdrive.navigation.tiles.CACHE_LIMIT', 1), closing(RemoteTiles()) as source:
+      source.read(1, 2)  # an uncached range is downloaded, then the cache is trimmed to the limit
+    self.assertEqual([p.name for p in self.cache.iterdir()], ['version'])
+
+  def test_prefetch_merges_nearby_ranges(self):
+    with patch('openpilot.selfdrive.navigation.tiles.MERGE_GAP', 16), closing(RemoteTiles()) as source:
+      count = len(self.server.requests)
+      source.prefetch([(20, 10), (0, 10), (60, 10), (20, 10)])
+      self.assertEqual(len(self.server.requests), count + 2)  # 0-29 in one request, 60-69 in another
+      self.assertEqual(self.server.requests[-2]['Range'], 'bytes=0-29')
+      for offset in (0, 20, 60):
+        self.assertEqual(source.read(offset, 10), self.server.archive[offset:offset + 10])
+      self.assertEqual(len(self.server.requests), count + 2)
+
+  def test_failures(self):
+    with closing(PMTiles(RemoteTiles())) as archive:
+      self.server.etag = '"new-version"'
+      with self.assertRaisesRegex(OSError, '412'):  # the archive changed under an open reader
+        archive.get(0, 0, 0)
+    with closing(PMTiles(RemoteTiles())) as archive:  # a new reader starts over on the new version
+      self.assertEqual(archive.get(0, 0, 0), road_tile())
+    self.server.ignore_range = True
+    with self.assertRaisesRegex(OSError, '200'):
+      RemoteTiles()
+    self.api.get.return_value.raise_for_status.side_effect = requests.HTTPError(self.url)
+    with self.assertRaisesRegex(OSError, '^Unable to fetch map tiles$'):  # the signed URL stays out of the error
+      RemoteTiles()
+
+
+class TestRouteEngine(unittest.TestCase):
+  def setUp(self):
+    self.pm = MagicMock()
+    self.values = {'NavDestination': {'latitude': 0, 'longitude': 0.002}, 'LanguageSetting': 'main_en'}
+    self.sm = MagicMock()
+    self.sm.valid = dict.fromkeys(('gpsLocation', 'gpsLocationExternal'), True)
+    self.sm.logMonoTime = dict.fromkeys(self.sm.valid, time.monotonic_ns())
+    self.sm.recv_time = dict.fromkeys(self.sm.valid, time.monotonic())
+    self.sm.__getitem__.return_value = SimpleNamespace(hasFix=True, latitude=0, longitude=0, bearingDeg=90)
+    self.engine = route_engine(self.sm, self.pm, self.values)
+    self.engine.last_position, self.engine.last_bearing = (0, 0), 90
+    distance = 111.195  # Mapbox's length of 0.001 degrees at the equator
+    self.response = mapbox_response([
+      {'geometry': {'coordinates': [[0, 0], [0.0005, 0], [0.001, 0]]}, 'distance': distance, 'duration': 10,
+       'bannerInstructions': [{'distanceAlongGeometry': 100, 'primary': {'text': 'Turn right', 'type': 'turn', 'modifier': 'right'}}]},
+      {'geometry': {'coordinates': [[0.001, 0], [0.002, 0]]}, 'distance': distance, 'duration': 10, 'bannerInstructions': []},
+    ])
+
+  def last_message(self, service):
+    return next(call.args[1] for call in reversed(self.pm.send.call_args_list) if call.args[0] == service)
+
+  def load_route(self):
+    with patch('requests.get', return_value=self.response) as get:
+      self.engine.calculate_route((0.002, 0))
+    self.engine.send_route()
+    return get
+
+  def test_request_and_instruction(self):
+    get = self.load_route()
+    self.assertEqual(get.call_args.args[0], 'https://api.commadotai.com/v1/nav/directions/v5/mapbox/driving-traffic/0,0;0.002,0')
+    options = get.call_args.kwargs['params']
+    self.assertEqual((options['access_token'], options['bearings'], options['language']), ('test-token', '90,90;', 'en'))
+    self.assertEqual(len(self.last_message('navRoute').navRoute.coordinates), 5)
+    self.engine.send_instruction()
+    message = self.last_message('navInstruction')
+    self.assertTrue(message.valid)
+    instruction = message.navInstruction.to_dict()
+    self.assertEqual((instruction['maneuverPrimaryText'], instruction['maneuverModifier'], instruction['timeRemaining']), ('Turn right', 'right', 20))
+    self.engine.last_position = (0.0007, 0)  # on the step's second segment
+    self.engine.send_instruction()
+    self.assertAlmostEqual(self.last_message('navInstruction').navInstruction.timeRemaining, 13, delta=0.05)
+    self.engine.last_position = (0.001, 0)  # at the maneuver
+    self.engine.send_instruction()
+    self.assertAlmostEqual(self.last_message('navInstruction').navInstruction.maneuverDistance, 0, delta=0.01)
+
+  def test_banner_selection(self):
+    banners = [{'distanceAlongGeometry': 100, 'primary': {'text': 'Turn right', 'type': 'turn', 'modifier': 'right'}},
+               {'distanceAlongGeometry': 50, 'primary': {'text': 'Turn right'}, 'secondary': {'text': 'onto Main St'}}]
+    # The last banner still ahead of the ego, else the first: 120 m, 70 m and 30 m from the maneuver.
+    for distance, expected in [(120, ('Turn right', '', False)), (70, ('Turn right', '', True)), (30, ('Turn right', 'onto Main St', True))]:
+      instruction = messaging.new_message('navInstruction').navInstruction
+      set_banner(instruction, banners, distance)
+      self.assertEqual((instruction.maneuverPrimaryText, instruction.maneuverSecondaryText, instruction.showFull), expected)
+
+  def test_route_sent_on_change_and_periodically(self):
+    sent = lambda: sum(call.args[0] == 'navRoute' for call in self.pm.send.call_args_list)  # noqa: E731
+    self.sm.frame = 1
+    with patch('requests.get', return_value=self.response):
+      self.engine.update()  # the route to a new destination is sent once
+      self.engine.update()
+    self.assertEqual(sent(), 1)
+    self.sm.frame = ROUTE_RESEND_PERIOD  # and again periodically, for a mapsd that started after it
+    self.engine.update()
+    self.assertEqual(sent(), 2)
+
+  def test_maneuvers_and_rerouting(self):
+    self.load_route()
+    self.engine.last_position = (0, 0.001)  # 111 m off route: reroute after a few consecutive misses
+    for _ in range(REROUTE_COUNTER_MIN):
+      self.assertFalse(self.engine.should_recompute())
+    self.assertTrue(self.engine.should_recompute())
+    with patch('requests.get') as get:
+      self.engine.recompute_route(gps_ok=False)  # but not while the GPS drifts in a tunnel
+      get.assert_not_called()
+    with patch('requests.get', return_value=self.response) as get:
+      self.engine.recompute_route(gps_ok=True)
+      self.engine.reroute_counter = REROUTE_COUNTER_MIN  # still off route, but an immediate second recompute is held back
+      self.engine.recompute_route(gps_ok=True)
+      self.assertEqual(get.call_count, 1)
+    self.engine.last_position = (0.0012, 0)  # past the first maneuver
+    self.engine.send_instruction()
+    self.assertEqual(self.engine.step_idx, 1)
+    self.engine.last_position = (0.00215, 0)  # 17 m past the destination: arrived, but the route is kept nearby
+    self.engine.send_instruction()
+    self.assertIsNotNone(self.engine.route)
+    self.engine.last_position = (0.0024, 0)  # driving away from the destination
+    self.engine.send_instruction()
+    self.assertIsNone(self.engine.route)
+    self.assertNotIn('NavDestination', self.values)
+
+  def test_failed_request_clears_route(self):
+    self.load_route()
+    self.response.raise_for_status.side_effect = requests.HTTPError('test failure')
+    self.load_route()
+    self.assertIsNone(self.engine.route)
+    self.assertEqual(len(self.last_message('navRoute').navRoute.coordinates), 0)
+    self.engine.send_instruction()
+    self.assertFalse(self.last_message('navInstruction').valid)
+
+  def test_gps_source(self):
+    fixes = {'gpsLocation': SimpleNamespace(hasFix=True, latitude=1, longitude=1, bearingDeg=180),
+             'gpsLocationExternal': SimpleNamespace(hasFix=True, latitude=2, longitude=2, bearingDeg=0)}
+    self.sm.__getitem__.side_effect = fixes.get
+    self.sm.logMonoTime = {'gpsLocation': 2, 'gpsLocationExternal': 1}  # replayed logs are judged by receipt time
+    with patch('requests.get', return_value=self.response):
+      self.engine.update()
+      self.assertEqual((self.engine.last_position, self.engine.last_bearing), ((1, 1), 180))  # the newest fix wins
+      self.sm.valid['gpsLocation'] = False
+      self.engine.update()
+      self.assertEqual(self.engine.last_position, (2, 2))  # unless it is invalid
+      fixes['gpsLocationExternal'] = SimpleNamespace(hasFix=True, latitude=3, longitude=3, bearingDeg=0)
+      self.sm.recv_time = dict.fromkeys(self.sm.valid, time.monotonic() - 3)  # or stale
+      self.engine.update()
+      self.assertEqual(self.engine.last_position, (2, 2))
+
+
+class TestTiles(unittest.TestCase):
+  def test_pmtiles_format(self):
+    self.assertEqual([tile_id(1, x, y) for x, y in [(0, 0), (0, 1), (1, 1), (1, 0)]], [1, 2, 3, 4])
+    self.assertEqual(sorted(tile_id(3, x, y) for x in range(8) for y in range(8)), list(range(21, 85)))
+    # IDs 5, 10; runs 3, 1; lengths 4, 6; the second offset follows the first blob.
+    data = bytes([2, 5, 5, 3, 1, 4, 6, 1, 0])
+    self.assertEqual(decode_directory(data), ([5, 10], [(3, 4, 0), (1, 6, 4)]))
+    for invalid in (b'\x80', b'\x01\x00\x01\x01\x00', data + b'\x00'):
+      with self.assertRaises(ValueError):
+        decode_directory(invalid)
+    with local_archive(make_archive(run=3, max_zoom=1)) as archive:  # the zoom-zero tile is also addressed by IDs 1 and 2
+      self.assertEqual(archive.get(1, 0, 1), road_tile())
+      self.assertIsNone(archive.get(1, 1, 1))
+    with self.assertRaises(ValueError), local_archive(make_archive()[:-1]):
+      pass
+
+  def test_vector_tiles(self):
+    roads = decode_roads(road_tile())
+    self.assertEqual((len(roads), roads[0].kind), (1, 'minor_road'))
+    np.testing.assert_array_equal(roads[0].points, [[0.5, 0], [0.5, 1]])
+    lines = decode_lines([9, 20, 20, 10, 10, 0, 9, 9, 9, 10, 0, 10])
+    np.testing.assert_array_equal(lines[0], [[10, 10], [15, 10]])
+    np.testing.assert_array_equal(lines[1], [[10, 5], [10, 10]])
+    for data in (b'\x1a\xff', b'\x00', b'\x1a\x02\x0a\x04'):
+      with self.assertRaises(ValueError):
+        decode_roads(data)
+    for commands in ([10, 1, 1], [9, 0], [9, 0, 0, 15]):
+      with self.assertRaises(ValueError):
+        decode_lines(commands)
+
+
+class TestRendering(unittest.TestCase):
+  def test_projection(self):
+    # At the equator, 64m ahead is the image center and the car is 64px below it, at 1m per pixel.
+    points = mercator(np.array([[0, 0], [0, 64 * METER], [64 * METER, 0]]))
+    np.testing.assert_allclose(project(points, 0, 0, 0), [[128, 192], [128, 128], [192, 192]], atol=1e-5)
+    np.testing.assert_allclose(project(points, 0, 0, 90), [[128, 192], [64, 192], [128, 128]], atol=1e-5)
+    pixels = project(mercator(np.array([[-179.999, 0]])), 179.999, 0, 90)  # across the antimeridian
+    self.assertAlmostEqual(pixels[0, 1], 192 - 222.6389816, places=5)
+
+  def test_strokes(self):
+    image = np.zeros((SIZE, SIZE), dtype=np.uint8)
+    draw_line(image, np.array([[-1000, 128], [1000, 128]]), 255, 8)
+    self.assertTrue(np.all(image[128] == 255))
+    draw_line(image, np.array([[128, 0], [128, 256]]), 128, 5, overlay=True)  # the grey route replaces the white road
+    self.assertEqual((image[128, 128], image[128, 131]), (128, 255))
+    before = image.copy()
+    draw_line(image, np.array([[-1000, -1000], [-500, -500]]), 255, 5)
+    np.testing.assert_array_equal(image, before)
+    draw_line(image, np.array([[40, 40], [40, 40]]), 255, 5)  # a zero-length segment is still a dot
+    self.assertEqual(image[40, 40], 255)
+
+  def test_crossings(self):
+    route = np.array([[0.01, 0], [0.01, 0.01]])  # off to the side, out of the way of the probes
+    images = {}
+    for crossing in ('bridge', 'tunnel'):
+      with local_archive(make_archive(road_tile(crossing))) as archive:
+        images[crossing] = MapRenderer(archive).render(0, -40 * METER, 0, route)[0]  # the crossing 40m ahead
+    # The horizontal road crosses the vertical one 40px above the ego, at row 152. A bridge severs the road beneath
+    # just outside its own stroke; a tunnel passes underneath untouched. The cut has butt caps, so the
+    # bridge's own end is not wrapped in black.
+    self.assertEqual((images['bridge'][146, 128], images['bridge'][152, 128], images['bridge'][152, 200], images['bridge'][140, 128]), (0, 255, 255, 255))
+    self.assertEqual((images['tunnel'][146, 128], images['tunnel'][152, 200]), (255, 255))
+    # The ground road cuts over the tunnel beneath it, and the tunnel is drawn without its casing.
+    self.assertEqual((images['tunnel'][152, 133], images['tunnel'][147, 200]), (0, 0))
+
+  def test_road_widths(self):
+    # Pinned at the style zoom of 1 m per pixel: 16.26 at the equator and 15.26 at 60 degrees. Tunnels have no casing.
+    styles, levels = np.array([MAJOR, MEDIUM, STREET, MINOR, TRACK, STREET]), np.array([0, 0, 0, 0, 0, -1])
+    np.testing.assert_allclose(stroke_widths(16.256, styles, levels), [19.02, 15.48, 9.86, 6.70, 7.02, 7.89], atol=0.01)
+    np.testing.assert_allclose(stroke_widths(15.256, styles, levels), [13.52, 10.78, 6.39, 4.16, 4.58, 4.62], atol=0.01)
+
+  def test_route_tiles(self):
+    route = np.array([[0, -0.01], [0, 0.01]])  # 2.2 km north along the prime meridian
+    with local_archive(make_archive(max_zoom=15)) as archive:
+      renderer = MapRenderer(archive)
+      tiles = renderer.route_tiles(route)
+      # Both columns beside the meridian, and the rows within the view radius of the route's ends.
+      self.assertEqual({x for x, _ in tiles}, {16383, 16384})
+      self.assertEqual({y for _, y in tiles}, set(range(16382, 16386)))
+
+  def test_validity_and_display(self):
+    route = np.array([[0, -0.01], [0, 0.01]])
+    with local_archive(make_archive()) as archive:
+      renderer = MapRenderer(archive)
+      self.assertTrue(renderer.render(0, 0, 0, route)[1])
+      self.assertFalse(renderer.render(0.01, 0, 0, route)[1])  # no road near the ego
+      with patch.object(archive, 'get', return_value=None):  # a missing tile
+        image, valid = MapRenderer(archive).render(0, 0, 0, route)
+        self.assertFalse(valid)
+        self.assertEqual(image[128, 128], 128)  # the route is still drawn
+    with local_archive(make_archive(field(3, field(1, b'buildings')))) as archive:  # tiles without roads
+      self.assertFalse(MapRenderer(archive).render(0, 0, 0, route)[1])
+
+
+class TestRouteTracking(unittest.TestCase):
+  def test_snap_heading_and_window(self):
+    m = METER
+    tracker = RouteTracker(np.array([[0, 0], [0, 200 * m], [200 * m, 200 * m]]))  # north 200m, then east 200m
+    longitude, latitude, bearing = tracker.snap(3 * m, 100 * m)  # 3m right of the first leg
+    self.assertAlmostEqual(tracker.progress, 100, delta=0.5)
+    self.assertAlmostEqual(longitude, 0)  # lateral error removed
+    self.assertAlmostEqual(latitude, 100 * m)
+    self.assertAlmostEqual(bearing, 0, places=3)
+    self.assertAlmostEqual(tracker.snap(0, 200 * m)[2], 45, places=2)  # at the corner the +-50m chord is mid-turn
+    self.assertAlmostEqual(tracker.snap(0, 150 * m)[2], 45, places=2)  # progress never decreases
+    tracker.snap(100 * m, 200 * m)  # progress 300: the window ahead no longer includes the first leg
+    self.assertAlmostEqual(tracker.snap(150 * m, 200 * m)[0], 150 * m)  # so the window's offset is applied
+    self.assertAlmostEqual(tracker.snap(200 * m, 200 * m)[2], 90, places=2)  # the chord clips at the route's end
+    # Out and back along the same road: a fix near the far leg stays on the outbound leg within the window,
+    # while a fresh tracker searches anywhere and lands on the return leg.
+    route = np.array([[0, 0], [0, 1000 * m], [10 * m, 1000 * m], [10 * m, 0]])
+    tracker = RouteTracker(route)
+    tracker.snap(1 * m, 100 * m)
+    self.assertAlmostEqual(tracker.snap(9 * m, 150 * m)[2], 0, places=3)
+    self.assertAlmostEqual(tracker.progress, 150, delta=0.5)
+    self.assertAlmostEqual(RouteTracker(route).snap(9 * m, 150 * m)[2], 180, places=3)
+
+
+if __name__ == '__main__':
+  unittest.main()

openpilot/selfdrive/navigation/tiles.py

@@ -0,0 +1,117 @@
+"""Byte ranges of the hosted PMTiles basemap, cached on disk."""
+import re
+import time
+from pathlib import Path
+
+import requests
+
+from openpilot.common.api import Api
+from openpilot.common.hardware import PC
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.params import Params
+from openpilot.selfdrive.navigation.pmtiles import HEADER_LENGTH
+
+CACHE_LIMIT = 64 * 1024 * 1024
+MERGE_GAP = 256 * 1024  # tiles this close together in the archive are fetched in one range request
+
+
+class RemoteTiles:
+  def __init__(self):
+    self.cache = Path(Paths.comma_home() if PC else '/data') / 'navigation' / 'tiles'
+    self.cache.mkdir(parents=True, exist_ok=True, mode=0o700)
+    self.session = requests.Session()
+    self.api = Api(Params().get('DongleId'))
+    self.url = ''
+    self.expires = 0
+    self.etag = None
+    self.size = 0
+    version = self.cache / 'version'
+    try:
+      header = self._fetch(0, HEADER_LENGTH)  # learns the archive's ETag and size
+      if not version.exists() or version.read_text() != f'{self.etag} {self.size}':
+        for cached in self.cache.iterdir():  # a new archive has new offsets
+          cached.unlink()
+        version.write_text(f'{self.etag} {self.size}')
+      self._store(0, header)
+    except Exception:
+      self.close()
+      raise
+
+  def _fetch(self, offset: int, length: int) -> bytes:
+    try:
+      if time.time() >= self.expires - 60:  # noqa: TID251 - SAS expiry is a Unix timestamp
+        response = self.api.get(f'v1/{self.api.dongle_id}/nav/tiles', access_token=self.api.get_token(), timeout=10)
+        response.raise_for_status()
+        metadata = response.json()
+        self.url, self.expires = metadata['url'], metadata['expires']
+      headers = {'Range': f'bytes={offset}-{offset + length - 1}', 'Accept-Encoding': 'identity'}
+      if self.etag is not None:
+        headers['If-Match'] = self.etag
+      with self.session.get(self.url, headers=headers, timeout=10, stream=True) as response:
+        if response.status_code != 206:
+          raise OSError(f'Map tile range request failed ({response.status_code})')
+        match = re.fullmatch(r'bytes (\d+)-(\d+)/(\d+)', response.headers.get('Content-Range', ''))
+        if match is None or tuple(map(int, match.groups()[:2])) != (offset, offset + length - 1):
+          raise OSError('Invalid map tile range response')
+        size = int(match[3])
+        etag = response.headers.get('ETag')
+        if not etag or (self.etag is not None and (etag != self.etag or size != self.size)):
+          raise OSError('Map archive changed during read')
+        data = bytearray()
+        for chunk in response.iter_content(chunk_size=min(length + 1, 65536)):
+          data.extend(chunk)
+          if len(data) > length:
+            raise OSError('Oversized map tile range response')
+        if len(data) != length:
+          raise OSError('Truncated map tile range response')
+        self.size, self.etag = size, etag
+        return bytes(data)
+    except (requests.RequestException, ValueError, KeyError, TypeError, RuntimeError):
+      # requests exceptions contain the signed URL; keep it out of logs.
+      raise OSError('Unable to fetch map tiles') from None
+
+  def _store(self, offset: int, data: bytes):
+    (self.cache / f'{offset}-{len(data)}').write_bytes(data)
+
+  def _trim(self):
+    files = [(cached.stat().st_mtime, cached.stat().st_size, cached) for cached in self.cache.iterdir() if re.fullmatch(r'\d+-\d+', cached.name)]
+    size = sum(cached_size for _, cached_size, _ in files)
+    for _, cached_size, cached in sorted(files):
+      if size <= CACHE_LIMIT:
+        break
+      cached.unlink(missing_ok=True)
+      size -= cached_size
+
+  def read(self, offset: int, length: int) -> bytes:
+    try:
+      data = (self.cache / f'{offset}-{length}').read_bytes()
+      if len(data) == length:
+        return data
+    except FileNotFoundError:
+      pass
+    data = self._fetch(offset, length)
+    self._store(offset, data)
+    self._trim()
+    return data
+
+  def prefetch(self, ranges):
+    """Cache (offset, length) ranges ahead of reads, fetching neighboring ones in a single request."""
+    missing = sorted((offset, length) for offset, length in set(ranges) if not (self.cache / f'{offset}-{length}').exists())
+    if not missing:
+      return
+    groups = [[missing[0]]]
+    for offset, length in missing[1:]:
+      last_offset, last_length = groups[-1][-1]
+      if offset - (last_offset + last_length) <= MERGE_GAP:
+        groups[-1].append((offset, length))
+      else:
+        groups.append([(offset, length)])
+    for group in groups:
+      start, end = group[0][0], group[-1][0] + group[-1][1]
+      data = self._fetch(start, end - start)
+      for offset, length in group:
+        self._store(offset, data[offset - start:offset - start + length])
+    self._trim()
+
+  def close(self):
+    self.session.close()

openpilot/selfdrive/navigation/vector_tile.py

@@ -0,0 +1,133 @@
+"""Decode road polylines from Protomaps MVT tiles without a protobuf runtime."""
+from dataclasses import dataclass
+
+import numpy as np
+
+from openpilot.selfdrive.navigation.pmtiles import read_varint
+
+
+@dataclass
+class Road:
+  points: np.ndarray  # fractions of the tile, x right / y down
+  kind: str
+  detail: str
+  tunnel: bool
+  bridge: bool
+
+
+def fields(data: bytes):
+  offset = 0
+  while offset < len(data):
+    tag, offset = read_varint(data, offset)
+    number, wire = tag >> 3, tag & 7
+    if number == 0:
+      raise ValueError("Invalid protobuf field")
+    if wire == 0:
+      value, offset = read_varint(data, offset)
+    elif wire in (1, 2, 5):
+      if wire == 2:
+        length, offset = read_varint(data, offset)
+      else:
+        length = 8 if wire == 1 else 4
+      if offset + length > len(data):
+        raise ValueError("Truncated protobuf field")
+      value = data[offset:offset + length]
+      offset += length
+    else:
+      raise ValueError(f"Unsupported protobuf wire type: {wire}")
+    yield number, wire, value
+
+
+def integers(data: bytes) -> list[int]:
+  result = []
+  offset = 0
+  while offset < len(data):
+    value, offset = read_varint(data, offset)
+    result.append(value)
+  return result
+
+
+def unzigzag(value: int) -> int:
+  return (value >> 1) ^ -(value & 1)
+
+
+def decode_value(data: bytes):
+  """A string or boolean layer value. Other types are unused by the roads layer and decode to None."""
+  for number, wire, value in fields(data):
+    if number == 1 and wire == 2:
+      return value.decode('utf-8')
+    if number == 7 and wire == 0:
+      return bool(value)
+  return None
+
+
+def decode_lines(commands: list[int]) -> list[np.ndarray]:
+  lines = []
+  line = []
+  x = y = offset = 0
+  while offset < len(commands):
+    command = commands[offset]
+    offset += 1
+    kind, count = command & 7, command >> 3
+    if kind not in (1, 2) or count == 0 or offset + 2 * count > len(commands):
+      raise ValueError("Invalid MVT line geometry")
+    if kind == 1 and count != 1:
+      raise ValueError("LineString MoveTo must contain one point")
+    if kind == 2 and not line:
+      raise ValueError("LineTo before MoveTo")
+    for _ in range(count):
+      x += unzigzag(commands[offset])
+      y += unzigzag(commands[offset + 1])
+      offset += 2
+      if kind == 1:
+        if len(line) >= 2:
+          lines.append(np.array(line, dtype=np.float64))
+        line = []
+      line.append((x, y))
+  if len(line) >= 2:
+    lines.append(np.array(line, dtype=np.float64))
+  return lines
+
+
+def decode_roads(data: bytes) -> list[Road]:
+  roads = []
+  for number, wire, layer in fields(data):
+    if number != 3 or wire != 2:
+      continue
+    layer_fields = list(fields(layer))
+    name = next((v.decode('utf-8') for n, w, v in layer_fields if n == 1 and w == 2), '')
+    if name != 'roads':
+      continue
+    version = next((v for n, w, v in layer_fields if n == 15 and w == 0), 1)
+    extent = next((v for n, w, v in layer_fields if n == 5 and w == 0), 4096)
+    if version not in (1, 2) or extent <= 0:
+      raise ValueError("Unsupported MVT roads layer")
+    keys = [v.decode('utf-8') for n, w, v in layer_fields if n == 3 and w == 2]
+    values = [decode_value(v) for n, w, v in layer_fields if n == 4 and w == 2]
+    for n, w, feature in layer_fields:
+      if n != 2 or w != 2:
+        continue
+      tags, geometry, geometry_type = [], [], 0
+      for fn, fw, fv in fields(feature):
+        if fn in (2, 4):
+          target = tags if fn == 2 else geometry
+          if fw == 2:
+            target.extend(integers(fv))
+          elif fw == 0:
+            target.append(fv)
+        elif fn == 3 and fw == 0:
+          geometry_type = fv
+      if geometry_type != 2:
+        continue
+      if len(tags) % 2:
+        raise ValueError("Unpaired MVT tags")
+      properties = {}
+      for i in range(0, len(tags), 2):
+        if tags[i] >= len(keys) or tags[i + 1] >= len(values):
+          raise ValueError("MVT tag index out of bounds")
+        properties[keys[tags[i]]] = values[tags[i + 1]]
+      kind = properties.get('kind', '')
+      if kind in ('highway', 'major_road', 'minor_road', 'other'):
+        roads.extend(Road(points / extent, kind, properties.get('kind_detail', ''), properties.get('is_tunnel') is True,
+                          properties.get('is_bridge') is True) for points in decode_lines(geometry))
+  return roads

openpilot/selfdrive/pandad/panda_comms.h

@@ -8,7 +8,7 @@
 
 
 #define TIMEOUT 0
-#define SPI_BUF_SIZE 2048
+#define SPI_BUF_SIZE 4096
 
 
 class PandaSpiHandle {
@@ -35,15 +35,18 @@ private:
   inline static std::recursive_mutex hw_lock;
 
   struct __attribute__((packed)) spi_header {
-    uint8_t sync;
     uint8_t endpoint;
+    uint32_t id;
     uint16_t tx_len;
-    uint16_t max_rx_len;
+    uint16_t rx_len;
+  };
+  struct __attribute__((packed)) spi_resp_header {
+    uint8_t status;
+    uint32_t id;
+    uint16_t len;
   };
 
-  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
-  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
-  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int spi_transfer(uint8_t endpoint, uint32_t id, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, double deadline);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int lltransfer(struct spi_ioc_transfer &t);