phase 1

.gitattributes

@@ -11,4 +11,13 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
+third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text

.github/ISSUE_TEMPLATE/enhancement.md

@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+

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

@@ -34,10 +34,10 @@ jobs:
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -120,7 +120,6 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
     secrets: inherit
@@ -158,7 +157,6 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
       artifact_suffix: -retry
@@ -204,7 +202,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

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

@@ -24,11 +24,6 @@ on:
         required: false
         type: string
         default: ''
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
       bypass_push:
         description: 'Bypass pushing to GitLab for build-all'
         required: false
@@ -44,11 +39,6 @@ on:
         description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
@@ -92,7 +82,7 @@ jobs:
     with:
       upstream_branch: ${{ inputs.upstream_branch }}
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: ${{ inputs.is_20hz }}
+      is_20hz: true
       artifact_suffix: ${{ inputs.artifact_suffix }}
     secrets: inherit
 
@@ -129,7 +119,7 @@ jobs:
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: sunnypilot/sunnypilot-docs
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

.github/workflows/cereal_validation.yaml

@@ -23,43 +23,56 @@ env:
   CI: 1
 
 jobs:
+  generate_cereal_artifact:
+    name: Generate cereal validation artifacts
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        run: scons -j$(nproc) cereal
+      - name: Generate the log file
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
+      - name: 'Prepare artifact'
+        run: |
+          mkdir -p "cereal/messaging/tests/cereal_validations"
+          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
+          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+
   validate_cereal_with_upstream:
     name: Validate cereal with Upstream
     runs-on: ubuntu-24.04
+    needs: generate_cereal_artifact
     steps:
-      - name: Checkout sunnypilot cereal
+      - name: Checkout sunnypilot
         uses: actions/checkout@v6
-        with:
-          sparse-checkout: cereal
-
-      - name: Init sunnypilot opendbc submodule
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Checkout upstream openpilot cereal
+      - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
-          path: upstream_openpilot
-          sparse-checkout: cereal
+          path: openpilot
+          submodules: true
           ref: "refs/heads/master"
-
-      - name: Init upstream opendbc submodule
-        working-directory: upstream_openpilot
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Install uv
-        run: pip install uv
-
-      - name: Generate sunnypilot schema
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        working-directory: openpilot
+        run: scons -j$(nproc) cereal
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: openpilot/cereal/messaging/tests/cereal_validations
+      - name: 'Run the validation'
         run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
-
-      - name: Validate against upstream
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          export PYTHONPATH=${{ github.workspace }}/openpilot
+          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin

.github/workflows/diff_report.yaml

@@ -1,45 +0,0 @@
-name: diff report
-
-on:
-  pull_request_target:
-    types: [opened, synchronize, reopened]
-
-jobs:
-  comment:
-    name: comment
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-    - name: Wait for process replay
-      id: wait
-      continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
-      with:
-        ref: ${{ github.event.pull_request.head.sha }}
-        check-name: process replay
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        allowed-conclusions: success,failure
-        wait-interval: 20
-    - name: Download diff
-      if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
-        name: diff_report_${{ github.event.number }}
-        path: .
-        allow_forks: true
-    - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
-      with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -29,9 +29,9 @@ jobs:
     # Build
     - name: Build docs
       run: |
-        git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+        # TODO: can we install just the "docs" dependency group without the normal deps?
+        pip install mkdocs
+        mkdocs build
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v6

.github/workflows/release.yaml

@@ -22,7 +22,7 @@ jobs:
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0

.github/workflows/repo-maintenance.yaml

@@ -9,6 +9,28 @@ env:
   PYTHONPATH: ${{ github.workspace }}
 
 jobs:
+  update_translations:
+    runs-on: ubuntu-latest
+    if: github.repository == 'sunnypilot/sunnypilot'
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Update translations
+        run: python3 selfdrive/ui/update_translations.py --vanish
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          commit-message: "Update translations"
+          title: "[bot] Update translations"
+          body: "Automatic PR from repo-maintenance -> update_translations"
+          branch: "update-translations"
+          base: "master"
+          delete-branch: true
+          labels: bot
+
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
@@ -50,6 +72,7 @@ jobs:
         git add .
     - name: update car docs
       run: |
+        scons -j$(nproc) --minimal opendbc_repo
         python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request

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

@@ -164,54 +164,18 @@ jobs:
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
 
-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          # Generate metadata for all ONNX files
+          # Loop through all .onnx files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            base_name=$(basename "$onnx_file" .onnx)
+            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+
+            echo "Compiling: $onnx_file -> $output_file"
+            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
+            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
           done
 
-          # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
-            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
-
-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
-
       - name: Validate Model Outputs
         run: |
           source /etc/profile
@@ -230,8 +194,6 @@ jobs:
           rsync -avm \
             --include='*.dlc' \
             --include='*.pkl' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
             --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \

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

@@ -185,7 +185,7 @@ jobs:
           echo "Building sunnypilot's locationd..."
           scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
           echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
           echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt

.github/workflows/tests.yaml

@@ -123,7 +123,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
       run: |
@@ -147,7 +147,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
@@ -156,22 +156,12 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - name: Print diff report
-      if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
     - uses: actions/upload-artifact@v6
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
-    - name: Upload diff report
-      uses: actions/upload-artifact@v6
-      if: always() && github.event_name == 'pull_request'
-      continue-on-error: true
-      with:
-        name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       uses: actions/checkout@v4
@@ -179,7 +169,7 @@ jobs:
         repository: commaai/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
+    - name: Push refs
       if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
@@ -191,13 +181,7 @@ jobs:
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
+        git push origin process-replay
     - name: Run regen
       if: false
       timeout-minutes: 4
@@ -220,7 +204,7 @@ jobs:
         submodules: true
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
     - name: Driving test
       timeout-minutes: 2
       run: |
@@ -241,7 +225,7 @@ jobs:
           submodules: true
       - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: scons
+        run: scons -j$(nproc)
       - name: Create UI Report
         run: |
           source selfdrive/test/setup_xvfb.sh

.gitignore

@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-bin/
+
+/docs_site/
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,15 +39,11 @@ bin/
 *.mo
 *_pyx.cpp
 *.stats
-*.pkl
-*.pkl*
 config.json
+clcache
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json
 
-# build artifacts
-docs_site/
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -60,36 +56,51 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/models/*.pkl*
+sunnypilot/modeld*/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
-*.rlog
 
 build/
 
 !**/.gitkeep
 
+poetry.toml
+Pipfile
 
 ### VisualStudioCode ###
-*.vsix
-.history
-.ionide
 .vscode/*
-.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# agents
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
 .claude/
 .context/
 PLAN.md
 TASK.md
-CLAUDE.md
-SKILL.md
 
 ### JetBrains ###
 !.idea/customTargets.xml

.python-version

@@ -1 +0,0 @@
-3.12.13

.vscode/launch.json

@@ -52,9 +52,6 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
-      "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
-      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]

.vscode/settings.json

@@ -21,6 +21,7 @@
     "common/**",
     "selfdrive/**",
     "system/**",
+    "third_party/**",
     "tools/**",
   ]
 }

CHANGELOG.md

@@ -1,7 +1,4 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
-========================
-
-sunnypilot Version 2026.001.000 (2026-05-06)
+sunnypilot Version 2026.001.000 (2026-03-xx)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
   * Complete rewrite of the user interface from Qt C++ to Raylib Python
@@ -69,64 +66,6 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
   * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
   * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
-  * [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
-  * [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
-  * Fix display of values when using use_float_scaling by @CHaucke89
-  * models: fix default & index "0" by @nayan8teen
-  * [TIZI/TICI] visuals: Improved speed limit by @angaz
-  * ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
-  * [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
-  * controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
-  * soundd: trigger timeout warning during MADS lateral-only by @zephleggett
-  * pandad: flasher for Rivian long upgrade module by @lukasloetkolben
-  * modeld_v2: tinygrad transformation warp by @Discountchubbs
-  * tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
-  * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
-  * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
-  * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
-  * ui: don't hide steering wheel when blindspot disabled by @royjr
-  * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
-  * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
-  * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
-  * sunnypilot modeld: remove thneed modeld by @Discountchubbs
-  * modeld_v2: decouple planplus scaling from accel by @Discountchubbs
-  * sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
-  * [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
-  * [TIZI/TICI] ui: dynamic alert size by @nayan8teen
-  * i18n(fr): Add French translations by @didlawowo
-  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
-  * ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
-  * pandad: gate unsupported pandas before flashing by @sunnyhaibin
-  * Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
-  * [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
-  * ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
-  * ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
-  * [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
-  * pandad: always prioritize internal panda by @sunnyhaibin
-  * sunnylinkd: fetch compressed params schema by @sunnyhaibin
-  * sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
-  * modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
-  * NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
-  * MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
-  * [MICI] ui: models panel enhancements by @nayan8teen
-  * [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
-  * tools: script for video concatenation by @Discountchubbs
-  * tools: profile memory usage by @Discountchubbs
-  * [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
-  * [MICI] ui: always offroad by @nayan8teen
-  * controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
-  * Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
-  * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
-  * [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
-  * sunnylink: Remove unused API endpoint by @devtekve
-  * DM: wheel touch enforcement in MADS by @sunnyhaibin
-  * torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
-  * MADS: suppress espActive event when long is not engaged by @sunnyhaibin
-  * sunnylink: SDUI by @sunnyhaibin
-  * [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
-  * ui: fix cellular toggles by @AmyJeanes
-  * sunnylink: switch athena domain by @devtekve
-  * Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
 * What's Changed (sunnypilot/opendbc)
   * Honda: DBC for Accord 9th Generation by @mvl-boston
   * FCA: update tire stiffness values for `RAM_HD` by @dparring
@@ -145,25 +84,12 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
   * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
   * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
-  * Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
-  * Rivian: long upgrade messages on bus 1 by @lukasloetkolben
-  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
-  * Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
-  * Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
-  * MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
-  * Platform List: include community supported platforms by @sunnyhaibin
 * New Contributors (sunnypilot/sunnypilot)
   * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
   * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
   * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
   * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
   * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
-  * @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
-  * @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
-  * @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
-  * @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
-  * @didlawowo made their first contribution in "i18n(fr): Add French translations"
-  * @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
 * New Contributors (sunnypilot/opendbc)
   * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
   * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
@@ -173,20 +99,6 @@ sunnypilot Version 2026.001.000 (2026-05-06)
   * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
   * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
-************************
-* Synced with commaai's openpilot (v0.11.1)
-  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-* Improved inter-process communication memory efficiency
-* comma four support
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

Jenkinsfile

@@ -166,8 +166,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
@@ -218,14 +218,14 @@ node {
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
@@ -247,6 +247,7 @@ node {
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
 

RELEASES.md

@@ -1,23 +1,8 @@
-Version 0.11.2 (2026-06-15)
+Version 0.10.4 (2026-02-17)
 ========================
-
-
-Version 0.11.1 (2026-05-18)
-========================
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Improved thermal policy for comma four
-* Acura MDX 2022-24 support thanks to mvl-boston!
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-
-Version 0.11.0 (2026-03-17)
-========================
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
 * Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
+* Reduce comma four standby power usage by 77% to 52 mW
 
 Version 0.10.3 (2025-12-17)
 ========================

SConstruct

@@ -4,34 +4,32 @@ import sys
 import sysconfig
 import platform
 import shlex
-import importlib
 import numpy as np
 
 import SCons.Errors
-from SCons.Defaults import _stripixes
-
-TICI = os.path.isfile('/TICI')
 
 SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
+AddOption('--asan', action='store_true', help='turn on ASAN')
+AddOption('--ubsan', action='store_true', help='turn on UBSan')
+AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 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
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=(not TICI and not release),
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and TICI:
+elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
 assert arch in [
   "larch64",  # linux tici arm64
@@ -40,61 +38,32 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
-acados = pkgs[pkg_names.index('acados')]
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]
-
-
-# ***** enforce a whitelist of system libraries *****
-# this prevents silently relying on a 3rd party package,
-# e.g. apt-installed libusb. all libraries should either
-# be distributed with all Linux distros and macOS, or
-# vendored in commaai/dependencies.
-allowed_system_libs = {
-  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
-  "dl", "drm", "gbm", "m", "pthread",
-}
-
-def _resolve_lib(env, name):
-  for d in env.Flatten(env.get('LIBPATH', [])):
-    p = Dir(str(d)).abspath
-    for ext in ('.a', '.so', '.dylib'):
-      f = File(os.path.join(p, f'lib{name}{ext}'))
-      if f.exists() or f.has_builder():
-        return name
-  if name in allowed_system_libs:
-    return name
-  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
-
-def _libflags(target, source, env, for_signature):
-  libs = []
-  lp = env.subst('$LIBLITERALPREFIX')
-  for lib in env.Flatten(env.get('LIBS', [])):
-    if isinstance(lib, str):
-      if os.sep in lib or lib.startswith('#'):
-        libs.append(File(lib))
-      elif lib.startswith('-') or (lp and lib.startswith(lp)):
-        libs.append(lib)
-      else:
-        libs.append(_resolve_lib(env, lib))
-    else:
-      libs.append(lib)
-  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
-                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])
+if arch != "larch64":
+  import bzip2
+  import capnproto
+  import eigen
+  import ffmpeg as ffmpeg_pkg
+  import libjpeg
+  import libyuv
+  import ncurses
+  import openssl3
+  import python3_dev
+  import zeromq
+  import zstd
+  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, openssl3, zeromq, zstd]
+  py_include = python3_dev.INCLUDE_DIR
+else:
+  # TODO: remove when AGNOS has our new vendor pkgs
+  pkgs = []
+  py_include = sysconfig.get_paths()['include']
 
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
   },
   CCFLAGS=[
     "-g",
@@ -114,14 +83,22 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
-    acados_include_dirs,
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#common",
     "#msgq_repo",
+    "#third_party",
     "#selfdrive/pandad",
     "#rednose/helpers",
+    f"#third_party/acados/{arch}/lib",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
@@ -131,14 +108,14 @@ env = Environment(
   tools=["default", "cython", "compilation_db", "rednose_filter"],
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
-  env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
 if arch == "larch64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
+    "/usr/local/lib",
+    "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
   ])
   arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
@@ -150,6 +127,19 @@ elif arch == "Darwin":
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+else:
+  env.Append(LIBPATH=[
+    "/usr/lib",
+    "/usr/local/lib",
+  ])
+
+# Sanitizers and extra CCFLAGS from CLI
+if GetOption('asan'):
+  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
+  env.Append(LINKFLAGS=["-fsanitize=address"])
+elif GetOption('ubsan'):
+  env.Append(CCFLAGS=["-fsanitize=undefined"])
+  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -175,9 +165,19 @@ if not GetOption('verbose'):
   ):
     env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 
+# progress output
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
 # ********** Cython build environment **********
 envCython = env.Clone()
-envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
+envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
@@ -190,24 +190,14 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch')
 
 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
-  cache_size = sum(os.path.getsize(f) for f in cache_files)
-  for f in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    cache_size -= os.path.getsize(f)
-    os.unlink(f)
-
 # ********** start building stuff **********
 
 # Build common module
@@ -221,6 +211,7 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['cereal/SConscript'])
 
@@ -243,59 +234,15 @@ SConscript([
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
 
-# Build selfdrive
-SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
-])
+# Build openpilot
+SConscript(['third_party/SConscript'])
+
+SConscript(['selfdrive/SConscript'])
 
 SConscript(['sunnypilot/SConscript'])
 
-# Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
-  SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
-  ])
+if Dir('#tools/cabana/').exists() and arch != "larch64":
+  SConscript(['tools/cabana/SConscript'])
 
 
 env.CompilationDatabase('compile_commands.json')
-
-# progress output
-def count_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
-
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    executor = node.get_executor()
-    if executor is not None:
-      stack += executor.get_all_prerequisites() + executor.get_all_children()
-
-  return len(seen)
-
-progress_interval = 5
-progress_count = 0
-progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
-
-def progress_function(node):
-  global progress_count
-  if progress_count >= progress_total:
-    return
-  progress_count = min(progress_count + progress_interval, progress_total)
-  progress = round(100. * progress_count / progress_total, 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function, interval=progress_interval)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)

cereal/SConscript

@@ -4,7 +4,7 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")

cereal/custom.capnp

@@ -154,7 +154,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       vision @2;
       policy @3;
       offPolicy @4;
-      onPolicy @5;
     }
   }
 

cereal/legacy.capnp

@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;
 
-# deprecated.capnp: a home for deprecated structs
+# legacy.capnp: a home for deprecated structs
 
 struct LogRotate @0x9811e1f38f62f2d1 {
   segmentNum @0 :Int32;
@@ -571,219 +571,4 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
   pkt @4 :Data;
 }
 
-struct LiveTracksDEPRECATED @0xb16f60103159415a {
-  trackId @0 :Int32;
-  dRel @1 :Float32;
-  yRel @2 :Float32;
-  vRel @3 :Float32;
-  aRel @4 :Float32;
-  timeStamp @5 :Float32;
-  status @6 :Float32;
-  currentTime @7 :Float32;
-  stationary @8 :Bool;
-  oncoming @9 :Bool;
-}
 
-struct LiveMpcData @0x92a5e332a85f32a0 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  psi @2 :List(Float32);
-  curvature @3 :List(Float32);
-  qpIterations @4 :UInt32;
-  calculationTime @5 :UInt64;
-  cost @6 :Float64;
-}
-
-struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
-  xEgo @0 :List(Float32);
-  vEgo @1 :List(Float32);
-  aEgo @2 :List(Float32);
-  xLead @3 :List(Float32);
-  vLead @4 :List(Float32);
-  aLead @5 :List(Float32);
-  aLeadTau @6 :Float32;    # lead accel time constant
-  qpIterations @7 :UInt32;
-  mpcId @8 :UInt32;
-  calculationTime @9 :UInt64;
-  cost @10 :Float64;
-}
-
-struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
-  frameId @0 :UInt32;
-  modelExecutionTime @14 :Float32;
-  dspExecutionTime @16 :Float32;
-  rawPredictions @15 :Data;
-
-  faceOrientation @3 :List(Float32);
-  facePosition @4 :List(Float32);
-  faceProb @5 :Float32;
-  leftEyeProb @6 :Float32;
-  rightEyeProb @7 :Float32;
-  leftBlinkProb @8 :Float32;
-  rightBlinkProb @9 :Float32;
-  faceOrientationStd @11 :List(Float32);
-  facePositionStd @12 :List(Float32);
-  sunglassesProb @13 :Float32;
-  poorVision @17 :Float32;
-  partialFace @18 :Float32;
-  distractedPose @19 :Float32;
-  distractedEyes @20 :Float32;
-  eyesOnRoad @21 :Float32;
-  phoneUse @22 :Float32;
-  occludedProb @23 :Float32;
-
-  readyProb @24 :List(Float32);
-  notReadyProb @25 :List(Float32);
-
-  irPwrDEPRECATED @10 :Float32;
-  descriptorDEPRECATED @1 :List(Float32);
-  stdDEPRECATED @2 :Float32;
-}
-
-struct NavModelData @0xac3de5c437be057a {
-  frameId @0 :UInt32;
-  locationMonoTime @6 :UInt64;
-  modelExecutionTime @1 :Float32;
-  dspExecutionTime @2 :Float32;
-  features @3 :List(Float32);
-  # predicted future position
-  position @4 :XYData;
-  desirePrediction @5 :List(Float32);
-
-  # All SI units and in device frame
-  struct XYData @0xbe09e615b2507e26 {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    xStd @2 :List(Float32);
-    yStd @3 :List(Float32);
-  }
-}
-
-struct AndroidBuildInfo @0xfe2919d5c21f426c {
-  board @0 :Text;
-  bootloader @1 :Text;
-  brand @2 :Text;
-  device @3 :Text;
-  display @4 :Text;
-  fingerprint @5 :Text;
-  hardware @6 :Text;
-  host @7 :Text;
-  id @8 :Text;
-  manufacturer @9 :Text;
-  model @10 :Text;
-  product @11 :Text;
-  radioVersion @12 :Text;
-  serial @13 :Text;
-  supportedAbis @14 :List(Text);
-  tags @15 :Text;
-  time @16 :Int64;
-  type @17 :Text;
-  user @18 :Text;
-
-  versionCodename @19 :Text;
-  versionRelease @20 :Text;
-  versionSdk @21 :Int32;
-  versionSecurityPatch @22 :Text;
-}
-
-struct AndroidSensor @0x9b513b93a887dbcd {
-  id @0 :Int32;
-  name @1 :Text;
-  vendor @2 :Text;
-  version @3 :Int32;
-  handle @4 :Int32;
-  type @5 :Int32;
-  maxRange @6 :Float32;
-  resolution @7 :Float32;
-  power @8 :Float32;
-  minDelay @9 :Int32;
-  fifoReservedEventCount @10 :UInt32;
-  fifoMaxEventCount @11 :UInt32;
-  stringType @12 :Text;
-  maxDelay @13 :Int32;
-}
-
-struct IosBuildInfo @0xd97e3b28239f5580 {
-  appVersion @0 :Text;
-  appBuild @1 :UInt32;
-  osVersion @2 :Text;
-  deviceModel @3 :Text;
-}
-
-enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
-  unknown @0;
-  neo @1;
-  chffrAndroid @2;
-  front @3;
-}
-
-struct AndroidCaptureResult @0xbcc3efbac41d2048 {
-  sensitivity @0 :Int32;
-  frameDuration @1 :Int64;
-  exposureTime @2 :Int64;
-  rollingShutterSkew @3 :UInt64;
-  colorCorrectionTransform @4 :List(Int32);
-  colorCorrectionGains @5 :List(Float32);
-  displayRotation @6 :Int8;
-}
-
-enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
-  none @0;
-  client @1;
-  cdp @2;
-  dcp @3;
-}
-
-struct LateralINDIState @0x939463348632375e {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  steeringRateDeg @2 :Float32;
-  steeringAccelDeg @3 :Float32;
-  rateSetPoint @4 :Float32;
-  accelSetPoint @5 :Float32;
-  accelError @6 :Float32;
-  delayedOutput @7 :Float32;
-  delta @8 :Float32;
-  output @9 :Float32;
-  saturated @10 :Bool;
-  steeringAngleDesiredDeg @11 :Float32;
-  steeringRateDesiredDeg @12 :Float32;
-}
-
-struct LateralLQRState @0x9024e2d790c82ade {
-  active @0 :Bool;
-  steeringAngleDeg @1 :Float32;
-  i @2 :Float32;
-  output @3 :Float32;
-  lqrOutput @4 :Float32;
-  saturated @5 :Bool;
-  steeringAngleDesiredDeg @6 :Float32;
-}
-
-struct LateralCurvatureState @0xad9d8095c06f7c61 {
-  active @0 :Bool;
-  actualCurvature @1 :Float32;
-  desiredCurvature @2 :Float32;
-  error @3 :Float32;
-  p @4 :Float32;
-  i @5 :Float32;
-  f @6 :Float32;
-  output @7 :Float32;
-  saturated @8 :Bool;
-}
-
-struct LateralPlannerSolution @0x84caeca5a6b4acfe {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-  yaw @2 :List(Float32);
-  yawRate @3 :List(Float32);
-  xStd @4 :List(Float32);
-  yStd @5 :List(Float32);
-  yawStd @6 :List(Float32);
-  yawRateStd @7 :List(Float32);
-}
-
-struct GpsTrajectory @0x8cfeb072f5301000 {
-  x @0 :List(Float32);
-  y @1 :List(Float32);
-}

cereal/messaging/__init__.py

@@ -259,11 +259,11 @@ class PubMaster:
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    try:
-      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
-      return True
-    except TimeoutError:
-      return False
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False
 
   def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
+    return self.sock[s].all_readers_updated()  # type: ignore

cereal/messaging/tests/test_messaging.py

@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,256 +1,222 @@
 #!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
-"""
-
-from __future__ import annotations
-
 import argparse
-import json
-import os
 import sys
-from typing import Any
+from typing import Any, List, Tuple
 
-NO_DISCRIMINANT = 0xFFFF
+DEBUG = False
 
 
-def hex_id(value: int) -> str:
-  return f"0x{value:016x}"
+def print_debug(string: str) -> None:
+  if DEBUG:
+    print(string)
 
 
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
+def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
+  """
+  Create a new instance of a schema type, handling different field types.
+
+  Args:
+      struct: The Cap'n Proto schema structure
+      prop: A tuple containing the field name and field metadata
+
+  Returns:
+      A new initialized schema instance
+  """
+  struct_instance = struct.new_message()
+  field_name, field_metadata = prop
+
+  try:
+    field_type = field_metadata.proto.slot.type.which()
+
+    # Initialize different types of fields
+    if field_type in ('list', 'text', 'data'):
+      struct_instance.init(field_name, 1)
+      print_debug(f"Initialized list/text/data field: {field_name}")
+    elif field_type in ('struct', 'object'):
+      struct_instance.init(field_name)
+      print_debug(f"Initialized struct/object field: {field_name}")
+
+    return struct_instance
+
+  except Exception as e:
+    print(f"Error creating instance for {field_name}: {e}")
+    return None
 
 
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
+  """
+  Retrieve all fields from a given schema structure.
 
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
+  Args:
+      schema_struct: The Cap'n Proto schema structure
 
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
+  Returns:
+      A list of field names and their metadata
+  """
+  try:
+    # Get all fields from the schema
+    schema_fields = list(schema_struct.schema.fields.items())
+
+    print_debug("Discovered schema fields:")
+    for field_name, field_metadata in schema_fields:
+      print_debug(f"- {field_name}")
+
+    return schema_fields
+
+  except Exception as e:
+    print(f"Error retrieving schema fields: {e}")
+    return []
 
 
-def encode_struct(schema: Any) -> dict:
-  node = schema.node
-  return {
-    "typeId": hex_id(node.id),
-    "displayName": node.displayName,
-    "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
-  }
+def generate_schema_instances(schema_struct: Any) -> List[Any]:
+  """
+  Generate instances for all fields in a given schema.
+
+  Args:
+      schema_struct: The Cap'n Proto schema structure
+
+  Returns:
+      A list of schema instances
+  """
+  schema_fields = get_schema_fields(schema_struct)
+  instances = []
+
+  for field_prop in schema_fields:
+    try:
+      instance = create_schema_instance(schema_struct, field_prop)
+      if instance is not None:
+        instances.append(instance)
+    except Exception as e:
+      print(f"Skipping field due to error: {e}")
+
+  print(f"Generated {len(instances)} schema instances")
+  return instances
 
 
-def _child_struct_schema(field: Any) -> Any:
-  proto = field.proto
-  if proto.which() == "group":
-    return field.schema
-  type_node = proto.slot.type
-  which = type_node.which()
-  if which == "struct":
-    return field.schema
-  if which == "list":
-    container = field.schema
-    element_type = type_node.list.elementType
-    while element_type.which() == "list":
-      container = container.elementType
-      element_type = element_type.list.elementType
-    if element_type.which() == "struct":
-      return container.elementType
-  return None
+def persist_instances(instances: List[Any], filename: str) -> None:
+  """
+  Write schema instances to a binary file.
+
+  Args:
+      instances: List of schema instances
+      filename: Output file path
+  """
+  try:
+    with open(filename, 'wb') as f:
+      for instance in instances:
+        f.write(instance.to_bytes())
+
+    print(f"Successfully wrote {len(instances)} instances to {filename}")
+
+  except Exception as e:
+    print(f"Error persisting instances: {e}")
+    sys.exit(1)
 
 
-def collect_schema(root: Any) -> dict[str, dict]:
-  structs: dict[str, dict] = {}
-  stack = [root]
-  while stack:
-    schema = stack.pop()
-    type_id = hex_id(schema.node.id)
-    if type_id in structs:
-      continue
-    structs[type_id] = encode_struct(schema)
-    for _name, field in schema.fields.items():
-      try:
-        child = _child_struct_schema(field)
-      except Exception:
-        child = None
-      if child is not None:
-        stack.append(child)
-  return structs
+def read_instances(filename: str, schema_type: Any) -> List[Any]:
+  """
+  Read schema instances from a binary file.
+
+  Args:
+      filename: Input file path
+      schema_type: The schema type to use for reading
+
+  Returns:
+      A list of read schema instances
+  """
+  try:
+    with open(filename, 'rb') as f:
+      data = f.read()
+
+    instances = list(schema_type.read_multiple_bytes(data))
+
+    print(f"Read {len(instances)} instances from {filename}")
+    return instances
+
+  except Exception as e:
+    print(f"Error reading instances: {e}")
+    sys.exit(1)
 
 
-def load_log(cereal_dir: str) -> Any:
-  import capnp
-  cereal_dir = os.path.abspath(cereal_dir)
-  capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
+def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
+  """
+  Compare original and read-back instances to detect potential breaking changes.
 
+  Args:
+      original_instances: List of originally generated instances
+      read_instances: List of instances read back from file
 
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
-  payload = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  with open(path, "w", encoding="utf-8") as handle:
-    json.dump(payload, handle, indent=2, sort_keys=True)
-  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
-
-
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
+  Returns:
+      Boolean indicating whether schemas appear compatible
+  """
+  if len(original_instances) != len(read_instances):
+    print("❌ Schema Compatibility Warning: Instance count mismatch")
     return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
+
+  compatible = True
+  for struct in read_instances:
+    try:
+      getattr(struct, struct.which())  # Attempting to access the field to validate readability
+    except Exception as e:
+      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
+      compatible = False
+
+  return compatible
 
 
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
-def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
-  violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
-
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
-      continue
-
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
-        violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
-        )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
-
-  return violations
-
-
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
-  peer_dump = load_peer(peer_path)
-  local_dump = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
-
-  if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
-    return 0
-
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
-  for v in violations:
-    print(f"  {v}")
-  return 1
-
-
-def main() -> int:
+def main():
+  """
+  CLI entry point for schema compatibility testing.
+  """
+  # Setup argument parser
   parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
+    description='Cap\'n Proto Schema Compatibility Testing Tool',
+    epilog='Test schema compatibility by generating and reading back instances.'
   )
-  mode = parser.add_mutually_exclusive_group(required=True)
-  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
+
+  # Add mutually exclusive group for generation or reading mode
+  mode_group = parser.add_mutually_exclusive_group(required=True)
+  mode_group.add_argument('-g', '--generate', action='store_true',
+                          help='Generate schema instances')
+  mode_group.add_argument('-r', '--read', action='store_true',
+                          help='Read and validate schema instances')
+
+  # Common arguments
+  parser.add_argument('-f', '--file',
+                      default='schema_instances.bin',
+                      help='Output/input binary file (default: schema_instances.bin)')
+
+  # Parse arguments
   args = parser.parse_args()
 
+  # Import the schema dynamically 
+  try:
+    from cereal import log
+    schema_type = log.Event
+  except ImportError:
+    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
+    sys.exit(1)
+
+  # Execute based on mode
   if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
+    print("🔧 Generating Schema Instances")
+    instances = generate_schema_instances(schema_type)
+    persist_instances(instances, args.file)
+    print("✅ Instance generation complete")
+
+  elif args.read:
+    print("🔍 Reading and Validating Schema Instances")
+    generated_instances = generate_schema_instances(schema_type)
+    read_back_instances = read_instances(args.file, schema_type)
+
+    # Compare schemas
+    if compare_schemas(generated_instances, read_back_instances):
+      print("✅ Schema Compatibility: No breaking changes detected")
+      sys.exit(0)
+    else:
+      print("❌ Potential Schema Breaking Changes Detected")
+      sys.exit(1)
 
 
 if __name__ == "__main__":
-  sys.exit(main())
+  main()

cereal/services.py

@@ -24,7 +24,10 @@ _services: dict[str, tuple] = {
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
   "accelerometer": (True, 104., 104),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -36,8 +39,8 @@ _services: dict[str, tuple] = {
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
   "sendcan": (True, 100., 139, QueueSize.MEDIUM),
-  "logMessage": (True, 0., None, QueueSize.BIG),
-  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
+  "logMessage": (True, 0.),
+  "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
   "liveDelay": (True, 4., 1),
@@ -46,13 +49,13 @@ _services: dict[str, tuple] = {
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
-  "lateralManeuverPlan": (True, 20.),
   "driverAssistance": (True, 20., 20),
   "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "livePose": (True, 20., 4),
@@ -71,6 +74,10 @@ _services: dict[str, tuple] = {
   "drivingModelData": (True, 20., 10),
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
   "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
@@ -106,6 +113,8 @@ _services: dict[str, tuple] = {
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}

common/.gitignore

@@ -0,0 +1 @@
+*.cpp

common/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython')
+Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',

common/file_chunker.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-import sys
 import math
 import os
 from pathlib import Path
@@ -12,12 +10,9 @@ def get_chunk_name(name, idx, num_chunks):
 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):
+def get_chunk_paths(path, file_size):
   num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return _chunk_paths(path, num_chunks)
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
 
 def chunk_file(path, targets):
   manifest_path, *chunk_paths = targets
@@ -31,13 +26,6 @@ def chunk_file(path, targets):
   Path(manifest_path).write_text(str(len(chunk_paths)))
   os.remove(path)
 
-def get_existing_chunks(path):
-  if os.path.isfile(path):
-    return [path]
-  if os.path.isfile(manifest := get_manifest_path(path)):
-    num_chunks = int(Path(manifest).read_text().strip())
-    return _chunk_paths(path, num_chunks)
-  raise FileNotFoundError(path)
 
 def read_file_chunked(path):
   manifest_path = get_manifest_path(path)
@@ -47,9 +35,3 @@ def read_file_chunked(path):
   if os.path.isfile(path):
     return Path(path).read_bytes()
   raise FileNotFoundError(path)
-
-
-if __name__ == "__main__":
-  path = sys.argv[1]
-  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
-  chunk_file(path, chunk_paths)

common/filter_simple.py

@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
     scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
     self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
     self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-3:
+    if abs(self.velocity.x) < 1e-5:
       self.velocity.x = 0.0
     self.x += self.velocity.x
     return self.x

common/model.h

@@ -0,0 +1 @@
+#define DEFAULT_MODEL "CD210 (Default)"

common/parameterized.py

@@ -1,13 +1,8 @@
-import re
 import sys
 import pytest
 import inspect
 
 
-def _to_safe_name(s):
-  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
-
-
 class parameterized:
   @staticmethod
   def expand(cases):
@@ -39,9 +34,7 @@ def parameterized_class(attrs, input_list=None):
   def decorator(cls):
     globs = sys._getframe(1).f_globals
     for i, params in enumerate(params_list):
-      # append sanitized string param values so pytest -k can filter by them
-      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
-      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
+      name = f"{cls.__name__}_{i}"
       new_cls = type(name, (cls,), dict(params))
       new_cls.__module__ = cls.__module__
       new_cls.__test__ = True  # override inherited False so pytest collects this subclass

common/params.py

@@ -14,6 +14,6 @@ if __name__ == "__main__":
   if len(sys.argv) == 3:
     val = sys.argv[2]
     print(f"SET: {key} = {val}")
-    params.put(key, val, block=True)
+    params.put(key, val)
   elif len(sys.argv) == 2:
     print(f"GET: {key} = {params.get(key)}")

common/params_keys.h

@@ -80,10 +80,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
-    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
-    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
     {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
@@ -104,6 +102,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
     {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -131,8 +131,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
@@ -174,7 +172,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
     {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
-    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -205,7 +202,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // sunnylink params
     {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
     {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
-    {"ParamsVersion", {PERSISTENT, INT}},
     {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
     {"SunnylinkCache_Users", {PERSISTENT, STRING}},
     {"SunnylinkDongleId", {PERSISTENT, STRING}},
@@ -274,7 +270,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
     {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
     {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
     {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
     {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},

common/params_pyx.pyx

@@ -142,28 +142,33 @@ cdef class Params:
     cdef ParamKeyType t = self.p.getKeyType(k)
     return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
 
-  def put(self, key, dat, bool block = False):
+  def put(self, key, dat):
     """
-    Warning: block=True blocks until the param is written to disk!
+    Warning: This function blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use block=False in time sensitive code, but in general try to avoid
-    writing params as much as possible.
+    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
+    in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
     cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
-      if block:
-        self.p.put(k, dat_bytes)
-      else:
-        self.p.putNonBlocking(k, dat_bytes)
+      self.p.put(k, dat_bytes)
 
-  def put_bool(self, key, bool val, bool block = False):
+  def put_bool(self, key, bool val):
     cdef string k = self.check_key(key)
     with nogil:
-      if block:
-        self.p.putBool(k, val)
-      else:
-        self.p.putBoolNonBlocking(k, val)
+      self.p.putBool(k, val)
+
+  def put_nonblocking(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = self._put_cast(key, dat)
+    with nogil:
+      self.p.putNonBlocking(k, dat_bytes)
+
+  def put_bool_nonblocking(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBoolNonBlocking(k, val)
 
   def remove(self, key):
     cdef string k = self.check_key(key)

common/realtime.py

@@ -28,11 +28,6 @@ class Priority:
   CTRL_HIGH = 53
 
 
-def drop_realtime() -> None:
-  if sys.platform == 'linux' and not PC:
-    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
-
-
 def set_core_affinity(cores: list[int]) -> None:
   if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)

common/swaglog.cc

@@ -11,7 +11,7 @@
 
 #include <zmq.h>
 #include <stdarg.h>
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"
 

common/tests/test_params.py

@@ -12,17 +12,17 @@ class TestParams:
     self.params = Params()
 
   def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee", block=True)
+    self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st, block=True)
+    self.params.put("CarParams", st)
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test", block=True)
-    self.params.put("DongleId", "cb38263377b873ee", block=True)
+    self.params.put("CarParams", b"test")
+    self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
 
     undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,15 +36,15 @@ class TestParams:
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
-    self.params.put("DongleId", "bob", block=True)
-    self.params.put("AthenadPid", 123, block=True)
+    self.params.put("DongleId", "bob")
+    self.params.put("AthenadPid", 123)
     assert self.params.get("DongleId") == "bob"
     assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", b"test", block=True)
+      self.params.put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
     assert self.params.get("CarParams", block=True) == b"test"
@@ -57,10 +57,10 @@ class TestParams:
       self.params.get_bool("swag")
 
     with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc", block=True)
+      self.params.put("swag", "abc")
 
     with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True, block=True)
+      self.params.put_bool("swag", True)
 
   def test_remove_not_there(self):
     assert self.params.get("CarParams") is None
@@ -71,23 +71,23 @@ class TestParams:
     self.params.remove("IsMetric")
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", True, block=True)
+    self.params.put_bool("IsMetric", True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put_bool("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", True, block=True)
+    self.params.put("IsMetric", True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", False, block=True)
+    self.params.put("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put("CarParams", b"test")
+      Params().put_nonblocking("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -96,7 +96,7 @@ class TestParams:
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_bool("CarParams", True)
+      Params().put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"
@@ -123,19 +123,19 @@ class TestParams:
 
   def test_params_get_type(self):
     # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
     assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
 
     # int
-    self.params.put("BootCount", 1441, block=True)
+    self.params.put("BootCount", 1441)
     assert self.params.get("BootCount") == 1441
 
     # bool
-    self.params.put("AdbEnabled", True, block=True)
+    self.params.put("AdbEnabled", True)
     assert self.params.get("AdbEnabled")
     assert isinstance(self.params.get("AdbEnabled"), bool)
 
     # time
     now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now, block=True)
+    self.params.put("InstallDate", now)
     assert self.params.get("InstallDate") == now

common/tests/test_swaglog.cc

@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 #include "sunnypilot/common/version.h"
 

common/time_helpers.py

@@ -2,7 +2,6 @@ import datetime
 from pathlib import Path
 
 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
-MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time
@@ -13,4 +12,4 @@ def min_date():
   return MIN_DATE
 
 def system_time_valid():
-  return min_date() < datetime.datetime.now() < MAX_DATE
+  return datetime.datetime.now() > min_date()

common/transformations/.gitignore

@@ -0,0 +1,2 @@
+transformations
+transformations.cpp

common/utils.py

@@ -48,7 +48,7 @@ def sudo_write(val: str, path: str) -> None:
 
 def sudo_read(path: str) -> str:
   try:
-    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
   except Exception:
     return ""
 
@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
     return compressed_stream, compressed_size
 
 
-# remove all keys that end in DEPRECATED, plus any "deprecated" group
+# remove all keys that end in DEPRECATED
 def strip_deprecated_keys(d):
   for k in list(d.keys()):
     if isinstance(k, str):
-      if k.endswith('DEPRECATED') or k == 'deprecated':
+      if k.endswith('DEPRECATED'):
         d.pop(k)
       elif isinstance(d[k], dict):
         strip_deprecated_keys(d[k])

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.2"
+#define COMMA_VERSION "0.10.4"

conftest.py

@@ -7,19 +7,26 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
-# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
+# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
+# pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
+  "selfdrive/ui/tests/test_translations",
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
-  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
-  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "sunnypilot/modeld_v2/tests/test_warp.py",
 ]
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
+  "selfdrive/modeld/*.py",
+  "sunnypilot/modeld*/*.py",
 ]
 
 
+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
 @pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
   # ensure we run as a hook after capturemanager's
@@ -91,3 +98,15 @@ def pytest_collection_modifyitems(config, items):
       class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
       class_property_value = getattr(item.cls, class_property_name)
       item.add_marker(pytest.mark.xdist_group(class_property_value))
+
+
+@pytest.hookimpl(trylast=True)
+def pytest_configure(config):
+  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
+  config.addinivalue_line("markers", config_line)
+
+  config_line = "nocapture: don't capture test output"
+  config.addinivalue_line("markers", config_line)
+
+  config_line = "shared_download_cache: share download cache between tests"
+  config.addinivalue_line("markers", config_line)

docs/CARS.md

@@ -4,25 +4,24 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 340 Supported Cars
+# 336 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|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>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|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>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 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 Silverado 1500 2020-21">Buy Here</a></sub></details>|||
@@ -32,34 +31,34 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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 2021-23">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Escape 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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 Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
 |Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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 Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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 Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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 Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 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 Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Mustang Mach-E 2021-24|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -74,18 +73,18 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (Australia Only) 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 Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -104,7 +103,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |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>|||
@@ -117,9 +115,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 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 Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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 Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 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 Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe 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 Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -136,17 +134,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 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 Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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 Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 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 Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 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 Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 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 Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 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 Kona Hybrid 2020">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24|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=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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 Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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 Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
@@ -156,8 +154,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Hybrid 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |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>|||
@@ -170,16 +168,16 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K7 2017|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 K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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 EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Kia|Niro EV (with HDA II) 2024-25|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 R 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 EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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 EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV (with HDA II) 2025|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 R 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 EV (with HDA II) 2025">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 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 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 Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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 Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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 Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 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 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 Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Kia|Niro 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 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 Niro Hybrid 2023">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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 2021">Buy Here</a></sub></details>|||
@@ -188,21 +186,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|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>||
+|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"></img></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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"></img></a>||
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Hybrid 2021-23">Buy Here</a></sub></details>|||
 |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|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 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
@@ -223,25 +221,23 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>5</sup>](#footnotes)|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"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -252,17 +248,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
@@ -279,75 +275,75 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 />
@@ -360,12 +356,11 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/CONTRIBUTING.md

@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There are a lot of bounties that don't require a comma four or a car.
+There are a lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/DEVELOPMENT.md

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

docs/README.md

@@ -0,0 +1,26 @@
+# openpilot docs
+
+This is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+## Development
+NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
+uv pip install .[docs]
+```
+
+**2. Build the new site**
+``` bash
+mkdocs build
+```
+
+**3. Run the new site locally**
+``` bash
+mkdocs serve
+```
+
+References:
+* https://www.mkdocs.org/getting-started/
+* https://github.com/ntno/mkdocs-terminal

docs/SAFETY.md

@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.
 
-To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
-that alerts when it detects driver distraction.
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.
 
 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be

docs/assets/comma-logo.png

@@ -1 +0,0 @@
-../../selfdrive/assets/icons_mici/settings/comma_icon.png

docs/car-porting/brand-port.md

@@ -0,0 +1,5 @@
+# Developing a car brand port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.

docs/car-porting/car-state-signals.md

@@ -0,0 +1,65 @@
+# CarState signals
+
+## Required for basic lateral control
+
+* `brakePressed`
+* `cruiseState`
+* `doorOpen`
+* `espDisabled`
+* `gasPressed`
+* `gearShifter`
+* `leftBlinker` / `rightBlinker`
+* `seatbeltUnlatched`
+* `standstill`
+* `steeringAngleDeg`
+* `steeringPressed`
+* `steeringTorque`
+* `steerFaultPermanent`
+* `steerFaultTemporary`
+* `vCruise`
+* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
+speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
+
+## Recommended / Required for openpilot longitudinal control
+
+* `accFaulted`
+* `espActive`
+* `parkingBrake`
+
+## Application Dependent
+
+* `blockPcmEnable`
+* `buttonEnable`
+* `brakeHoldActive`
+* `carFaultedNonCritical`
+* `invalidLkasSetting`
+* `lowSpeedAlert`
+* `regenBraking`
+* `steeringAngleOffsetDeg`
+* `steeringDisengage`
+* `steeringTorqueEps`
+* `stockLkas`
+* `vCruiseCluster`
+* `vEgoCluster`
+* `vehicleSensorsInvalid`
+
+## Automatically populated
+
+* `buttonEvents`
+
+These values are populated automatically by `parse_wheel_speeds`:
+
+* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
+* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
+* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
+
+## Optional
+
+* `brake`
+* `charging`
+* `fuelGauge`
+* `leftBlindspot` / `rightBlindspot`
+* `steeringRateDeg`
+* `stockAeb`
+* `stockFcw`
+* `yawRate`

docs/car-porting/model-port.md

@@ -0,0 +1,5 @@
+# Developing a car model port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.

docs/car-porting/reverse-engineering.md

@@ -0,0 +1,85 @@
+# Stimulus-Response Tests
+
+These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
+test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
+
+While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
+necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
+available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
+in loss of the last minute of testing data.
+
+## Stationary ignition-only tests, part 1
+
+1. Ignition on, but don't start engine, remain in Park
+2. Open and close each door in a defined order: driver, passenger, rear left, rear right
+3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
+4. Slowly press and release the accelerator pedal 3 times
+5. Slowly press and release the brake pedal 3 times
+6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
+7. Return to Park, ignition off
+
+Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
+pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
+the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
+
+Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
+Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
+door signal is available, the same signal may follow the driver.
+
+## Stationary ignition-only tests, part 2
+
+1. Ignition on, but don't start engine, remain in Park
+2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
+3. Set the left turn signal for about five seconds
+4. Operate the left turn signal one time in its touch-to-pass mode
+5. Set the right turn signal for about five seconds
+6. Operate the right turn signal one time in its touch-to-pass mode
+7. Set the hazard / emergency indicator switch for about five seconds
+8. Ignition off
+
+Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
+isn't necessary for purposes of detecting the ACC button presses.
+
+## Steering angle and steering torque tests
+
+Power steering should be available. On ICE cars, engine RPM may be present.
+
+1. Ignition on, start engine if applicable, remain in Park
+2. Rotate the steering wheel as follows, with a few seconds pause between each step
+   * Start as close to exact center as possible
+   * Turn to 45 degrees right and hold
+   * Turn to 90 degrees right and hold
+   * Turn to 180 degrees right and hold
+   * Turn to full lock right and hold, with firm pressure against lock
+   * Release the wheel and allow it to bounce back slightly from lock
+   * Turn to 180 degrees left and hold
+   * Return to center and release
+3. Ignition off
+
+Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
+of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
+
+## Low speed / parking lot driving tests
+
+Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
+
+1. Ignition on, start engine if applicable, prepare to drive
+2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
+3. Come to a complete stop
+4. When and where safe, drive in reverse for a short distance (10-15 feet)
+5. Park the car in a safe place, ignition off
+
+## High speed / highway driving tests
+
+Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
+traffic ahead, and safely test the response of your factory lane guidance system.
+
+1. Ignition on, start engine if applicable, prepare to drive
+2. When safely able, engage adaptive cruise control below 50 mph
+3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
+4. Disengage adaptive cruise
+5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
+
+The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
+setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
+and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.

docs/car-porting/what-is-a-car-port.md

@@ -8,7 +8,7 @@ A car port enables openpilot support on a particular car. Each car model openpil
 
 # Structure of a car port
 
-All car-specific code is contained in the [opendbc](https://github.com/commaai/opendbc) project.
+Virtually all car-specific code is contained in two other repositories: [opendbc](https://github.com/commaai/opendbc) and [panda](https://github.com/commaai/panda).
 
 ## opendbc
 
@@ -23,8 +23,8 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 
 ## safety
 
-* `opendbc/safety/modes/[brand].h`: Brand-specific safety logic
-* `opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
+* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 
@@ -32,20 +32,8 @@ For historical reasons, openpilot still contains a small amount of car-specific
 
 * `selfdrive/car/car_specific.py`: Brand-specific event logic
 
-# How do I port car?
+# Overview
 
 [Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
 
 https://www.youtube.com/watch?v=XxPS5TpTUnI
-
-## Brand Port
-
-A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
-
-## Model Port
-
-A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
-
-Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.

docs/concepts/glossary.md

@@ -1,3 +1,9 @@
 # openpilot glossary
 
-{{GLOSSARY_DEFINITIONS}}
+* **onroad**: openpilot's system state while ignition is on
+* **offroad**: openpilot's system state while ignition is off
+* **route**: a route is a recording of an onroad session
+* **segment**: routes are split into one minute chunks called segments.
+* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
+* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
+* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).

docs/concepts/logs.md

@@ -6,9 +6,9 @@ Check out our [Python library](https://github.com/commaai/openpilot/blob/master/
 
 For each segment, openpilot records the following log types:
 
-## rlog.zst
+## rlog.bz2
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages.
 
 ## {f,e,d}camera.hevc
 
@@ -18,10 +18,12 @@ Each camera stream is H.265 encoded and written to its respective file.
 * `ecamera.hevc` is the wide road camera
 * `dcamera.hevc` is the driver camera
 
-## qlog.zst & qcamera.ts
+## qlog.bz2 & qcamera.ts
 
 qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
 
+
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 
-qlogs and qcameras are designed to be small enough to upload instantly on slow internet, yet useful enough for most analysis and debugging.
+
+qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging.

docs/contributing/feedback.md

@@ -1,36 +0,0 @@
-# How to Give Feedback
-
-Feedback is one of the highest leverage ways to contribute to openpilot as a user.
-
-## Driving
-
-Got feedback about how your car drives?
-Join the community Discord, then use the form in `#submit-feedback`.
-
-Before posting feedback, please ensure:
-
-- **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
-- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
-
-## Driver Monitoring
-
-If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
-In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
-
-To post your feedback:
-
-1. Join the [community Discord](https://discord.comma.ai).
-2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
-3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
-4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
-
-Before posting feedback, please ensure:
-
-- **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
-- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
-
-## Other bugs
-
-Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).

docs/contributing/roadmap.md

@@ -7,11 +7,25 @@ This is the roadmap for the next major openpilot releases. Also check out
 * [Bounties](https://comma.ai/bounties) for paid individual issues
 * [#current-projects](https://discord.com/channels/469524606043160576/1249579909739708446) in Discord for discussion on work-in-progress projects
 
+## openpilot 0.10
+
+openpilot 0.10 will be the first release with a driving policy trained in
+a [learned simulator](https://youtu.be/EqQNZXqzFSI).
+
+* Driving model trained in a learned simulator
+* Always-on driver monitoring (behind a toggle)
+* GPS removed from the driving stack
+* 100KB qlogs
+* `nightly` pushed after 1000 hours of hardware-in-the-loop testing
+* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
+* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
+
 ## openpilot 1.0
 
 openpilot 1.0 will feature a fully end-to-end driving policy.
 
 * End-to-end longitudinal control in Chill mode
+* Automatic Emergency Braking (AEB)
 * Driver monitoring with sleep detection
 * Rolling updates/releases pushed out by CI
 * [panda safety 1.0](https://github.com/orgs/commaai/projects/27)

docs/css/tooltip.css

@@ -0,0 +1,44 @@
+[data-tooltip] {
+  position: relative;
+  display: inline-block;
+  border-bottom: 1px dotted black;
+}
+
+[data-tooltip] .tooltip-content {
+  width: max-content;
+  max-width: 25em;
+  position: absolute;
+  top: 100%;
+  left: 50%;
+  transform: translateX(-50%);
+  background-color: white;
+  color: #404040;
+  box-shadow: 0 4px 14px 0 rgba(0,0,0,.2), 0 0 0 1px rgba(0,0,0,.05);
+  padding: 10px;
+  font: 14px/1.5 Lato, proxima-nova, Helvetica Neue, Arial, sans-serif;
+  text-decoration: none;
+  opacity: 0;
+  visibility: hidden;
+  transition: opacity 0.1s, visibility 0s;
+  z-index: 1000;
+  pointer-events: none; /* Prevent accidental interaction */
+}
+
+[data-tooltip]:hover .tooltip-content {
+  opacity: 1;
+  visibility: visible;
+  pointer-events: auto; /* Allow interaction when visible */
+}
+
+.tooltip-content .tooltip-glossary-link {
+  display: inline-block;
+  margin-top: 8px;
+  font-size: 12px;
+  color: #007bff;
+  text-decoration: none;
+}
+
+.tooltip-content .tooltip-glossary-link:hover {
+  color: #0056b3;
+  text-decoration: underline;
+}

docs/ext/glossary.py

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

docs/ext/glossary.toml

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

docs/getting-started/what-is-openpilot.md

@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma 3X.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs/hooks/glossary.py

@@ -0,0 +1,68 @@
+import re
+import tomllib
+
+def load_glossary(file_path="docs/glossary.toml"):
+  with open(file_path, "rb") as f:
+    glossary_data = tomllib.load(f)
+  return glossary_data.get("glossary", {})
+
+def generate_anchor_id(name):
+  return name.replace(" ", "-").replace("_", "-").lower()
+
+def format_markdown_term(name, definition):
+  anchor_id = generate_anchor_id(name)
+  markdown = f"* [**{name.replace('_', ' ').title()}**](#{anchor_id})"
+  if definition.get("abbreviation"):
+    markdown += f" *({definition['abbreviation']})*"
+  if definition.get("description"):
+    markdown += f": {definition['description']}\n"
+  return markdown
+
+def glossary_markdown(vocabulary):
+  markdown = ""
+  for category, terms in vocabulary.items():
+    markdown += f"## {category.replace('_', ' ').title()}\n\n"
+    for name, definition in terms.items():
+      markdown += format_markdown_term(name, definition)
+  return markdown
+
+def format_tooltip_html(term_key, definition, html):
+  display_term = term_key.replace("_", " ").title()
+  clean_description = re.sub(r"\[(.+)]\(.+\)", r"\1", definition["description"])
+  glossary_link = (
+    f"<a href='/concepts/glossary#{term_key}' class='tooltip-glossary-link' title='View in glossary'>Glossary🔗</a>"
+  )
+  return re.sub(
+    re.escape(display_term),
+    lambda
+    match: f"<span data-tooltip>{match.group(0)}<span class='tooltip-content'>{clean_description} {glossary_link}</span></span>",
+    html,
+    flags=re.IGNORECASE,
+  )
+
+def apply_tooltip(_term_key, _definition, pattern, html):
+  return re.sub(
+    pattern,
+    lambda match: format_tooltip_html(_term_key, _definition, match.group(0)),
+    html,
+    flags=re.IGNORECASE,
+  )
+
+def tooltip_html(vocabulary, html):
+  for _category, terms in vocabulary.items():
+    for term_key, definition in terms.items():
+      if definition.get("description"):
+        pattern = rf"(?<!\w){re.escape(term_key.replace('_', ' ').title())}(?![^<]*<\/a>)(?!\([^)]*\))"
+        html = apply_tooltip(term_key, definition, pattern, html)
+  return html
+
+# Page Hooks
+def on_page_markdown(markdown, **kwargs):
+  glossary = load_glossary()
+  return markdown.replace("{{GLOSSARY_DEFINITIONS}}", glossary_markdown(glossary))
+
+def on_page_content(html, **kwargs):
+  if kwargs.get("page").title == "Glossary":
+    return html
+  glossary = load_glossary()
+  return tooltip_html(glossary, html)

docs/how-to/connect-to-comma.md

@@ -1,15 +1,15 @@
-# connect to a comma 3X or comma four
+# connect to a comma 3X
 
-A comma device is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
-On the comma 3X, the serial console is accessible from the main OBD-C port, forwarded through the panda.
-Access it using `panda/scripts/som_debug.sh`.
+On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
-comma four also exposes a serial console, albeit through an internal debug connector. Dedicated debug hardware coming soon to the comma shop.
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
-Login to the default user with:
+On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
 
   * Username: `comma`
   * Password: `comma`
@@ -25,7 +25,7 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se
     * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
-`ssh comma@192.168.43.1 -i ~/.ssh/my_github_key`
+`ssh comma@192.168.43.1`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555.
+> The default port for ADB is 5555 on the comma 3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 
@@ -55,7 +55,7 @@ The public keys are only fetched from your GitHub account once. In order to upda
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-## ssh.comma.ai proxy
+#### ssh.comma.ai proxy
 
 With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
@@ -79,7 +79,6 @@ Host ssh.comma.ai
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
-
 (Replace `ffffffffffffffff` with your dongle_id)
 
 ### ssh.comma.ai host key fingerprint

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

@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma four*
+*Hardware required: jungle and comma 3X*
 
 1. Connect your PC to a jungle.
 2.

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

@@ -3,7 +3,7 @@
 
 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma four, we'll deploy the change to your device for testing.
+And if you have a comma 3X, we'll deploy the change to your device for testing.
 
 ## 1. Set up your development environment
 
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons
+scons -j$(nproc)
 ```
 
 ## 2. Run replay

docs/index.md

@@ -1,12 +0,0 @@
-# What is openpilot?
-
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
-
-
-## How do I use it?
-
-openpilot is designed to be used on the comma four.
-
-## How does it work?
-
-In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs/index.md

@@ -0,0 +1 @@
+getting-started/what-is-openpilot.md

docs/stylesheets/extra.css

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

launch_chffrplus.sh

@@ -7,7 +7,6 @@ source "$DIR/launch_env.sh"
 function agnos_init {
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-  rm -f /data/scons_cache/config.lock
 
   # set success flag for current boot slot
   sudo abctl --set_success

launch_env.sh

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

mkdocs.yml

@@ -0,0 +1,44 @@
+site_name: openpilot docs
+repo_url: https://github.com/commaai/openpilot/
+site_url: https://docs.comma.ai
+
+exclude_docs: README.md
+
+strict: true
+docs_dir: docs
+site_dir: docs_site/
+
+hooks:
+  - docs/hooks/glossary.py
+extra_css:
+  - css/tooltip.css
+theme:
+  name: readthedocs
+  navigation_depth: 3
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turn-the-speed-blue.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
+    # - Make your first pull request: how-to/make-first-pr.md
+    #- Replay a drive: how-to/replay-a-drive.md
+  - Concepts:
+    - Logs: concepts/logs.md
+    - Safety: concepts/safety.md
+    - Glossary: concepts/glossary.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md
+  - Contributing:
+    - Roadmap: contributing/roadmap.md
+    #- Architecture: contributing/architecture.md
+    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+  - Links:
+    - Blog →: https://blog.comma.ai
+    - Bounties →: https://comma.ai/bounties
+    - GitHub →: https://github.com/commaai
+    - Discord →: https://discord.comma.ai
+    - X →: https://x.com/comma_ai

openpilot/third_party

@@ -0,0 +1 @@
+../third_party

pyproject.toml

@@ -20,29 +20,24 @@ dependencies = [
   # core
   "cffi",
   "scons",
-  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
+  "pycapnp",
   "Cython",
   "setuptools",
   "numpy >=2.0",
 
   # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
-  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
-  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
-  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
-  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
-  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
-  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
-  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
-  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
+  "openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3",
+  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
+  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
 
   # body / webrtcd
   "av",
@@ -63,6 +58,9 @@ dependencies = [
   "json-rpc",
   "websocket_client",
 
+  # acados deps
+  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
+
   # joystickd
   "inputs",
 
@@ -75,16 +73,15 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
+  "raylib > 5.5.0.3",
   "qrcode",
   "jeepney",
-  "pillow",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "zensical",
+  "mkdocs",
 ]
 
 testing = [
@@ -96,6 +93,7 @@ testing = [
   "pytest-subtests",
   # https://github.com/pytest-dev/pytest-xdist/pull/1229
   "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
+  "pytest-asyncio",
   "pytest-mock",
   "ruff",
   "codespell",
@@ -105,11 +103,12 @@ testing = [
 dev = [
   "matplotlib",
   "opencv-python-headless",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
 ]
 
 tools = [
-  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
+  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]
 
 [project.urls]
@@ -127,17 +126,15 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
+asyncio_default_fixture_loop_scope = "function"
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture",
-  "nocapture: don't capture test output",
-  "shared_download_cache: share download cache between tests",
-  "xdist_group_class_property: group tests by a property of the class that contains them",
+  "skip_tici_setup: mark test to skip tici setup fixture"
 ]
 testpaths = [
   "common",
@@ -153,7 +150,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -178,7 +175,9 @@ lint.ignore = [
   "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
+target-version ="py311"
 exclude = [
+  "body",
   "cereal",
   "panda",
   "opendbc",
@@ -187,7 +186,7 @@ exclude = [
   "tinygrad_repo",
   "teleoprtc",
   "teleoprtc_repo",
-  "third_party/copyparty",
+  "third_party",
   "*.ipynb",
   "generated",
 ]
@@ -197,6 +196,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
@@ -207,13 +207,13 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
-"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"
 
 [tool.ruff.format]
 quote-style = "preserve"
 
 [tool.ty.src]
 exclude = [
+  "cereal/",
   "msgq/",
   "msgq_repo/",
   "opendbc/",
@@ -229,16 +229,24 @@ exclude = [
 ]
 
 [tool.ty.rules]
-unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
-unresolved-attribute = "ignore"  # many from capnp and Cython modules
-invalid-method-override = "ignore"  # signature variance issues
-possibly-missing-attribute = "ignore"  # too many false positives
-invalid-assignment = "ignore"  # often intentional monkey-patching
-no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
-invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
-call-non-callable = "ignore"  # false positives from dynamic types
-unsupported-operator = "ignore" # false positives from dynamic types
-not-subscriptable = "ignore" # false positives from dynamic types
-
-[tool.uv]
-python-preference = "only-managed"
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed

release/build_release.sh

@@ -16,8 +16,6 @@ if [ -z "$RELEASE_BRANCH" ]; then
   exit 1
 fi
 
-BUILD_BRANCH=release-mici-staging
-
 
 # set git identity
 source $DIR/identity.sh
@@ -28,7 +26,7 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $BUILD_BRANCH
+git checkout --orphan $RELEASE_BRANCH
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -48,14 +46,14 @@ git commit -a -m "openpilot v$VERSION release"
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
-scons
+scons -j$(nproc) --minimal
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
 else
   # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons panda/
+  scons -j$(nproc) panda/
 fi
 
 # Ensure no submodules in release
@@ -74,8 +72,8 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm -f selfdrive/modeld/models/*.onnx*
-rm -f sunnypilot/modeld*/models/*.onnx*
+rm -f selfdrive/modeld/models/*.onnx
+rm -f sunnypilot/modeld*/models/*.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
@@ -96,11 +94,9 @@ cd $BUILD_DIR
 RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
 #pytest selfdrive/car/tests/test_car_interfaces.py
 
-echo "[-] pushing release T=$SECONDS"
-REFS=()
-for branch in ${RELEASE_BRANCH//,/ }; do
-  REFS+=("$BUILD_BRANCH:$branch")
-done
-git push -f origin "${REFS[@]}"
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi
 
 echo "[-] done T=$SECONDS"

release/build_stripped.sh

@@ -45,8 +45,6 @@ cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
-find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
-
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)

release/ci/model_generator.py

@@ -1,10 +1,3 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
 import os
 import pickle
 import sys
@@ -39,9 +32,6 @@ OPTIONAL_OUTPUT_KEYS = frozenset({
 def validate_model_outputs(metadata_paths: list[Path]) -> None:
   combined_keys: set[str] = set()
   for path in metadata_paths:
-    if path.stat().st_size == 0:
-      print(f"skipping empty metadata: {path}")
-      continue
     with open(path, "rb") as f:
       metadata = pickle.load(f)
     combined_keys.update(metadata.get("output_slices", {}).keys())
@@ -88,65 +78,38 @@ def create_short_name(full_name):
   return result[:8]
 
 
-def _read_pkl_bytes(pkl_path: Path) -> bytes:
-  manifest = Path(f"{pkl_path}.chunkmanifest")
-  if manifest.exists():
-    num_chunks = int(manifest.read_text().strip())
-    parts = []
-    for i in range(num_chunks):
-      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
-      parts.append(chunk.read_bytes())
-    return b''.join(parts)
-  return pkl_path.read_bytes()
-
-
-def _find_driving_pkl(output_path: Path) -> Path | None:
-  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
-    matches = sorted(output_path.glob(pattern))
-    if matches:
-      return matches[0]
-  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
-    matches = sorted(output_path.glob(pattern))
-    if matches:
-      return Path(str(matches[0]).removesuffix('.chunkmanifest'))
-  return None
-
-
-def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
-  manifest = Path(f"{old_pkl}.chunkmanifest")
-  if manifest.exists():
-    for f in sorted(old_pkl.parent.glob(f"{old_pkl.name}.chunk*")):
-      f.rename(old_pkl.parent / f.name.replace(old_pkl.name, new_pkl.name, 1))
-    return new_pkl
-  return old_pkl.rename(new_pkl)
-
-
-def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
+  model_path = model_path
+  output_path = output_dir
   base = model_path.stem
-  metadata_file = output_dir / f"{base}_metadata.pkl"
 
-  if short_name:
-    renamed_meta = output_dir / f"{base}_{short_name.lower()}_metadata.pkl"
-    if metadata_file.exists() and not renamed_meta.exists():
-      metadata_file = metadata_file.rename(renamed_meta)
-    elif renamed_meta.exists():
-      metadata_file = renamed_meta
+  # Define output files for tinygrad and metadata
+  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
+  metadata_file = output_path / f"{base}_metadata.pkl"
 
-  if not metadata_file.exists():
-    print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
+  if not tinygrad_file.exists() or not metadata_file.exists():
+    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
     return
 
-  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
+  # Calculate the sha256 hashes
+  with open(tinygrad_file, 'rb') as f:
+    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
 
   with open(metadata_file, 'rb') as f:
     metadata_hash = hashlib.sha256(f.read()).hexdigest()
 
-  model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
+  # Rename the files if a custom file name is provided
+  if short_name:
+    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
+    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
 
-  return {
+  # Build the metadata structure
+  model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
+
+  model_metadata = {
     "type": model_type,
     "artifact": {
-      "file_name": driving_pkl.name,
+      "file_name": tinygrad_file.name,
       "download_uri": {
         "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
         "sha256": tinygrad_hash
@@ -161,6 +124,9 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str, drivi
     }
   }
 
+  # Return model metadata
+  return model_metadata
+
 
 def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
   metadata_json = {
@@ -215,28 +181,14 @@ if __name__ == "__main__":
 
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
-  _short_name = create_short_name(args.custom_name) if args.custom_name else None
-
-  _driving_pkl = _find_driving_pkl(_output_dir)
-  if not _driving_pkl:
-    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
-    sys.exit(1)
-
-  if _short_name:
-    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
-    if not new_pkl.exists():
-      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
-    else:
-      _driving_pkl = new_pkl
-
   _models = []
 
   for _model_path in model_paths:
-    _model_metadata = generate_metadata(Path(_model_path), _output_dir, _short_name, _driving_pkl)
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
     if _model_metadata:
       _models.append(_model_metadata)
 
   if _models:
-    create_metadata_json(_models, _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
+    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
   else:
     print("No models processed.", file=sys.stderr)

release/pack.py

@@ -12,13 +12,12 @@ from openpilot.common.basedir import BASEDIR
 
 
 DIRS = ['cereal', 'openpilot']
-EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
-EXCLUDE = ['selfdrive/assets/training']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
 INTERPRETER = '/usr/bin/env python3'
 
 
 def copy(src, dest):
-  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
+  if any(src.endswith(ext) for ext in EXTS):
     shutil.copy2(src, dest, follow_symlinks=True)
 
 
@@ -29,8 +28,6 @@ if __name__ == '__main__':
   parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
   args = parser.parse_args()
 
-  print('WARNING: copying all files! make sure to run scons and git tree is clean')
-
   if not args.output:
     args.output = args.module
 

scripts/docs.py

@@ -1,63 +0,0 @@
-"""
-  wrapper that materializes symlinks in docs/ before build
-
-  we can delete this once zensical supports symlinks:
-  https://github.com/zensical/backlog/issues/55
-"""
-import os
-import shutil
-import signal
-import sys
-from pathlib import Path
-
-REPO_ROOT = Path(__file__).resolve().parent.parent
-DOCS_DIR = REPO_ROOT / "docs"
-SITE_DIR = REPO_ROOT / "docs_site"
-sys.path.insert(0, str(REPO_ROOT))
-# Local docs build helpers live under docs/ so they stay near the content
-# source. The wrapper prunes them from docs_site/ after build.
-sys.path.insert(0, str(DOCS_DIR))
-
-
-def _materialize(docs: Path) -> dict[Path, str]:
-  originals: dict[Path, str] = {}
-  for link in docs.rglob("*"):
-    if not link.is_symlink():
-      continue
-    target = link.resolve()
-    if not target.is_file():
-      continue
-    originals[link] = os.readlink(link)
-    link.unlink()
-    shutil.copy2(target, link)
-  return originals
-
-
-def _restore(originals: dict[Path, str]) -> None:
-  for link, target in originals.items():
-    link.unlink(missing_ok=True)
-    os.symlink(target, link)
-
-
-def _raise_interrupt(*_):
-  raise KeyboardInterrupt
-
-
-def _prune_site_output() -> None:
-  shutil.rmtree(SITE_DIR / "ext", ignore_errors=True)
-
-
-def main() -> None:
-  signal.signal(signal.SIGTERM, _raise_interrupt)
-  originals = _materialize(DOCS_DIR)
-  try:
-    from zensical.main import cli
-    cli(standalone_mode=False)
-    if len(sys.argv) > 1 and sys.argv[1] == "build":
-      _prune_site_output()
-  finally:
-    _restore(originals)
-
-
-if __name__ == "__main__":
-  main()

scripts/lint/check_raylib_includes.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL

scripts/lint/lint.sh

@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
-IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*|^third_party.*"
+IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
   shopt -s extglob

scripts/reporter.py

@@ -33,12 +33,11 @@ if __name__ == "__main__":
   print("|-| -----  | --------- |")
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
+    # TODO: add checkpoint to DM
+    if "dmonitoring" in f:
+      continue
+
     fn = os.path.basename(f)
-    master_path = MASTER_PATH + MODEL_PATH + fn
-    if os.path.exists(master_path):
-      master = get_checkpoint(master_path)
-      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
-    else:
-      master_col = "N/A (new model)"
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")

selfdrive/SConscript

@@ -0,0 +1,6 @@
+SConscript(['pandad/SConscript'])
+SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
+SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
+SConscript(['locationd/SConscript'])
+SConscript(['modeld/SConscript'])
+SConscript(['ui/SConscript'])

selfdrive/assets/.gitignore

@@ -1,2 +1,4 @@
+*.cc
 fonts/*.fnt
 fonts/*.png
+translations_assets.qrc

selfdrive/assets/assets.qrc

@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
+  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
   <file>images/button_continue_triangle.svg</file>
   <file>icons/circled_check.svg</file>
   <file>icons/circled_slash.svg</file>

selfdrive/assets/fonts/process.py

@@ -37,10 +37,10 @@ def _char_sets():
   return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
 
 
-def _glyph_metrics(glyphs, rects, glyph_count: int):
+def _glyph_metrics(glyphs, rects, codepoints):
   entries = []
   min_offset_y, max_extent = None, 0
-  for idx in range(glyph_count):
+  for idx, codepoint in enumerate(codepoints):
     glyph = glyphs[idx]
     rect = rects[idx]
     width = int(round(rect.width))
@@ -49,7 +49,7 @@ def _glyph_metrics(glyphs, rects, glyph_count: int):
     min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
     max_extent = max(max_extent, offset_y + height)
     entries.append({
-      "id": glyph.value,
+      "id": codepoint,
       "x": int(round(rect.x)),
       "y": int(round(rect.y)),
       "width": width,
@@ -97,23 +97,19 @@ def _process_font(font_path: Path, codepoints: tuple[int, ...]):
   file_buf = rl.ffi.new("unsigned char[]", data)
   cp_buffer = rl.ffi.new("int[]", codepoints)
   cp_ptr = rl.ffi.cast("int *", cp_buffer)
-  glyph_count = rl.ffi.new("int *", len(codepoints))
-  glyphs = rl.load_font_data(
-    rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints),
-    rl.FontType.FONT_DEFAULT, glyph_count
-  )
+  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
   if glyphs == rl.ffi.NULL:
     raise RuntimeError("raylib failed to load font data")
 
   rects_ptr = rl.ffi.new("Rectangle **")
-  image = rl.gen_image_font_atlas(glyphs, rects_ptr, glyph_count[0], font_size, GLYPH_PADDING, 0)
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
   if image.width == 0 or image.height == 0:
     raise RuntimeError("raylib returned an empty atlas")
 
   rects = rects_ptr[0]
   atlas_name = f"{font_path.stem}.png"
   atlas_path = FONT_DIR / atlas_name
-  entries, line_height, base = _glyph_metrics(glyphs, rects, glyph_count[0])
+  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
 
   if not rl.export_image(image, atlas_path.as_posix()):
     raise RuntimeError("Failed to export atlas image")

selfdrive/assets/icons_mici/egpu.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ec3dcf64cbc34251d8423cb8b3b31d743e93d14002dec43c389a857cb7e8eb17
-size 10875

selfdrive/assets/icons_mici/egpu_gray.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
-size 7279