Update opendbc_repo

* ui: reset Enforce Torque Control and NNLC if both are enabled

* block

.github/workflows/cereal_validation.yaml

@@ -35,18 +35,36 @@ jobs:
       - 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
           ref: "refs/heads/master"
 
       - name: Init upstream opendbc submodule
         working-directory: upstream_openpilot
         run: git submodule update --init --depth 1 opendbc_repo
 
+      - name: Locate upstream capnp paths
+        id: locate-capnp
+        run: |
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
       - name: Install uv
         run: pip install uv
 
@@ -62,4 +80,5 @@ jobs:
           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
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}

CHANGELOG.md

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

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
+"""Validate sunnypilot routes are parseable by stock commaai/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.
+Cap'n Proto is wire-compatible across renames, type relocations, and
+additive fields. The only breaking change is a union variant that
+upstream doesn't recognize — an unknown discriminant makes the entire
+union unreadable.
+
+This script checks: for every struct with a union that exists in both
+schemas, does sunnypilot introduce union variants upstream doesn't have?
 """
 
 from __future__ import annotations
@@ -24,46 +25,19 @@ def hex_id(value: int) -> str:
   return f"0x{value:016x}"
 
 
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
 def encode_struct(schema: Any) -> dict:
   node = schema.node
+  fields = []
+  for name, field in schema.fields.items():
+    proto = field.proto
+    ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
+    discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
+    fields.append({"name": name, "ordinal": ordinal, "discriminant": discriminant})
   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()],
+    "fields": fields,
   }
 
 
@@ -105,15 +79,16 @@ def collect_schema(root: Any) -> dict[str, dict]:
   return structs
 
 
-def load_log(cereal_dir: str) -> Any:
+def load_log(cereal_dir: str, extra_imports: list[str] | None = None) -> 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])
+  imports = [cereal_dir] + [os.path.abspath(p) for p in (extra_imports or [])]
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=imports)
 
 
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
+def dump_schema(cereal_dir: str, path: str, extra_imports: list[str] | None = None) -> None:
+  log = load_log(cereal_dir, extra_imports)
   payload = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -123,100 +98,37 @@ def dump_schema(cereal_dir: str, path: str) -> None:
   print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
 
 
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
 def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
   violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
+  sunnypilot_structs = sunnypilot_dump["structs"]
+  upstream_structs = 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:
+  for type_id, sp_struct in sunnypilot_structs.items():
+    if not sp_struct["hasUnion"]:
+      continue
+    up_struct = upstream_structs.get(type_id)
+    if up_struct is None:
       continue
 
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
+    up_ordinals = {f["ordinal"] for f in up_struct["fields"] if f.get("discriminant") is not None}
+    display = sp_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."
-          )
+    for field in sp_struct["fields"]:
+      if field.get("discriminant") is None:
         continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
+      if field["ordinal"] not in up_ordinals:
         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'])}."
+          f"{display} @{field['ordinal']} '{field['name']}': "
+          f"union variant not present upstream (discriminant={field['discriminant']})"
         )
-        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)
+def run_read(cereal_dir: str, peer_path: str, extra_imports: list[str] | None = None) -> int:
+  log = load_log(cereal_dir, extra_imports)
+  with open(peer_path, "r", encoding="utf-8") as f:
+    peer_dump = json.load(f)
   local_dump = {
     "root": hex_id(log.Event.schema.node.id),
     "structs": collect_schema(log.Event.schema),
@@ -224,32 +136,29 @@ def run_read(cereal_dir: str, peer_path: str) -> int:
   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).")
+    print("cereal compat OK: upstream can parse sunnypilot routes.")
     return 0
 
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
+  print(f"cereal compat FAIL ({len(violations)} leaked union variant(s)):")
   for v in violations:
     print(f"  {v}")
   return 1
 
 
 def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
+  parser = argparse.ArgumentParser(description="sunnypilot cereal upstream compat check")
   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")
+  mode.add_argument("-r", "--read", action="store_true", help="validate against peer schema")
+  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory")
+  parser.add_argument("-I", "--import-path", action="append", default=[], help="extra capnp import paths")
   args = parser.parse_args()
 
   if args.generate:
-    dump_schema(args.cereal_dir, args.file)
+    dump_schema(args.cereal_dir, args.file, args.import_path)
     return 0
-  return run_read(args.cereal_dir, args.file)
+  return run_read(args.cereal_dir, args.file, args.import_path)
 
 
 if __name__ == "__main__":

common/params_keys.h

@@ -178,6 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RadarTracks", {PERSISTENT | BACKUP, INT, "0"}},
     {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},

docs/CARS.md

@@ -4,24 +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
+# 341 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|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|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -223,14 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
@@ -238,35 +239,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -279,8 +280,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -312,60 +313,61 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

selfdrive/car/card.py

@@ -181,6 +181,8 @@ class Car:
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.radar_tracks = int(self.params.get("RadarTracks", return_default=True))
+    self._applied_radar_tracks = getattr(self.RI, "radar_mode", self.radar_tracks)
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -198,6 +200,8 @@ class Car:
     CS, CS_SP = self.CI.update(can_list)
     CS_SP = convert_to_capnp(CS_SP)
 
+    self._update_radar_tracks()
+
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
 
@@ -224,6 +228,18 @@ class Car:
 
     return CS, CS_SP, RD
 
+  def _update_radar_tracks(self) -> None:
+    if self.CP.brand != "hyundai" or self.radar_tracks == self._applied_radar_tracks:
+      return
+
+    if self.RI.set_radar_mode(self.radar_tracks):
+      self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
+      cp_sp_bytes = self.CP_SP_capnp.to_bytes()
+      self.params.put("CarParamsSP", cp_sp_bytes)
+      self.params.put("CarParamsSPCache", cp_sp_bytes)
+      self.params.put("CarParamsSPPersistent", cp_sp_bytes)
+    self._applied_radar_tracks = self.radar_tracks
+
   def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
@@ -302,6 +318,7 @@ class Car:
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      self.radar_tracks = int(self.params.get("RadarTracks", return_default=True))
 
       # sunnypilot
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")

selfdrive/car/tests/test_models.py

@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import HondaFlags
+from opendbc.car.honda.values import CAR as HONDA, HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -358,7 +358,13 @@ class TestCarModelBase(unittest.TestCase):
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
 
       if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
+        # TODO: remove this exception once this mismatch is resolved
+        brake_pressed = CS.brakePressed
+        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
+          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
+            brake_pressed = False
+
+        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
 
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -442,7 +448,12 @@ class TestCarModelBase(unittest.TestCase):
         checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
                                        angle_can < (self.safety.get_angle_meas_min() - 1))
 
-      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
+      # TODO: remove this exception once this mismatch is resolved
+      brake_pressed = CS.brakePressed
+      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
+          brake_pressed = False
+      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 

selfdrive/modeld/SConscript

@@ -87,14 +87,13 @@ frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 for usbgpu in [False, True] if USBGPU else [False]:
   target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
   file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy', f'{file_prefix}driving_off_policy']
+  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
                        for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
   camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
   cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
-        f'--off-policy-onnx {File(f"models/{file_prefix}driving_off_policy.onnx").abspath} '
         f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
         f'--output {target_pkl_path} --frame-skip {frame_skip}')
   onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)

selfdrive/modeld/compile_modeld.py

@@ -5,7 +5,7 @@ import os
 import pickle
 import time
 from functools import partial
-from collections import namedtuple
+from collections import namedtuple, defaultdict
 
 import numpy as np
 
@@ -113,43 +113,31 @@ def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
   return frame_prepare_tinygrad
 
 
-def make_warp_input_queues(vision_input_shapes, frame_skip, device):
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
   img = vision_input_shapes['img']  # (1, 12, 128, 256)
   n_frames = img[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
 
-  npy = {
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-  }
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
-  }
-  return input_queues, npy
-
-
-def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  input_queues, npy = make_warp_input_queues(vision_input_shapes, frame_skip, device)
-
   fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
   dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
   tc = policy_input_shapes['traffic_convention']  # (1, 2)
   #TODO action_t is hardcoded to match tc for future compatibility
   at = tc
 
-  policy_npy = {
+  npy = {
     'desire': np.zeros(dp[2], dtype=np.float32),
     'traffic_convention': np.zeros(tc, dtype=np.float32),
+    'tfm': np.zeros((3, 3), dtype=np.float32),
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
     'action_t': np.zeros(at, dtype=np.float32),
   }
-  npy.update(policy_npy)
-  input_queues.update({
+  input_queues = {
+    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
     'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in policy_npy.items()},
-  })
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
+  }
   return input_queues, npy
 
 
@@ -183,10 +171,9 @@ def make_warp(nv12, model_w, model_h, frame_skip):
   return warp_enqueue
 
 
-def make_run_policy(model_runners, model_metadata, frame_skip):
+def make_run_policy(vision_runner, on_policy_runner, vision_features_slice, frame_skip):
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-  vision_features_slice = model_metadata['vision']['output_slices']['hidden_state']
 
   def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
     desire = desire.to(Device.DEFAULT)
@@ -194,7 +181,7 @@ def make_run_policy(model_runners, model_metadata, frame_skip):
     action_t = action_t.to(Device.DEFAULT)
     Tensor.realize(desire, traffic_convention, action_t)
     desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    vision_out = next(iter(model_runners['vision']({'img': img, 'big_img': big_img}).values())).cast('float32')
+    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
 
     new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
     feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
@@ -205,16 +192,20 @@ def make_run_policy(model_runners, model_metadata, frame_skip):
       'traffic_convention': traffic_convention,
       'action_t': action_t,
     }
-    on_policy_out = next(iter(model_runners['on_policy'](inputs).values())).cast('float32')
-    off_policy_out = next(iter(model_runners['off_policy'](inputs).values())).cast('float32')
-    return vision_out, on_policy_out, off_policy_out
+    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast('float32')
+    #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
+    return vision_out, on_policy_out
+
   return run_policy
 
 
-def compile_jit(jit, make_random_inputs, input_keys, make_queues):
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+
   SEED = 42
   def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_queues(Device.DEFAULT)
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
     np.random.seed(seed)
     Tensor.manual_seed(seed)
 
@@ -278,38 +269,30 @@ if __name__ == "__main__":
   p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
                  help='camera resolutions WxH (one or more)')
   p.add_argument('--vision-onnx', required=True)
-  p.add_argument('--off-policy-onnx', required=True)
   p.add_argument('--on-policy-onnx', required=True)
   p.add_argument('--output', required=True)
   p.add_argument('--frame-skip', type=int, required=True)
   args = p.parse_args()
 
-  model_paths = {
-    'vision': read_file_chunked_to_shm(args.vision_onnx),
-    'off_policy': read_file_chunked_to_shm(args.off_policy_onnx),
-    'on_policy': read_file_chunked_to_shm(args.on_policy_onnx),
-  }
+  out = defaultdict(dict)
+  vision_path, on_policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.on_policy_onnx)
   model_w, model_h = args.model_size
 
-  model_runners = {name: OnnxRunner(path) for name, path in model_paths.items()}
-  out = {'metadata': {name: make_metadata_dict(path) for name, path in model_paths.items()}}
+  vision_runner = OnnxRunner(vision_path)
+  on_policy_runner = OnnxRunner(on_policy_path)
+  vision_metadata, on_policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(on_policy_path)
 
-  assert out['metadata']['off_policy']['input_shapes'] == out['metadata']['on_policy']['input_shapes']
+  run_policy_jit = TinyJit(make_run_policy(vision_runner, on_policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
+  out['metadata']['vision'], out['metadata']['on_policy'] = vision_metadata, on_policy_metadata
 
-  run_policy_jit = TinyJit(make_run_policy(model_runners, out['metadata'], args.frame_skip), prune=True)
-
-  make_policy_queues = partial(make_input_queues, out['metadata']['vision']['input_shapes'],
-                               out['metadata']['on_policy']['input_shapes'], args.frame_skip)
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=out['metadata']['vision']['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS,
-                                  make_policy_queues)
+  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
+  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
 
   for cam_w, cam_h in args.camera_resolutions:
     nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
     make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
     warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    make_warp_queues = partial(make_warp_input_queues, out['metadata']['vision']['input_shapes'], args.frame_skip)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
+    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
 
   with open(args.output, "wb") as f:
     pickle.dump(out, f)

selfdrive/modeld/modeld.py

@@ -89,9 +89,6 @@ class ModelState(ModelStateBase):
     self.vision_input_names = list(self.vision_input_shapes.keys())
     self.vision_output_slices = vision_metadata['output_slices']
 
-    off_policy_metadata = jits['metadata']['off_policy']
-    self.off_policy_output_slices = off_policy_metadata['output_slices']
-
     policy_metadata = jits['metadata']['on_policy']
     self.policy_input_shapes = policy_metadata['input_shapes']
     self.policy_output_slices = policy_metadata['output_slices']
@@ -136,20 +133,18 @@ class ModelState(ModelStateBase):
     if prepare_only:
       return None
 
-    vision_output, on_policy_output, off_policy_output = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, img=img, big_img=big_img
+    vision_output, on_policy_output = self.run_policy(
+      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
     )
 
     vision_output = vision_output.numpy().flatten()
-    off_policy_output = off_policy_output.numpy().flatten()
     on_policy_output = on_policy_output.numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
-    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(off_policy_output, self.off_policy_output_slices))
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
-    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
+    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
 
     if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy(), off_policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
     return combined_outputs_dict
 
 

selfdrive/modeld/models/big_driving_off_policy.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8a26866121d1d3a1152bfce024ed7584b8569507d120d4bc8917320093dcd31a
-size 41191256

selfdrive/modeld/models/big_driving_on_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:94b07ef7a0f65d5c41ac696b4ae7bdc59e2d4c5f504460e2b0d720620892c2e8
-size 33679037
+oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
+size 14061419

selfdrive/modeld/models/big_driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eda005282417ffa825092ece5c16b5584142044cdbcf15b6d0246136ac6db601
-size 120584466
+oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
+size 296203378

selfdrive/modeld/models/driving_off_policy.onnx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6173be8a69b1d9633a09969c80b2a8bd990bfe7d3e76e192a0e537f6fd72222b
-size 41192485

selfdrive/modeld/models/driving_on_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6b66ef783af3fa86190e85a6b4f729cd1443b20be41134aa258f9c376825a45c
-size 33680163
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bbd0761201b3b161587d097f173c66bf82cd02966e5f0d1edd888c970d6f6d87
-size 21735970
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473

selfdrive/modeld/parse_model_outputs.py

@@ -96,17 +96,11 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_binary_crossentropy('lane_lines_prob', outs)
-    return outs
-
-  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
-    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
-    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
     lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
     lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -116,11 +110,11 @@ class Parser:
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(ModelConstants.ACTION_WIDTH,))
+    self.parse_mdn('plan', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     outs = self.parse_vision_outputs(outs)
-    outs = self.parse_off_policy_outputs(outs)
     outs = self.parse_policy_outputs(outs)
     return outs

selfdrive/test/process_replay/model_replay.py

@@ -34,7 +34,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.05, 0.032),
+  ("modelV2", 0.05, 0.028),
   ("driverStateV2", 0.05, 0.018),
 ]
 

selfdrive/ui/mici/layouts/main.py

@@ -32,7 +32,8 @@ class MiciMainLayout(Scroller):
     self._home_layout = MiciHomeLayout()
     self._alerts_layout = MiciOffroadAlerts()
     self._settings_layout = SettingsLayout()
-    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked,
+                                                radar_tracks_settings_callback=self._settings_layout.open_toggles)
     self._body_onroad_layout = BodyLayout()
 
     # Initialize widget rects

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

@@ -19,9 +19,9 @@ class SettingsLayout(NavScroller):
     super().__init__()
     self._params = Params()
 
-    toggles_panel = TogglesLayoutMici()
+    self._toggles_panel = TogglesLayoutMici()
     toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
-    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
+    toggles_btn.set_click_callback(lambda: gui_app.push_widget(self._toggles_panel))
 
     network_panel = NetworkLayoutMici()
     network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
@@ -50,3 +50,8 @@ class SettingsLayout(NavScroller):
     ])
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
+
+  def open_toggles(self) -> None:
+    if not gui_app.widget_in_stack(self):
+      gui_app.push_widget(self)
+    gui_app.push_widget(self._toggles_panel)

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

@@ -21,8 +21,10 @@ class TogglesLayoutMici(NavScroller):
     record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+    radar_tracks = BigMultiParamToggle("radar tracks", "RadarTracks", ["off", "lead only", "full radar"])
 
     self._scroller.add_widgets([
+      radar_tracks,
       self._personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
@@ -35,6 +37,7 @@ class TogglesLayoutMici(NavScroller):
 
     # Toggle lists
     self._refresh_toggles = (
+      ("RadarTracks", radar_tracks),
       ("ExperimentalMode", self._experimental_btn),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -10,6 +10,7 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_onroad_columns
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
@@ -133,9 +134,13 @@ class BookmarkIcon(Widget):
 
 
 class AugmentedRoadView(CameraView):
-  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD,
+               radar_tracks_settings_callback=None):
     super().__init__("camerad", stream_type)
     self._bookmark_callback = bookmark_callback
+    self._radar_tracks_settings_callback = radar_tracks_settings_callback
+    self._radar_tracks_settings_prompt = False
+    self._radar_status_rect = rl.Rectangle()
     self._set_placeholder_color(rl.BLACK)
 
     self.device_camera: DeviceCameraConfig | None = None
@@ -159,6 +164,16 @@ class AugmentedRoadView(CameraView):
                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
                                        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    radar_text_args = {
+      "font_size": 26,
+      "font_weight": FontWeight.SEMI_BOLD,
+      "text_color": rl.Color(0, 255, 64, 255),
+      "alignment": rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+      "alignment_vertical": rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      "wrap_text": False,
+    }
+    self._radar_ranges_label = UnifiedLabel("", **radar_text_args)
+    self._radar_counts_label = UnifiedLabel("none", **radar_text_args)
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
@@ -169,6 +184,20 @@ class AugmentedRoadView(CameraView):
   def _update_state(self):
     super()._update_state()
 
+    if ui_state.sm.updated["liveTracks"]:
+      live_tracks = ui_state.sm["liveTracks"]
+      self._radar_tracks_settings_prompt = bool(live_tracks.radarTracksAvailable and ui_state.radar_tracks != 2)
+      if self._radar_tracks_settings_prompt:
+        status = ("", "radar detected\ntap to enable")
+      else:
+        status = format_radar_tracks_onroad_columns(live_tracks) if ui_state.sm.valid["liveTracks"] else ("", "none")
+      self._radar_ranges_label.set_text(status[0])
+      self._radar_counts_label.set_text(status[1])
+    elif not ui_state.sm.alive["liveTracks"]:
+      self._radar_tracks_settings_prompt = False
+      self._radar_ranges_label.set_text("")
+      self._radar_counts_label.set_text("none")
+
     # update offroad label
     if ui_state.panda_type == log.PandaState.PandaType.unknown:
       self._offroad_label.set_text("system booting")
@@ -178,6 +207,11 @@ class AugmentedRoadView(CameraView):
       self._offroad_label.set_text("start the car to\nuse sunnypilot")
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
+    if (self._radar_tracks_settings_callback is not None and
+        rl.check_collision_point_rec(mouse_pos, self._radar_status_rect)):
+      self._radar_tracks_settings_callback()
+      return
+
     # Don't trigger click callback if bookmark was triggered
     if not self._bookmark_icon.interacting():
       super()._handle_mouse_release(mouse_pos)
@@ -220,6 +254,42 @@ class AugmentedRoadView(CameraView):
     # Fade out bottom of overlays for looks
     rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
 
+    radar_horizontal_padding = 8
+    radar_column_gap = 8
+    radar_max_inner_width = int(self._content_rect.width - 40)
+    radar_range_max_width = radar_max_inner_width - 36 - radar_column_gap
+    self._radar_ranges_label.get_content_height(radar_range_max_width)
+    self._radar_counts_label.get_content_height(radar_max_inner_width)
+    radar_range_width = int(np.ceil(self._radar_ranges_label.text_width))
+    radar_count_width = max(36, int(np.ceil(self._radar_counts_label.text_width)))
+    radar_status_inner_width = radar_range_width + radar_count_width + (radar_column_gap if radar_range_width else 0)
+    radar_status_width = radar_status_inner_width + radar_horizontal_padding * 2
+    radar_status_height = max(
+      42,
+      self._radar_ranges_label.get_content_height(max(radar_range_width, 1)) + 10,
+      self._radar_counts_label.get_content_height(radar_count_width) + 10,
+    )
+    self._radar_status_rect = rl.Rectangle(
+      self._content_rect.x + self._content_rect.width - radar_status_width - 12,
+      self._content_rect.y + 8,
+      radar_status_width,
+      radar_status_height,
+    )
+    radar_status_rect = self._radar_status_rect
+    rl.draw_rectangle_rounded(radar_status_rect, 0.5, 8, rl.Color(0, 0, 0, 170))
+    self._radar_ranges_label.render(rl.Rectangle(
+      radar_status_rect.x + radar_horizontal_padding,
+      radar_status_rect.y + 5,
+      radar_range_width,
+      radar_status_rect.height - 10,
+    ))
+    self._radar_counts_label.render(rl.Rectangle(
+      radar_status_rect.x + radar_horizontal_padding + radar_range_width + (radar_column_gap if radar_range_width else 0),
+      radar_status_rect.y + 5,
+      radar_count_width,
+      radar_status_rect.height - 10,
+    ))
+
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
     # Hide DMoji when disengaged unless AlwaysOnDM is enabled

selfdrive/ui/mici/onroad/model_renderer.py

@@ -153,6 +153,10 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_lane_lines()
       self._draw_path(sm)
 
+    if sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
+      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3,
+                                          screen_offset=(self._rect.x, self._rect.y))
+
     # if render_lead_indicator and radar_state:
     #   self._draw_lead_indicator()
 

selfdrive/ui/onroad/model_renderer.py

@@ -135,6 +135,9 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._draw_lane_lines()
     self._draw_path(sm)
 
+    if sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
+      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z)
+
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
       self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)

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

@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    if enforce_torque_enabled and nnlc_enabled:
+      self._torque_control_toggle.action_item.set_state(False)
+      self._nnlc_toggle.action_item.set_state(False)
+      enforce_torque_enabled = False
+      nnlc_enabled = False
     self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())

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

@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks
 
 LANE_LINE_COLORS_SP = {
   UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
@@ -17,3 +18,4 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
+    self.radar_tracks = RadarTracks()

selfdrive/ui/sunnypilot/onroad/model_renderer.py

@@ -6,9 +6,12 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks
 
 
 class ModelRendererSP:
   def __init__(self):
     self.rainbow_path = RainbowPath()
     self.chevron_metrics = ChevronMetrics()
+    self.radar_tracks = RadarTracks()
+

selfdrive/ui/sunnypilot/onroad/radar_tracks.py

@@ -0,0 +1,41 @@
+"""
+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 math
+import pyray as rl
+
+
+def format_radar_tracks_onroad_status(live_tracks) -> str:
+  range_text, count_text = format_radar_tracks_onroad_columns(live_tracks)
+  if not range_text:
+    return count_text
+
+  return "\n".join(f"{radar_range} {track_count}" for radar_range, track_count in zip(range_text.splitlines(), count_text.splitlines(), strict=True))
+
+
+def format_radar_tracks_onroad_columns(live_tracks) -> tuple[str, str]:
+  sources = sorted(live_tracks.trackSources, key=lambda source: (source.startAddress, source.endAddress, source.bus))
+  if not sources:
+    return "", "none"
+
+  range_text = "\n".join(f"{source.startAddress:X}-{source.endAddress:X}" for source in sources)
+  count_text = "\n".join(str(source.trackCount) for source in sources)
+  return range_text, count_text
+
+
+class RadarTracks:
+  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6, screen_offset=(0, 0)):
+    for track in live_tracks.points:
+      d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
+      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
+        continue
+
+      pt = map_to_screen(d_rel, -y_rel, path_offset_z)
+      if pt is None:
+        continue
+
+      x, y = pt[0] + screen_offset[0], pt[1] + screen_offset[1]
+      rl.draw_circle(int(x), int(y), track_size, rl.Color(0, 255, 64, 255))

selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py

@@ -0,0 +1,57 @@
+from cereal import car
+
+from openpilot.selfdrive.ui.sunnypilot.onroad import radar_tracks
+from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_onroad_columns, format_radar_tracks_onroad_status
+
+
+def test_format_radar_tracks_status_none():
+  live_tracks = car.RadarData.new_message()
+
+  assert format_radar_tracks_onroad_status(live_tracks) == "none"
+  assert format_radar_tracks_onroad_columns(live_tracks) == ("", "none")
+
+
+def test_format_radar_tracks_status_range_and_count():
+  live_tracks = car.RadarData.new_message()
+  live_tracks.trackSources = [{"startAddress": 0x500, "endAddress": 0x51F, "bus": 1, "trackCount": 2}]
+  live_tracks.init("points", 2)
+
+  assert format_radar_tracks_onroad_status(live_tracks) == "500-51F 2"
+  assert format_radar_tracks_onroad_columns(live_tracks) == ("500-51F", "2")
+
+
+def test_format_radar_tracks_status_deduplicates_and_sorts_ranges():
+  live_tracks = car.RadarData.new_message()
+  live_tracks.trackSources = [
+    {"startAddress": 0x500, "endAddress": 0x51F, "bus": 2, "trackCount": 3},
+    {"startAddress": 0x210, "endAddress": 0x21F, "bus": 1, "trackCount": 1},
+    {"startAddress": 0x500, "endAddress": 0x51F, "bus": 0, "trackCount": 2},
+  ]
+  live_tracks.init("points", 1)
+
+  assert format_radar_tracks_onroad_status(live_tracks) == "210-21F 1\n500-51F 2\n500-51F 3"
+  assert format_radar_tracks_onroad_columns(live_tracks) == (
+    "210-21F\n500-51F\n500-51F",
+    "1\n2\n3",
+  )
+
+
+def test_draw_radar_tracks_applies_screen_offset(monkeypatch):
+  live_tracks = car.RadarData.new_message()
+  points = live_tracks.init("points", 1)
+  points[0].dRel = 10
+  points[0].yRel = 1
+  points[0].vRel = 2
+  points[0].aRel = 0
+  drawn_circles = []
+  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_circles.append((x, y, size)))
+
+  radar_tracks.RadarTracks().draw_radar_tracks(
+    live_tracks,
+    lambda d_rel, y_rel, z: (20, 30),
+    path_offset_z=1.2,
+    track_size=3,
+    screen_offset=(100, 7),
+  )
+
+  assert drawn_circles == [(120, 37, 3)]

selfdrive/ui/sunnypilot/ui_state.py

@@ -43,6 +43,7 @@ class UIStateSP:
     self.custom_interactive_timeout: int = 0
     self.developer_ui = None
     self.hide_v_ego_ui: bool = False
+    self.radar_tracks: int = self.params.get("RadarTracks", return_default=True)
     self.onroad_brightness: int = 0
     self.onroad_brightness_timer: int = 0
     self.onroad_brightness_timer_param: int = 0
@@ -151,6 +152,7 @@ class UIStateSP:
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.developer_ui = self.params.get("DevUIInfo")
     self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
+    self.radar_tracks = self.params.get("RadarTracks", return_default=True)
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
     self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
     self.rainbow_path = self.params.get_bool("RainbowMode")
@@ -169,7 +171,6 @@ class UIStateSP:
     self.turn_signals = self.params.get_bool("ShowTurnSignals")
     self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
     self.always_offroad = self.params.get_bool("OffroadMode")
-
     if not self._sp_initialized:
       self._sp_initialized = True
       self.reset_onroad_sleep_timer()
@@ -179,6 +180,10 @@ class UIStateSP:
     CP = self.CP
 
     if CP is not None:
+      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("EnforceTorqueControl", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
       # Angle steering: no torque-based lateral controls
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.params.remove("EnforceTorqueControl")

selfdrive/ui/ui_state.py

@@ -63,6 +63,7 @@ class UIState(UIStateSP):
         "liveParameters",
         "testJoystick",
         "rawAudioData",
+        "liveTracks",
       ] + self.sm_services_ext
     )
 

sunnypilot/modeld_v2/compile_modeld.py

@@ -59,10 +59,8 @@ def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip
     'tfm': np.zeros((3, 3), dtype=np.float32),
     'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
-  if 'action_t' in policy_input_shapes:
-    npy['action_t'] = np.zeros(tc, dtype=np.float32)
 
-  handled = {'features_buffer', desire_key, 'traffic_convention', 'action_t'}
+  handled = {'features_buffer', desire_key, 'traffic_convention'}
   for key, shape in policy_input_shapes.items():
     if key in handled:
       continue
@@ -190,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
   n_frames = img_shape[1] // 6
   img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
 
-  npy_keys = {}
+  numpy_keys = {}
   queue_keys = {}
 
   for key, shape in input_shapes.items():
@@ -198,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
       continue
     if len(shape) == 3 and shape[1] > 1:
       if key.startswith('desire'):
-        npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
+        numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
         queue_keys[f'{key}_q'] = Tensor(
           np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
           device=device).contiguous().realize()
@@ -207,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
           np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
           device=device).contiguous().realize()
       else:
-        npy_keys[key] = np.zeros(shape, dtype=np.float32)
+        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
     elif len(shape) == 2:
-      npy_keys[key] = np.zeros(shape, dtype=np.float32)
+      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
 
-  if 'traffic_convention' not in npy_keys:
+  if 'traffic_convention' not in numpy_keys:
     tc_shape = input_shapes.get('traffic_convention', (1, 2))
-    npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+    numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
 
-  npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
-  npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+  numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
+  numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
 
   input_queues = {
     'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
     **queue_keys,
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
+    **{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
   }
-  return input_queues, npy_keys
+  return input_queues, numpy_keys
 
 
 def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,

sunnypilot/modeld_v2/constants.py

@@ -35,7 +35,6 @@ class ModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
-  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1

sunnypilot/modeld_v2/modeld.py

@@ -44,34 +44,6 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
-def _load_pkl_compat(data: bytes):
-  from tinygrad.uop.ops import UOpMetaClass, UOp, Ops, buffers, ParamArg
-  from tinygrad.dtype import dtypes
-  _orig_call = UOpMetaClass.__call__
-
-  def _compat_call(cls, op, dtype=dtypes.void, src=(), arg=None, tag=None, metadata=None, _buffer=None):
-    if _buffer is not None and op is Ops.SLICE:
-      created = _orig_call(cls, op, dtype, src, arg, tag, metadata)
-      buffers[created] = _buffer
-      return created
-    if op is Ops.PARAM and isinstance(arg, int):
-      arg = ParamArg(arg)
-    if op is Ops.PERMUTE and len(src) >= 2 and src[0].op is Ops.NOOP:
-      op = Ops.RESHAPE
-      shape_uop = src[1]
-      if shape_uop.op is Ops.CONST and hasattr(shape_uop.dtype, 'count') and shape_uop.dtype.count > 1 and isinstance(shape_uop.arg, tuple):
-        src = (src[0], UOp(Ops.STACK, shape_uop.dtype, tuple(UOp(Ops.CONST, dtypes.weakint, (), arg=v) for v in shape_uop.arg)))
-    if op is Ops.CUSTOM and hasattr(dtype, 'count') and dtype.count > 1 and not isinstance(arg, str):
-      op = Ops.CONST
-    return _orig_call(cls, op, dtype, src, arg, tag, metadata, _buffer if op is Ops.BUFFER else None)
-
-  UOpMetaClass.__call__ = _compat_call
-  try:
-    return pickle.loads(data)
-  finally:
-    UOpMetaClass.__call__ = _orig_call
-
-
 def _pkl_exists(path):
   from openpilot.common.file_chunker import get_manifest_path
   return os.path.exists(path) or os.path.exists(get_manifest_path(path))
@@ -90,11 +62,6 @@ def _find_driving_pkl(bundle):
   if _pkl_exists(pkl_path):
     return pkl_path
 
-  fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
-  if _pkl_exists(fallback):
-    return fallback
-  return None
-
 
 class FrameMeta:
   frame_id: int = 0
@@ -139,7 +106,7 @@ class ModelState(ModelStateBase):
     from openpilot.common.file_chunker import read_file_chunked
 
     cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = _load_pkl_compat(read_file_chunked(pkl_path))
+    jits = pickle.loads(read_file_chunked(pkl_path))
 
     self.DEV = Device.DEFAULT
 
@@ -153,11 +120,11 @@ class ModelState(ModelStateBase):
       self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
       from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
       frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
     else:
       vision_metadata = metadata['vision']
       policy_keys = [k for k in metadata if k != 'vision']
-      if len(policy_keys) == 1 and policy_keys[0] in ('policy', 'on_policy'):
+      if policy_keys == ['policy']:
         self._combined_model_type = 'split'
       else:
         self._combined_model_type = 'multi_policy'
@@ -166,14 +133,12 @@ class ModelState(ModelStateBase):
       self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
       self.policy_output_slices = self._policy_slices_list[0]
       self._has_on_policy = any('on' in k.lower() for k in policy_keys)
-      on_policy_key = next((k for k in policy_keys if 'on' in k.lower()), None)
-      self._on_policy_has_plan = on_policy_key is not None and 'plan' in metadata[on_policy_key]['output_slices']
       first_policy_metadata = metadata[policy_keys[0]]
       vision_input_shapes = vision_metadata['input_shapes']
       policy_input_shapes = first_policy_metadata['input_shapes']
       self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
       frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
 
     from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
     from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
@@ -213,7 +178,7 @@ class ModelState(ModelStateBase):
 
   @property
   def desire_key(self) -> str:
-    return next(k for k in self.npy if k.startswith('desire'))
+    return next(k for k in self.numpy_inputs if k.startswith('desire'))
 
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -229,16 +194,16 @@ class ModelState(ModelStateBase):
 
     desire_key = self.desire_key
     inputs[desire_key][0] = 0
-    self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
     self.prev_desire[:] = inputs[desire_key]
-    for key in ('traffic_convention', 'lateral_control_params', 'action_t'):
-      if key in self.npy and key in inputs:
-        self.npy[key][:] = inputs[key]
+    for key in ('traffic_convention', 'lateral_control_params'):
+      if key in self.numpy_inputs and key in inputs:
+        self.numpy_inputs[key][:] = inputs[key]
 
     road_key = next(n for n in bufs if 'big' not in n)
     wide_key = next(n for n in bufs if 'big' in n)
-    self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
-    self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
+    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
     if prepare_only:
       self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
@@ -259,15 +224,15 @@ class ModelState(ModelStateBase):
         policy_output = raw_outputs[i + 1].numpy().flatten()
         policy_sliced = {k: policy_output[np.newaxis, v] for k, v in policy_slices.items()}
         parsed = self.parser.parse_policy_outputs(policy_sliced)
-        if 'off' in self._policy_keys[i] and self._on_policy_has_plan:
+        if 'off' in self._policy_keys[i] and self._has_on_policy:
           parsed.pop('plan', None)
         outputs.update(parsed)
 
       if 'planplus' in outputs and 'plan' in outputs:
         outputs['plan'] = outputs['plan'] + outputs['planplus']
 
-    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
-      buf = self.npy['prev_desired_curv']
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
+      buf = self.numpy_inputs['prev_desired_curv']
       buf[0, :-1] = buf[0, 1:]
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
@@ -275,20 +240,6 @@ class ModelState(ModelStateBase):
 
   def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                             lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
-    if 'action' in model_output:
-      desired_accel = model_output['action'][0, 1]
-      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
-      should_stop = (v_ego < 0.3 and desired_accel < 0.1)
-      desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
-      if self.generation is not None and self.generation >= 10:
-        if v_ego > self.MIN_LAT_CONTROL_SPEED:
-          desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
-        else:
-          desired_curvature = prev_action.desiredCurvature
-      return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                    desiredAcceleration=float(desired_accel),
-                                    shouldStop=bool(should_stop))
-
     plan = model_output['plan'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
                                                      action_t=long_action_t)
@@ -448,17 +399,12 @@ def main(demo=False):
 
     bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
     transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    frame_delay = DT_MDL
-    action_delay = DT_MDL / 2
-    lat_action_t = lat_delay + frame_delay + action_delay
-    long_action_t = long_delay + frame_delay + action_delay
-    inputs: dict[str, np.ndarray] = {
+    inputs:dict[str, np.ndarray] = {
       model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
-      'action_t': np.array([lat_action_t, long_action_t], dtype=np.float32),
     }
 
-    if 'lateral_control_params' in model.npy:
+    if 'lateral_control_params' in model.numpy_inputs:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()

sunnypilot/modeld_v2/models/README.md

@@ -1,62 +0,0 @@
-## Neural networks in openpilot
-To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
-
-## Supercombo
-### Supercombo input format (Full size: 799906 x float32)
-* **image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **wide image stream**
-  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
-    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
-      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-      * Channel 4 represents the half-res U channel
-      * Channel 5 represents the half-res V channel
-* **desire**
-  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
-* **traffic convention**
-  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **feature buffer**
-  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
-
-
-### Supercombo output format (Full size: XXX x float32)
-Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
-
-
-## Driver Monitoring Model
-* .onnx model can be run with onnx runtimes
-* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
-
-### input format
-* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
-  * full input size is 1440 * 960 = 1382400
-  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
-* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
-
-### output format
-* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
-  * for each person in the front seats (2 * 41)
-    * face pose: 12 = 6 + 6
-      * face orientation [pitch, yaw, roll] in camera frame: 3
-      * face position [dx, dy] relative to image center: 2
-      * normalized face size: 1
-      * standard deviations for above outputs: 6
-    * face visible probability: 1
-    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-      * eye position and size, and their standard deviations: 8
-      * eye visible probability: 1
-      * eye closed probability: 1
-    * wearing sunglasses probability: 1
-    * face occluded probability: 1
-    * touching wheel probability: 1
-    * paying attention probability: 1
-    * (deprecated) distracted probabilities: 2
-    * using phone probability: 1
-    * distracted probability: 1
-  * common outputs 2
-    * poor camera vision probability: 1
-    * left hand drive probability: 1

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -146,8 +146,6 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
-    if 'action' in outs:
-      self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
     return outs
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:

sunnypilot/modeld_v2/tests/dmon_lag/repro.cc

@@ -1,101 +0,0 @@
-// clang++ -O2 repro.cc && ./a.out
-
-#include <sched.h>
-#include <sys/types.h>
-#include <unistd.h>
-
-#include <cstdint>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <ctime>
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-#define MODEL_WIDTH 320
-#define MODEL_HEIGHT 640
-
-// null function still breaks it
-#define input_lambda(x) x
-
-// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
-void inner(uint8_t *resized_buf, float *net_input_buf) {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  // one shot conversion, O(n) anyway
-  // yuvframe2tensor, normalize
-  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
-    for (int c = 0; c < MODEL_WIDTH/2; c++) {
-      // Y_ul
-      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
-      // Y_ur
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
-      // Y_dl
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
-      // Y_dr
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
-      // U
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
-      // V
-      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
-    }
-  }
-}
-
-float trial() {
-  int resized_width = MODEL_WIDTH;
-  int resized_height = MODEL_HEIGHT;
-
-  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
-
-  // allocate the buffers
-  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
-  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
-  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
-
-  // test for bad buffers
-  static int CNT = 20;
-  float avg = 0.0;
-  for (int i = 0; i < CNT; i++) {
-    double s4 = millis_since_boot();
-    inner(resized_buf, net_input_buf);
-    double s5 = millis_since_boot();
-    avg += s5-s4;
-  }
-  avg /= CNT;
-
-  // once it's bad, it's reliably bad
-  if (avg > 10) {
-    printf("HIT %f\n", avg);
-    printf("BAD\n");
-
-    for (int i = 0; i < 200; i++) {
-      double s4 = millis_since_boot();
-      inner(resized_buf, net_input_buf);
-      double s5 = millis_since_boot();
-      printf("%.2f   ", s5-s4);
-    }
-    printf("\n");
-
-    exit(0);
-  }
-
-  // don't free so we get a different buffer each time
-  //free(resized_buf);
-  //free(net_input_buf);
-
-  return avg;
-}
-
-int main() {
-  while (true) {
-    float ret = trial();
-    printf("got %f\n", ret);
-  }
-}
-

sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py

@@ -46,16 +46,6 @@ class TestFindDrivingPkl:
     assert result is not None
     assert 'driving_fof_tinygrad.pkl' in result
 
-  def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
-    (tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
-    from openpilot.system.hardware import hw
-    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
-
-    bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
-    result = _find_driving_pkl(bundle)
-    assert result is not None
-    assert 'driving_tinygrad.pkl' in result
-
 
 # Init — assertion guard
 
@@ -80,11 +70,12 @@ class TestStockEquivalence:
     stock_queues, stock_npy = make_input_queues(SPLIT_VISION_INPUT_SHAPES, SPLIT_POLICY_INPUT_SHAPES, frame_skip,
                                                 device='NPY')
 
-    optional_keys = {'action_t'} if 'action_t' not in SPLIT_POLICY_INPUT_SHAPES else set()
-    assert set(state.input_queues.keys()) == set(stock_queues.keys()) - optional_keys, \
+    # TODO-SP: remove action_t skip once SP adds prerequisite for deep models (action_t input queue)
+    skip_keys = {'action_t'}
+    assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
       f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
-    assert set(state.npy.keys()) == set(stock_npy.keys()) - optional_keys, \
-      f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"
+    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
 
   def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
     from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
@@ -187,16 +178,16 @@ class TestInputQueueCreation:
   def test_npy_contains_transforms(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
-    assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
-    assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
-    assert state.npy['tfm'].shape == (3, 3)
-    assert state.npy['big_tfm'].shape == (3, 3)
+    assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.numpy_inputs['tfm'].shape == (3, 3)
+    assert state.numpy_inputs['big_tfm'].shape == (3, 3)
 
   @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
   def test_npy_contains_desire(self, archetype_name, model_state_factory):
     arch = ARCHETYPES[archetype_name]
     state = model_state_factory(arch)
-    assert arch.expected_desire_key in state.npy, \
+    assert arch.expected_desire_key in state.numpy_inputs, \
       f"{arch.name}: '{arch.expected_desire_key}' missing from npy"
 
 

sunnypilot/modeld_v2/tests/test_recovery_power.py

@@ -68,18 +68,3 @@ def test_recovery_power_scaling():
     # For the below, yes, I know this isn't the same slicing as fillmodlmsg. This is to show that the values are only scaled on curv
     expected_curv_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + control * planplus[0, :, Plan.VELOCITY][:, 0]
     np.testing.assert_allclose(recorded_curv_plans[0][:, Plan.VELOCITY][:, 0], expected_curv_plan_vel, rtol=1e-5, atol=1e-6)
-
-
-def test_action_direct_output():
-  state = MockStruct(
-    LONG_SMOOTH_SECONDS=0.3,
-    LAT_SMOOTH_SECONDS=0.1,
-    MIN_LAT_CONTROL_SPEED=0.3,
-    generation=12,
-  )
-  prev_action = log.ModelDataV2.Action()
-  model_output = {'action': np.array([[0.01, -0.5]])}
-  result = ModelState.get_action_from_model(state, model_output, prev_action, 0.1, 0.1, 10.0)
-  assert result.desiredAcceleration != 0.0
-  assert result.desiredCurvature != 0.0
-  assert isinstance(result.shouldStop, bool)

sunnypilot/modeld_v2/tests/tf_test/build.sh

@@ -1,2 +0,0 @@
-#!/usr/bin/env bash
-clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow

sunnypilot/modeld_v2/tests/tf_test/main.cc

@@ -1,69 +0,0 @@
-#include <cassert>
-#include <cstdio>
-#include <cstdlib>
-#include "tensorflow/c/c_api.h"
-
-void* read_file(const char* path, size_t* out_len) {
-  FILE* f = fopen(path, "r");
-  if (!f) {
-    return NULL;
-  }
-  fseek(f, 0, SEEK_END);
-  long f_len = ftell(f);
-  rewind(f);
-
-  char* buf = (char*)calloc(f_len, 1);
-  assert(buf);
-
-  size_t num_read = fread(buf, f_len, 1, f);
-  fclose(f);
-
-  if (num_read != 1) {
-    free(buf);
-    return NULL;
-  }
-
-  if (out_len) {
-    *out_len = f_len;
-  }
-
-  return buf;
-}
-
-static void DeallocateBuffer(void* data, size_t) {
-  free(data);
-}
-
-int main(int argc, char* argv[]) {
-  TF_Buffer* buf;
-  TF_Graph* graph;
-  TF_Status* status;
-  char *path = argv[1];
-
-  // load model
-  {
-    size_t model_size;
-    char tmp[1024];
-    snprintf(tmp, sizeof(tmp), "%s.pb", path);
-    printf("loading model %s\n", tmp);
-    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
-    buf = TF_NewBuffer();
-    buf->data = model_data;
-    buf->length = model_size;
-    buf->data_deallocator = DeallocateBuffer;
-    printf("loaded model of size %d\n", model_size);
-  }
-
-  // import graph
-  status = TF_NewStatus();
-  graph = TF_NewGraph();
-  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
-  TF_GraphImportGraphDef(graph, buf, opts, status);
-  TF_DeleteImportGraphDefOptions(opts);
-  TF_DeleteBuffer(buf);
-  if (TF_GetCode(status) != TF_OK) {
-    printf("FAIL: %s\n", TF_Message(status));
-  } else {
-    printf("SUCCESS\n");
-  }
-}

sunnypilot/modeld_v2/tests/tf_test/pb_loader.py

@@ -1,8 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import tensorflow as tf
-
-with open(sys.argv[1], "rb") as f:
-  graph_def = tf.compat.v1.GraphDef()
-  graph_def.ParseFromString(f.read())
-  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")

sunnypilot/modeld_v2/tests/timing/benchmark.py

@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import time
-import numpy as np
-
-import cereal.messaging as messaging
-from openpilot.system.manager.process_config import managed_processes
-
-
-N = int(os.getenv("N", "5"))
-TIME = int(os.getenv("TIME", "30"))
-
-if __name__ == "__main__":
-  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
-
-  execution_times = []
-
-  for _ in range(N):
-    os.environ['LOGPRINT'] = 'debug'
-    managed_processes['modeld'].start()
-    time.sleep(5)
-
-    t = []
-    start = time.monotonic()
-    while time.monotonic() - start < TIME:
-      msgs = messaging.drain_sock(sock, wait_for_one=True)
-      for m in msgs:
-        t.append(m.modelV2.modelExecutionTime)
-
-    execution_times.append(np.array(t[10:]) * 1000)
-    managed_processes['modeld'].stop()
-
-  print("\n\n")
-  print(f"ran modeld {N} times for {TIME}s each")
-  for _, t in enumerate(execution_times):
-    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
-  print("\n\n")

sunnypilot/modeld_v2/warp.py

@@ -143,8 +143,8 @@ class Warp:
       self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
     yuv_size = self._nv12_cache[key]
 
-    road_ptr = np.frombuffer(bufs[road].data, dtype=np.uint8).ctypes.data
-    wide_ptr = np.frombuffer(bufs[wide].data, dtype=np.uint8).ctypes.data
+    road_ptr = bufs[road].data.ctypes.data
+    wide_ptr = bufs[wide].data.ctypes.data
     if road_ptr not in self._blob_cache:
       self._blob_cache[road_ptr] = Tensor.from_blob(road_ptr, (yuv_size,), dtype='uint8')
     if wide_ptr not in self._blob_cache:

sunnypilot/models/helpers.py

@@ -6,80 +6,138 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import hashlib
+import os
 import pickle
+from pathlib import Path
 import numpy as np
 
-from openpilot.common.params import Params
 from cereal import custom
-from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
 from openpilot.system.hardware.hw import Paths
-from pathlib import Path
-
-# see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 15
-REQUIRED_MIN_SELECTOR_VERSION = 14
 
+# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
+REQUIRED_JSON_VERSION = 15
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
 ModelManager = custom.ModelManagerSP
+_LAST_VALIDATED_RAW = None
+
+
+def _compute_hash(file_path: str) -> str | None:
+  from openpilot.common.file_chunker import read_file_chunked
+  try:
+    return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
+  except FileNotFoundError:
+    return None
 
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
-  from openpilot.common.file_chunker import read_file_chunked
-  try:
-    data = read_file_chunked(file_path)
-  except FileNotFoundError:
-    return False
-  return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()
+  file_hash = _compute_hash(file_path)
+  return file_hash == expected_hash.lower() if file_hash else False
+
+
+def _verify_file(file_path: str, expected_hash: str) -> bool:
+  file_hash = _compute_hash(file_path)
+  return file_hash == expected_hash.lower() if file_hash else False
 
 
 def is_bundle_version_compatible(bundle: dict) -> bool:
   """
-  Checks whether the model bundle is compatible with the current selector version constraints.
-
-  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
+  The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
   required to load the model. This function ensures that:
-
-    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
-    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
-
-  This allows the selector to enforce both a minimum and maximum range of supported models,
-  even if a model would otherwise be compatible.
-
-  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
-  :type bundle: Dict
-  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
-  :rtype: Bool
+    the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
   """
-  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
+  return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
 
 
-def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
-  """Gets the active model bundle from cache"""
-  if params is None:
-    params = Params()
+def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
+  artifacts = []
+  for model in getattr(bundle, 'models', []) or []:
+    for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
+      if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
+        sha256 = getattr(artifact.downloadUri, 'sha256', None)
+        if sha256:
+          artifacts.append((artifact.fileName, sha256))
+  return artifacts
 
+
+def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
+  model_root = Paths.model_root()
+  return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
+             for file_name, expected_hash in _bundle_artifacts(bundle))
+
+
+def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
+  if active_bundle is None:
+    return False
+
+  if available_bundles is not None:
+    matching_bundle = None
+    for bundle in available_bundles:
+      if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
+        if active_bundle.ref == bundle.ref:
+          matching_bundle = bundle
+          break
+      elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
+        matching_bundle = bundle
+        break
+
+    if matching_bundle is None:
+      return True
+    if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
+      return True
+
+    active_runner = getattr(active_bundle, 'runner', None)
+    matching_runner = getattr(matching_bundle, 'runner', None)
+    if active_runner is not None and matching_runner is not None:
+      if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
+        return True
+    if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
+      return True
+
+  return not _bundle_is_valid_locally(active_bundle)
+
+
+def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
+  global _LAST_VALIDATED_RAW
+
+  raw_bundle = params.get("ModelManager_ActiveBundle")
+  if not raw_bundle:
+    return
+
+  if raw_bundle == _LAST_VALIDATED_RAW:
+    return
+
+  active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
+  if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
+    cloudlog.warning("Active model bundle invalid; resetting to default")
+    params.remove("ModelManager_ActiveBundle")
+    params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
+    _LAST_VALIDATED_RAW = None
+  else:
+    _LAST_VALIDATED_RAW = raw_bundle
+
+
+def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
+  params = params or Params()
   try:
-    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
-      return custom.ModelManagerSP.ModelBundle(**active_bundle)
+    active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
+    if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
   except Exception:
     pass
-
   return None
 
 
-def get_active_model_runner(params: Params = None, force_check=False) -> int:
-  if params is None:
-    params = Params()
-
+def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
+  params = params or Params()
   cached_runner_type = params.get("ModelRunnerTypeCache")
   if cached_runner_type is not None and not force_check:
     return cached_runner_type
-
   runner_type = custom.ModelManagerSP.Runner.stock
-
   if active_bundle := get_active_bundle(params):
     runner_type = active_bundle.runner.raw
 
@@ -88,66 +146,40 @@ def get_active_model_runner(params: Params = None, force_check=False) -> int:
 
   return runner_type
 
+
 def _get_model():
   if bundle := get_active_bundle():
     drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
     return drive_model
-
   return None
 
-def load_metadata():
-  metadata_path = METADATA_PATH
 
-  if model := _get_model():
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
+def load_metadata():
+  model = _get_model()
+  metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
 
   with open(metadata_path, 'rb') as f:
     return pickle.load(f)
 
 
-def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
-  # img buffers are managed in openCL transform code so we don't pass them as inputs
-  inputs = {
-    k: np.zeros(v, dtype=np.float32).flatten()
-    for k, v in model_metadata['input_shapes'].items()
-    if 'img' not in k
+def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
+  return {
+    key: np.zeros(shape, dtype=np.float32).flatten()
+    for key, shape in model_metadata['input_shapes'].items()
+    if 'img' not in key
   }
 
-  return inputs
 
+def load_meta_constants(model_metadata: dict):
+  """ Loads the appropriate meta model class based on key shapes"""
+  if 'sim_pose' in model_metadata['input_shapes']:
+    return MetaSimPose
 
-def load_meta_constants(model_metadata):
-  """
-  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
-  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
-  model class to return.
+  meta_slice = model_metadata['output_slices']['meta']
+  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
+    return MetaTombRaider
 
-  :param model_metadata: Dictionary containing metadata about the model. It includes
-      details such as input shapes, output slices, and other configurations for identifying
-      metadata-dependent meta model classes.
-  :type model_metadata: dict
-  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
-      based on the conditions and metadata provided.
-  :rtype: type
-  """
-  meta = Meta  # Default Meta
-
-  if 'sim_pose' in model_metadata['input_shapes'].keys():
-    # Meta for models with sim_pose input
-    meta = MetaSimPose
-  else:
-    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
-    meta_slice = model_metadata['output_slices']['meta']
-    meta_tf_slice = slice(5868, 5921, None)
-
-    if (
-            meta_slice.start == meta_tf_slice.start and
-            meta_slice.stop == meta_tf_slice.stop and
-            meta_slice.step == meta_tf_slice.step
-    ):
-      meta = MetaTombRaider
-
-  return meta
+  return Meta
 
 
 # The following method(s) are modeld helper methods

sunnypilot/models/manager.py

@@ -17,7 +17,7 @@ from openpilot.system.hardware.hw import Paths
 
 from cereal import messaging, custom
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
-from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
+from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
 
 
 class ModelManagerSP:
@@ -239,6 +239,7 @@ class ModelManagerSP:
     while True:
       try:
         self.available_models = self.model_fetcher.get_available_bundles()
+        validate_active_bundle(self.params, self.available_models)
         self.active_bundle = get_active_bundle(self.params)
 
         if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
@@ -252,8 +253,8 @@ class ModelManagerSP:
               self.selected_bundle = None
 
         if self.params.get("ModelManager_ClearCache"):
-            self.clear_model_cache()
-            self.params.remove("ModelManager_ClearCache")
+          self.clear_model_cache()
+          self.params.remove("ModelManager_ClearCache")
 
         self._report_status()
         rk.keep_time()

sunnypilot/models/split_model_constants.py

@@ -43,7 +43,6 @@ class SplitModelConstants:
   LANE_LINES_WIDTH = 2
   ROAD_EDGES_WIDTH = 2
   PLAN_WIDTH = 15
-  ACTION_WIDTH = 2
   DESIRE_PRED_WIDTH = 8
   LAT_PLANNER_SOLUTION_WIDTH = 4
   DESIRED_CURV_WIDTH = 1

sunnypilot/selfdrive/car/interfaces.py

@@ -109,6 +109,9 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
 def initialize_params(params) -> list[dict[str, Any]]:
   keys: list = []
 
+  # generic radar track mode; currently implemented by Hyundai
+  keys.append("RadarTracks")
+
   # hyundai
   keys.extend([
     "HyundaiLongitudinalTuning",

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -41,7 +41,6 @@ LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
-METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
 
@@ -170,39 +169,6 @@ def getParamsAllKeys() -> list[str]:
   return keys
 
 
-@dispatcher.add_method
-def getParamsAllKeysV1() -> dict[str, str]:
-  try:
-    with open(METADATA_PATH) as f:
-      metadata = json.load(f)
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
-    metadata = {}
-
-  try:
-    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
-
-    params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
-    for key in available_keys:
-      value = get_param_as_byte(key, get_default=True)
-
-      param_entry = {
-        "key": key,
-        "type": int(params.get_type(key).value),
-        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
-      }
-
-      if key in metadata:
-        meta_copy = metadata[key].copy()
-        param_entry["_extra"] = meta_copy
-
-      params_dict["params"].append(param_entry)
-    return {"keys": json.dumps(params_dict.get("params", []))}
-  except Exception:
-    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
-    raise
-
-
 @dispatcher.add_method
 def getParamsMetadata() -> str:
   """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.

sunnypilot/sunnylink/docs/README.md

@@ -97,12 +97,11 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe
 
 ```
 1. common/params_keys.h               — add/remove the C++ param key
-2. params_metadata.json               — automated via update_params_metadata.py
-3. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
-4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
-5. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
-6. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
-7. commit
+2. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
+3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
+4. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
+5. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
+6. commit
 ```
 
 CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.

sunnypilot/sunnylink/tests/test_params_metadata.py

@@ -1,86 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
-
-
-def test_get_params_all_keys_v1():
-  """
-  Test the getParamsAllKeysV1 API endpoint.
-
-  Why:
-  This endpoint is used by the UI (and potentially external tools) to fetch the list of
-  available parameters along with their metadata (titles, descriptions, options, constraints).
-  We need to ensure it returns the correct structure and that the metadata from
-  params_metadata.json is correctly merged into the response.
-
-  Expected:
-  - The response should contain a "keys" field which is a JSON string of a list of parameters.
-  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
-  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
-    the source of truth (params_metadata.json).
-  """
-  response = getParamsAllKeysV1()
-  assert "keys" in response
-
-  keys_json = response["keys"]
-  params_list = json.loads(keys_json)
-
-  assert isinstance(params_list, list)
-  assert len(params_list) > 0
-
-  # Check structure of first item
-  first_param = params_list[0]
-  assert "key" in first_param
-  assert "type" in first_param
-  assert "default_value" in first_param
-
-  if "_extra" in first_param:
-    assert isinstance(first_param["_extra"], dict)
-    assert "default" not in first_param["_extra"]
-    assert "type" not in first_param["_extra"]
-
-  # Load the source of truth
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Verify that the API response matches the metadata file for a few sample keys
-  # This ensures the plumbing is working without being brittle to content changes
-
-  # 1. Check a key that should have metadata
-  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
-  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
-
-  for param in keys_with_metadata[:5]:  # Check first 5 matches
-    key = param["key"]
-    expected_meta = metadata[key]
-
-    assert "_extra" in param, f"Parameter {key} should have _extra field"
-    actual_meta = param["_extra"]
-
-    # Verify all fields in JSON are present in the API response
-    for meta_key, meta_val in expected_meta.items():
-      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
-      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
-
-  # 2. Check that we are correctly serving options if they exist
-  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
-  if params_with_options:
-    param = params_with_options[0]
-    key = param["key"]
-    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
-    assert param["_extra"]["options"] == metadata[key]["options"]
-
-  # 3. Check that we are correctly serving numeric constraints if they exist
-  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
-  if params_with_constraints:
-    param = params_with_constraints[0]
-    key = param["key"]
-    assert param["_extra"]["min"] == metadata[key]["min"]
-    assert param["_extra"]["max"] == metadata[key]["max"]
-    assert param["_extra"]["step"] == metadata[key]["step"]

sunnypilot/sunnylink/tests/test_params_sync.py

@@ -1,284 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import os
-import pytest
-
-from openpilot.common.params import Params
-from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
-
-
-def test_metadata_json_exists():
-  """
-  Test that the params_metadata.json file exists at the expected path.
-
-  Why:
-  The metadata file is the source of truth for parameter descriptions, options, and constraints.
-  If it's missing, the UI will not be able to display rich information for parameters.
-
-  Expected:
-  The file should exist at sunnypilot/sunnylink/params_metadata.json.
-  """
-  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
-
-
-def test_metadata_json_valid():
-  """
-  Test that the params_metadata.json file contains valid JSON.
-
-  Why:
-  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
-  resulting in missing metadata.
-
-  Expected:
-  The file content should be parseable as a JSON object (dictionary).
-  """
-  with open(METADATA_PATH) as f:
-    try:
-      data = json.load(f)
-    except json.JSONDecodeError:
-      pytest.fail("Metadata file is not valid JSON")
-
-    assert isinstance(data, dict), "Metadata root must be a dictionary"
-
-
-def test_all_params_have_metadata():
-  """
-  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
-
-  Why:
-  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
-  should also be documented in the metadata file.
-
-  Expected:
-  There should be no parameters in Params() that are missing from the metadata file.
-  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
-  """
-  params = Params()
-  all_keys = [k.decode('utf-8') for k in params.all_keys()]
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  missing_keys = [key for key in all_keys if key not in metadata]
-
-  if missing_keys:
-    pytest.fail(
-      f"The following parameters are missing from metadata: {missing_keys}. "
-      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
-    )
-
-
-def test_metadata_keys_exist_in_params():
-  """
-  Test that all keys in params_metadata.json actually exist in the codebase.
-
-  Why:
-  We want to avoid stale metadata for parameters that have been removed or renamed.
-  This keeps the metadata file clean and relevant.
-
-  Expected:
-  There should be no keys in the metadata file that are not present in Params().
-  This prints a warning rather than failing, as it's less critical than missing metadata.
-  """
-  params = Params()
-  all_keys = {k.decode('utf-8') for k in params.all_keys()}
-
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  extra_keys = [key for key in metadata.keys() if key not in all_keys]
-
-  if extra_keys:
-    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
-
-
-def test_no_default_titles():
-  """
-  Test that no parameter has a title that is identical to its key.
-
-  Why:
-  The default behavior of the update script is to set the title equal to the key.
-  We want to force developers to provide human-readable, descriptive titles for all parameters.
-
-  Expected:
-  No parameter metadata should have 'title' == 'key'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
-
-  if default_title_keys:
-    pytest.fail(
-      f"The following parameters have default titles (title == key): {default_title_keys}. "
-      + "Please update 'params_metadata.json' with descriptive titles."
-    )
-
-
-def test_options_structure():
-  """
-  Test that the 'options' field in metadata follows the correct structure.
-
-  Why:
-  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
-  Incorrect structure will break the UI rendering for dropdowns/toggles.
-
-  Expected:
-  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "options" in meta:
-      options = meta["options"]
-      assert isinstance(options, list), f"Options for {key} must be a list"
-      for option in options:
-        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
-        assert "value" in option, f"Option in {key} must have a 'value' key"
-        assert "label" in option, f"Option in {key} must have a 'label' key"
-
-
-def test_numeric_constraints():
-  """
-  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
-
-  Why:
-  The UI uses these constraints to validate user input and render sliders/steppers.
-  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
-
-  Expected:
-  If any of min/max/step is present, ALL of them must be present.
-  They must be numbers (int/float), and min must be less than max.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  for key, meta in metadata.items():
-    if "min" in meta or "max" in meta or "step" in meta:
-      assert "min" in meta, f"Numeric param {key} must have 'min'"
-      assert "max" in meta, f"Numeric param {key} must have 'max'"
-      assert "step" in meta, f"Numeric param {key} must have 'step'"
-
-      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
-      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
-      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
-      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
-
-
-def test_known_params_metadata():
-  """
-  Test specific known parameters to ensure they have the expected rich metadata.
-
-  Why:
-  This acts as a spot check to ensure that our rich metadata population logic is working correctly
-  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
-
-  Expected:
-  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
-  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
-  """
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  # Check an enum-like param
-  lp = metadata.get("LongitudinalPersonality")
-  assert lp is not None
-  assert "options" in lp
-  assert len(lp["options"]) == 3
-  assert lp["options"][0]["label"] == "Aggressive"
-  assert lp["options"][0]["value"] == 0
-
-  # Check a numeric param
-  acc_long = metadata.get("CustomAccLongPressIncrement")
-  assert acc_long is not None
-  assert acc_long["min"] == 1
-  assert acc_long["max"] == 10
-  assert acc_long["step"] == 1
-
-
-def test_torque_control_tune_versions_in_sync():
-  """
-  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
-
-  Why:
-  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
-  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
-
-  Expected:
-  - TorqueControlTune should have a 'Default' option with empty string value
-  - All versions from latcontrol_torque_versions.json should be present in the options
-  - The version values and labels should match between both files
-  """
-  from openpilot.common.basedir import BASEDIR
-
-  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
-  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
-
-  # Load both files
-  with open(METADATA_PATH) as f:
-    metadata = json.load(f)
-
-  with open(versions_json_path) as f:
-    versions = json.load(f)
-
-  # Get TorqueControlTune metadata
-  torque_tune = metadata.get("TorqueControlTune")
-  if torque_tune is None:
-    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
-
-  if "options" not in torque_tune:
-    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
-
-  options = torque_tune["options"]
-  if not isinstance(options, list):
-    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
-
-  if len(options) == 0:
-    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
-
-  # Check that Default option exists
-  default_option = next((opt for opt in options if opt.get("value") == ""), None)
-  if default_option is None:
-    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
-
-  if default_option.get("label") != "Default":
-    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
-
-  # Build expected options from versions.json
-  expected_version_keys = set(versions.keys())
-  actual_version_keys = set()
-
-  for option in options:
-    if option.get("value") == "":
-      continue  # Skip the default option
-
-    label = option.get("label")
-    value = option.get("value")
-
-    # Check that this option corresponds to a version
-    if label not in versions:
-      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
-
-    # Check that the value matches the version number
-    expected_value = float(versions[label]["version"])
-    if value != expected_value:
-      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
-
-    actual_version_keys.add(label)
-
-  # Check that all versions are represented
-  missing_versions = expected_version_keys - actual_version_keys
-  if missing_versions:
-    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
-                f"Please run '{sync_script_path}' to sync.")
-
-  extra_versions = actual_version_keys - expected_version_keys
-  if extra_versions:
-    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
-                f"{extra_versions}. Please run '{sync_script_path}' to sync.")

sunnypilot/sunnylink/tools/update_params_metadata.py

@@ -1,133 +0,0 @@
-#!/usr/bin/env python3
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import os
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
-
-METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
-TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
-
-
-def main():
-  params = Params()
-  all_keys = params.all_keys()
-
-  if os.path.exists(METADATA_PATH):
-    with open(METADATA_PATH) as f:
-      try:
-        data = json.load(f)
-      except json.JSONDecodeError:
-        data = {}
-  else:
-    data = {}
-
-  # Add new keys
-  for key in all_keys:
-    key_str = key.decode("utf-8")
-    if key_str not in data:
-      print(f"Adding new key: {key_str}")
-      data[key_str] = {
-        "title": key_str,
-        "description": "",
-      }
-
-  # Remove deleted keys
-  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
-  # for k in keys_to_remove:
-  #   print(f"Removing deleted key: {k}")
-  #   del data[k]
-
-  # Sort keys
-  sorted_data = dict(sorted(data.items()))
-
-  with open(METADATA_PATH, "w") as f:
-    json.dump(sorted_data, f, indent=2)
-    f.write("\n")
-
-  print(f"Updated {METADATA_PATH}")
-
-  # update onroad screen brightness params
-  update_onroad_brightness_param()
-
-  # update onroad screen brightness timer params
-  update_onroad_brightness_timer_param()
-
-  # update torque versions param
-  update_torque_versions_param()
-
-
-def update_onroad_brightness_param():
-  try:
-    with open(METADATA_PATH) as f:
-      params_metadata = json.load(f)
-    if "OnroadScreenOffBrightness" in params_metadata:
-      options = [
-        {"value": 0, "label": "Auto (Default)"},
-        {"value": 1, "label": "Auto (Dark)"},
-        {"value": 2, "label": "Screen Off"},
-      ]
-      for i in range(3, 23):
-        options.append({"value": i, "label": f"{(i - 2) * 5} %"})
-      params_metadata["OnroadScreenOffBrightness"]["options"] = options
-      with open(METADATA_PATH, 'w') as f:
-        json.dump(params_metadata, f, indent=2)
-        f.write('\n')
-      print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
-  except Exception as e:
-    print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
-
-
-def update_onroad_brightness_timer_param():
-  try:
-    with open(METADATA_PATH) as f:
-      params_metadata = json.load(f)
-    if "OnroadScreenOffTimer" in params_metadata:
-      options = []
-      for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
-        label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
-        options.append({"value": seconds, "label": label})
-      params_metadata["OnroadScreenOffTimer"]["options"] = options
-      with open(METADATA_PATH, 'w') as f:
-        json.dump(params_metadata, f, indent=2)
-        f.write('\n')
-      print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
-  except Exception as e:
-    print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
-
-
-def update_torque_versions_param():
-  with open(TORQUE_VERSIONS_JSON) as f:
-    current_versions = json.load(f)
-
-  try:
-    with open(METADATA_PATH) as f:
-      params_metadata = json.load(f)
-
-    options = [{"value": "", "label": "Default"}]
-    for version_key, version_data in current_versions.items():
-      version_value = float(version_data["version"])
-      options.append({"value": version_value, "label": str(version_key)})
-
-    if "TorqueControlTune" in params_metadata:
-      params_metadata["TorqueControlTune"]["options"] = options
-
-      with open(METADATA_PATH, 'w') as f:
-        json.dump(params_metadata, f, indent=2)
-        f.write('\n')
-
-      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
-
-  except Exception as e:
-    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
-
-
-if __name__ == "__main__":
-  main()

system/hardware/tici/tests/test_power_draw.py

@@ -32,7 +32,7 @@ class Proc:
 
 PROCS = [
   Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.8, atol=0.2, msgs=['modelV2']),
+  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]

tools/replay/auto_radar_detect.py

@@ -0,0 +1,343 @@
+#!/usr/bin/env python3
+import argparse
+import concurrent.futures
+import os
+import signal
+import subprocess
+import sys
+import time
+from collections import Counter, defaultdict
+
+import cereal.messaging as messaging
+from msgq.ipc_pyx import IpcError
+from opendbc.car.tests.routes import CarTestRoute, routes
+from openpilot.tools.replay.custom_routes import CUSTOM_ROUTES
+from openpilot.tools.replay.radar_helpers import (
+  build_seen_address_map,
+  get_radar_spec,
+  is_exclusive_full_range_match,
+)
+
+
+REPLAY_PATH = os.path.join(os.path.dirname(__file__), "replay")
+REPLAY_PLAYBACK_SPEED = "3.0"
+REPLAY_ALLOW_SERVICES = "can"
+DETECTION_TIMEOUT_SECONDS = 20.0
+DETECTION_MIN_HITS = 10
+SOCKET_WAIT_TIMEOUT_SECONDS = 10.0
+CAR_MODEL_WIDTH = 38
+RADAR_TYPE_WIDTH = 10
+
+ANSI_RESET = "\033[0m"
+ANSI_BOLD = "\033[1m"
+ANSI_DIM = "\033[2m"
+ANSI_RED = "\033[31m"
+ANSI_GREEN = "\033[32m"
+ANSI_YELLOW = "\033[33m"
+ANSI_BLUE = "\033[34m"
+ANSI_MAGENTA = "\033[35m"
+ANSI_CYAN = "\033[36m"
+
+RADAR_FAMILY_COLORS = {
+  "RADAR_500_51F": ANSI_CYAN,
+  "RADAR_210_21F": ANSI_YELLOW,
+  "RADAR_3A5_3C4": ANSI_GREEN,
+  "RADAR_602_611": ANSI_BLUE,
+}
+
+
+def build_arg_parser() -> argparse.ArgumentParser:
+  parser = argparse.ArgumentParser(
+    description="Replay Hyundai/Kia/Genesis test routes and auto-detect radar type.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+  )
+  parser.add_argument("--routes", action="store_true",
+                      help="Use Hyundai/Kia/Genesis routes from opendbc/car/tests/routes.py.")
+  parser.add_argument("--custom-routes", action="store_true",
+                      help="Use routes from tools/replay/custom_routes.py.")
+  parser.add_argument("--route", action="append", default=[],
+                      help="Specific route(s) to test. If omitted, use Hyundai/Kia/Genesis routes from opendbc/car/tests/routes.py.")
+  parser.add_argument("--data-dir", default=None,
+                      help="Optional local directory of route data to pass through to replay.")
+  parser.add_argument("--timeout", type=float, default=DETECTION_TIMEOUT_SECONDS,
+                      help="Seconds to wait for a radar-family detection before giving up on a route.")
+  parser.add_argument("--min-hits", type=int, default=DETECTION_MIN_HITS,
+                      help="Minimum CAN hits in a radar-family address range before considering it detected.")
+  parser.add_argument("--playback", default=REPLAY_PLAYBACK_SPEED,
+                      help="Replay playback speed.")
+  parser.add_argument("--limit", type=int, default=None,
+                      help="Only process the first N matching routes.")
+  parser.add_argument("--jobs", type=int, default=1,
+                      help="Number of routes to process in parallel.")
+  parser.add_argument("--prefix", default="auto-radar-detect",
+                      help="Base OPENPILOT_PREFIX to isolate replay sockets.")
+  return parser
+
+
+def get_hkg_routes() -> list[CarTestRoute]:
+  hkg_prefixes = ("HYUNDAI_", "KIA_", "GENESIS_")
+  return [
+    route for route in routes
+    if route.car_model is not None and getattr(route.car_model, "name", str(route.car_model)).startswith(hkg_prefixes)
+  ]
+
+
+def get_selected_routes(args: argparse.Namespace) -> list[CarTestRoute]:
+  selected_sources = int(bool(args.route)) + int(bool(args.routes)) + int(bool(args.custom_routes))
+  if selected_sources > 1:
+    raise ValueError("Use only one of --route, --routes, or --custom-routes.")
+
+  if args.route:
+    route_map = {route.route: route for route in get_hkg_routes()}
+    selected = []
+    for route_name in args.route:
+      selected.append(route_map.get(route_name, CarTestRoute(route_name, None)))
+    return selected[:args.limit] if args.limit is not None else selected
+
+  if args.custom_routes:
+    selected = [CarTestRoute(route.route, route.car_model) for route in CUSTOM_ROUTES]
+    return selected[:args.limit] if args.limit is not None else selected
+
+  selected = get_hkg_routes()
+  return selected[:args.limit] if args.limit is not None else selected
+
+
+def terminate_process(proc: subprocess.Popen) -> None:
+  if proc.poll() is not None:
+    return
+
+  proc.terminate()
+  try:
+    proc.wait(timeout=5)
+  except subprocess.TimeoutExpired:
+    proc.kill()
+    proc.wait(timeout=5)
+
+
+def start_replay(route: str, prefix: str, args: argparse.Namespace) -> subprocess.Popen:
+  cmd = [
+    REPLAY_PATH,
+    "--no-vipc",
+    "--no-loop",
+    "--playback", args.playback,
+    "--allow", REPLAY_ALLOW_SERVICES,
+    "--prefix", prefix,
+  ]
+  if args.data_dir:
+    cmd.extend(["--data_dir", args.data_dir])
+  cmd.append(route)
+
+  env = os.environ.copy()
+  env["OPENPILOT_PREFIX"] = prefix
+  return subprocess.Popen(
+    cmd,
+    cwd=os.path.dirname(REPLAY_PATH),
+    env=env,
+    stdout=subprocess.DEVNULL,
+    stderr=subprocess.DEVNULL,
+    preexec_fn=os.setsid if os.name != "nt" else None,
+  )
+
+
+def stop_replay(proc: subprocess.Popen) -> None:
+  if proc.poll() is not None:
+    return
+
+  if os.name != "nt":
+    try:
+      os.killpg(proc.pid, signal.SIGTERM)
+    except ProcessLookupError:
+      return
+  else:
+    proc.terminate()
+
+  try:
+    proc.wait(timeout=5)
+  except subprocess.TimeoutExpired:
+    if os.name != "nt":
+      try:
+        os.killpg(proc.pid, signal.SIGKILL)
+      except ProcessLookupError:
+        return
+    else:
+      proc.kill()
+    proc.wait(timeout=5)
+
+
+def wait_for_can_socket(prefix: str, timeout: float) -> messaging.SubSocket:
+  socket_path = os.path.join("/tmp", f"msgq_{prefix}", "can")
+  started = time.monotonic()
+  while True:
+    if os.path.exists(socket_path):
+      break
+    if time.monotonic() - started > timeout:
+      raise TimeoutError(f"Timed out waiting for CAN socket at {socket_path}")
+    time.sleep(0.1)
+
+  while True:
+    try:
+      return messaging.sub_sock("can", conflate=False, timeout=100)
+    except IpcError:
+      if time.monotonic() - started > timeout:
+        raise
+      time.sleep(0.1)
+
+
+def detect_radar_family(route: CarTestRoute, route_idx: int, args: argparse.Namespace) -> dict:
+  prefix = f"{args.prefix}-{os.getpid()}-{route_idx}"
+  os.environ["OPENPILOT_PREFIX"] = prefix
+  messaging.reset_context()
+  proc = start_replay(route.route, prefix, args)
+  logcan = wait_for_can_socket(prefix, min(args.timeout, SOCKET_WAIT_TIMEOUT_SECONDS))
+  counts = Counter()
+  buses = defaultdict(set)
+  seen_addresses = build_seen_address_map()
+  started = time.monotonic()
+  detected = None
+
+  try:
+    while True:
+      if proc.poll() is not None and (time.monotonic() - started) > 1.0:
+        break
+      if time.monotonic() - started > args.timeout:
+        break
+
+      msgs = messaging.drain_sock(logcan, wait_for_one=True)
+      for msg in msgs:
+        for can_msg in msg.can:
+          radar_spec = get_radar_spec(can_msg.address)
+          if radar_spec is not None:
+            counts[radar_spec.name] += 1
+            buses[radar_spec.name].add(can_msg.src)
+            seen_addresses[radar_spec.name].add(can_msg.address)
+            if counts[radar_spec.name] >= args.min_hits and is_exclusive_full_range_match(radar_spec, seen_addresses):
+              detected = radar_spec.name
+          if detected is not None:
+            break
+        if detected is not None:
+          break
+      if detected is not None:
+        break
+  finally:
+    stop_replay(proc)
+
+  dominant_family = detected
+
+  return {
+    "route": route.route,
+    "car_model": str(route.car_model) if route.car_model is not None else "UNKNOWN",
+    "detected": dominant_family or "NONE",
+    "counts": dict(counts),
+    "buses": {name: sorted(bus_set) for name, bus_set in buses.items()},
+    "seen_addresses": {name: sorted(addresses) for name, addresses in seen_addresses.items()},
+  }
+
+
+def print_results(results: list[dict]) -> None:
+  print(f"{'Car Model':<{CAR_MODEL_WIDTH}}  {'Detected':<{RADAR_TYPE_WIDTH}}  Route")
+  print("-" * (CAR_MODEL_WIDTH + RADAR_TYPE_WIDTH + 9 + 60))
+  for result in results:
+    detected_plain = "" if result["detected"] == "NONE" else result["detected"]
+    model = format_car_model(result["car_model"])[:CAR_MODEL_WIDTH]
+    detected = f"{detected_plain:<{RADAR_TYPE_WIDTH}}"
+    if supports_color() and detected_plain:
+      detected = f"{colorize_detected(detected_plain)}" + " " * max(0, RADAR_TYPE_WIDTH - len(detected_plain))
+    print(f"{model:<{CAR_MODEL_WIDTH}}  {detected}  {result['route']}")
+
+
+def supports_color() -> bool:
+  return sys.stdout.isatty() and os.getenv("TERM") not in (None, "dumb")
+
+
+def format_car_model(car_model: object) -> str:
+  return str(car_model) if car_model is not None else "UNKNOWN"
+
+
+def colorize_detected(detected: str) -> str:
+  if detected == "NONE":
+    return ""
+
+  if not supports_color():
+    return detected
+
+  color = RADAR_FAMILY_COLORS.get(detected, ANSI_MAGENTA)
+  return f"{color}{detected}{ANSI_RESET}"
+
+
+def print_progress_line(index: int, total: int, route: CarTestRoute, detected: str) -> None:
+  left = f"[{index}/{total}]"
+  model = format_car_model(route.car_model)[:CAR_MODEL_WIDTH]
+  detected_plain = "" if detected == "NONE" else detected
+  route_text = route.route
+  if supports_color():
+    left = f"{ANSI_DIM}{left}{ANSI_RESET}"
+    model = f"{ANSI_CYAN}{model:<{CAR_MODEL_WIDTH}}{ANSI_RESET}"
+    detected_text = colorize_detected(detected_plain).ljust(len(colorize_detected(detected_plain)))
+    route_text = f"{ANSI_DIM}{route_text}{ANSI_RESET}"
+  else:
+    model = f"{model:<{CAR_MODEL_WIDTH}}"
+    detected_text = detected_plain
+
+  detected_text = f"{detected_plain:<{RADAR_TYPE_WIDTH}}" if not supports_color() else (
+    f"{colorize_detected(detected_plain)}" + " " * max(0, RADAR_TYPE_WIDTH - len(detected_plain))
+  )
+
+  print(f"{left} {model}  {detected_text}  {route_text}")
+
+
+def main() -> int:
+  args = build_arg_parser().parse_args(sys.argv[1:])
+  try:
+    selected_routes = get_selected_routes(args)
+  except ValueError as e:
+    print(str(e), file=sys.stderr)
+    return 2
+  if not selected_routes:
+    print("No matching routes found.", file=sys.stderr)
+    return 1
+
+  results = []
+  total = len(selected_routes)
+  jobs = max(1, min(args.jobs, total))
+
+  header_model = "Car Model"
+  header_detected = "Radar"
+  if supports_color():
+    header_model = f"{ANSI_BOLD}{header_model:<{CAR_MODEL_WIDTH}}{ANSI_RESET}"
+    header_detected = f"{ANSI_BOLD}{header_detected:<{RADAR_TYPE_WIDTH}}{ANSI_RESET}"
+  else:
+    header_model = f"{header_model:<{CAR_MODEL_WIDTH}}"
+    header_detected = f"{header_detected:<{RADAR_TYPE_WIDTH}}"
+  print(f"     {header_model}  {header_detected}  Route")
+
+  if jobs == 1:
+    for idx, route in enumerate(selected_routes):
+      result = detect_radar_family(route, idx, args)
+      print_progress_line(idx + 1, total, route, result['detected'])
+      results.append((idx, result))
+  else:
+    with concurrent.futures.ProcessPoolExecutor(max_workers=jobs) as executor:
+      future_to_job = {
+        executor.submit(detect_radar_family, route, idx, args): (idx, route)
+        for idx, route in enumerate(selected_routes)
+      }
+      completed = 0
+      for future in concurrent.futures.as_completed(future_to_job):
+        idx, route = future_to_job[future]
+        result = future.result()
+        completed += 1
+        print_progress_line(completed, total, route, result['detected'])
+        results.append((idx, result))
+
+  results = sorted(
+    (result for _, result in results),
+    key=lambda result: (result["car_model"], result["route"]),
+  )
+
+  print()
+  print_results(results)
+  return 0
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())

tools/replay/custom_routes.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+from dataclasses import dataclass
+
+
+@dataclass(frozen=True)
+class CustomRoute:
+  car_model: str
+  route: str
+
+
+CUSTOM_ROUTES = [
+  CustomRoute("HYUNDAI_ELANTRA_HEV_2024", "07a48901db7b2503|0000012d--61aba9f832"),
+  CustomRoute("HYUNDAI_IONIQ_5", "c5a5f79df9b6a084/0000005d--24c0a7a7ee"),
+  CustomRoute("HYUNDAI_IONIQ_5", "90950642f47cf05b/00000681--6a904aaa98"),
+  CustomRoute("HYUNDAI_IONIQ_5", "102161de13e822d1/0000000d--f74a52a624"),
+  CustomRoute("HYUNDAI_PALISADE_2023", "17ef028fec0ccf81/00000010--dba8455015"),
+  CustomRoute("HYUNDAI_PALISADE_2023", "6b8052042ba3ee05/00000199--3ed3fb5799"),
+  CustomRoute("KIA_EV6", "455a0ab75ce5c1e0/000000d1--098f32028c"),
+  CustomRoute("KIA_EV6", "6d2092783bf67457/0000008c--5caf525813"),
+  CustomRoute("KIA_EV6", "4961cb0f7bdd77a2/00000105--b636ed2f65"),
+  CustomRoute("KIA_K8_HEV_1ST_GEN", "78ad5150de133637|2023-09-13--16-15-57"),
+  CustomRoute("GENESIS_GV60_EV_1ST_GEN", "b1e441e63f1c99dd|0000009d--14cde5aeaf"),
+  CustomRoute("HYUNDAI_IONIQ_6", "faa815c21279fef7/00000187--ce36ae7c11"),
+  CustomRoute("HYUNDAI_IONIQ_6", "faa815c21279fef7/00000191--e5c3ffb55b"),
+  CustomRoute("HYUNDAI_KONA_2ND_GEN", "32025f26789d8fab/00000022--a499e8ffa3"),
+  CustomRoute("HYUNDAI_KONA_EV_2ND_GEN", "1618132d68afc876/00000021--bf0f957649"),
+  CustomRoute("HYUNDAI_KONA_HEV_2ND_GEN", "97ca61196eb73e0d/00000052--4555329470"),
+  CustomRoute("HYUNDAI_SANTA_FE_HEV_5TH_GEN", "d54302f1d5e7a7cc|00000656--5dae9f54a7"),
+  CustomRoute("HYUNDAI_SONATA_2024", "4267ea8a353cdb36/00000262--8a427003c7"),
+  CustomRoute("KIA_CARNIVAL_HEV_4TH_GEN_2026", "7b8cc7bb46000e53/0000000b--2abacaff78"),
+  CustomRoute("KIA_EV6_2025", "48c27f77f9fd1a9b|00000199--193ee1ba20"),
+  CustomRoute("KIA_EV9", "ccfd4a1af758ee73/00000091--7fa49719a5"),
+  CustomRoute("KIA_K4_2025", "baf39eeaba1217ca/00000002--b36e3fa031"),
+  CustomRoute("KIA_K5_2025", "c4a804b067623789/0000007c--163f831540"),
+  CustomRoute("KIA_NIRO_EV_2ND_GEN", "80b8e9a6ad0acec3/0000032d--8379197bd3"),
+  CustomRoute("KIA_NIRO_EV_2ND_GEN", "80b8e9a6ad0acec3/0000032c--0055eeee96"),
+  CustomRoute("KIA_NIRO_HEV_2ND_GEN", "0d4257d1c6741384/00000067--42230e4b8d"),
+  CustomRoute("HYUNDAI_KONA_EV_2022", "e174e1a0b92263ed/00000003--d0591c14ec"),
+  CustomRoute("HYUNDAI_KONA_EV_2022", "e174e1a0b92263ed/00000001--18955a967e"),
+  CustomRoute("KIA_CEED_PHEV", "26064e18b24ae44c/00000000--4eb95fc137"),
+  CustomRoute("HYUNDAI_IONIQ", "ac27c9808ac91710/00000002--e0aab81e4d"),
+  CustomRoute("KIA_K7_2017", "74fbff45aa20fe9e/00000010--6f173d5799"),
+  CustomRoute("KIA_NIRO_EV", "b27d9eafeb61976e/00000233--03a9c0858c"),
+  CustomRoute("KIA_CARNIVAL_4TH_GEN", "a0cb448c2ffb9383/00000157--ecaf77a801"),
+  CustomRoute("KIA_CARNIVAL_4TH_GEN", "a0cb448c2ffb9383/00000158--f7e70e1435"),
+  CustomRoute("KIA_CARNIVAL_4TH_GEN", "a0cb448c2ffb9383/00000154--3471fc4ab3"),
+  CustomRoute("KIA_SORENTO_4TH_GEN", "bf42073ef09e0af2/00000017--3edc1f8259"),
+  CustomRoute("KIA_SORENTO_HEV_4TH_GEN", "833262b0c9e4016a/0000004a--0227a058e3"),
+  CustomRoute("HYUNDAI_PALISADE", "662bedbf8453b81e/00000124--7dc358f20c"),
+  CustomRoute("HYUNDAI_SONATA", "8f52823c702cb300/00000177--177d1aa6ff"),
+  CustomRoute("HYUNDAI_SONATA_HYBRID", "e3ae9e987a2a4e57/0000002b--30a6963e88"),
+  CustomRoute("HYUNDAI_ELANTRA_HEV_2021", "7bc0de9da607c543/00000031--4cb0d8aca5"),
+  CustomRoute("HYUNDAI_ELANTRA_HEV_2021", "7bc0de9da607c543/00000042--302b371266"),
+  CustomRoute("HYUNDAI_IONIQ_HEV_2022", "4a975fc1d9e71801/00000005--50d176008a"),
+  CustomRoute("HYUNDAI_IONIQ_9", "71e4e67d29034771/00000014--25fc6b216f"),
+  CustomRoute("HYUNDAI_IONIQ_9", "71e4e67d29034771/0000000e--d3b19ad6f6/10"),
+  CustomRoute("HYUNDAI_SANTA_CRUZ_2025", "6e7904b03a4aafc2/00000010--31034184b6"),
+  CustomRoute("HYUNDAI_TUCSON_4TH_GEN", "26da1db30eff4fcc/00000061--a60470e363"),
+  CustomRoute("HYUNDAI_TUCSON_4TH_GEN", "a6d25e95d936fdc4/000002ed--89d7944c52"),
+  CustomRoute("HYUNDAI_TUCSON_4TH_GEN", "6722665fbbf2a644/00000534--4ab7b733c5"),
+  CustomRoute("HYUNDAI_TUCSON_HEV_2025", "5868ec006e2bb61e/00000021--7d10df95e8"),
+  CustomRoute("KIA_SPORTAGE_5TH_GEN", "ce05e32158479f42/000003f4--9543087719"),
+  CustomRoute("KIA_SPORTAGE_HEV_2026", "343d5e350abaedcf/00000020--1c864750b6"),
+]

tools/replay/radar_helpers.py

@@ -0,0 +1,209 @@
+#!/usr/bin/env python3
+import math
+import os
+import tempfile
+from dataclasses import dataclass
+
+from opendbc.can.parser import CANParser
+
+
+RADAR_500_51F_DBC_TEMPLATE = """
+BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 8 RADAR
+ SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
+ SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
+ SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
+ SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
+ SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
+ SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
+"""
+
+RADAR_3A5_3C4_DBC_TEMPLATE = """
+BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+"""
+
+RADAR_210_21F_DBC_TEMPLATE = """
+BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+"""
+
+RADAR_602_611_DBC_TEMPLATE = """
+BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 8 RADAR
+ SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
+ SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
+ SG_ 2_SPEED : 52|10@1+ (0.25,-128) [-128|127.75] "" XXX
+ SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
+"""
+
+
+@dataclass(frozen=True)
+class RadarSpec:
+  name: str
+  start_addr: int
+  msg_count: int
+  dbc_template: str
+  track_prefixes: tuple[str, ...]
+
+  @property
+  def end_addr(self) -> int:
+    return self.start_addr + self.msg_count - 1
+
+  def contains(self, address: int) -> bool:
+    return self.start_addr <= address <= self.end_addr
+
+
+RADAR_SPECS = (
+  RadarSpec("RADAR_500_51F", 0x500, 32, RADAR_500_51F_DBC_TEMPLATE, ("",)),
+  RadarSpec("RADAR_210_21F", 0x210, 16, RADAR_210_21F_DBC_TEMPLATE, ("1_", "2_")),
+  RadarSpec("RADAR_3A5_3C4", 0x3A5, 32, RADAR_3A5_3C4_DBC_TEMPLATE, ("",)),
+  RadarSpec("RADAR_602_611", 0x602, 16, RADAR_602_611_DBC_TEMPLATE, ("1_", "2_")),
+)
+
+
+def build_seen_address_map() -> dict[str, set[int]]:
+  return {radar_spec.name: set() for radar_spec in RADAR_SPECS}
+
+
+def get_radar_spec(address: int) -> RadarSpec | None:
+  for radar_spec in RADAR_SPECS:
+    if radar_spec.contains(address):
+      return radar_spec
+  return None
+
+
+def is_exclusive_full_range_match(radar_spec: RadarSpec, seen_addresses: dict[str, set[int]]) -> bool:
+  expected_addresses = set(range(radar_spec.start_addr, radar_spec.end_addr + 1))
+  if seen_addresses[radar_spec.name] != expected_addresses:
+    return False
+
+  for other_spec in RADAR_SPECS:
+    if other_spec.name == radar_spec.name:
+      continue
+
+    other_expected_addresses = set(range(other_spec.start_addr, other_spec.end_addr + 1))
+    if seen_addresses[other_spec.name] == other_expected_addresses:
+      return False
+
+  return True
+
+
+def get_radar_dbc_path(radar_spec: RadarSpec) -> str:
+  dbc_path = os.path.join(tempfile.gettempdir(), f"{radar_spec.name.lower()}_radar_ui.dbc")
+  dbc_content = "\n".join(
+    radar_spec.dbc_template.format(addr_dec=addr, addr_hex=f"{addr:x}")
+    for addr in range(radar_spec.start_addr, radar_spec.end_addr + 1)
+  )
+  if not os.path.exists(dbc_path) or open(dbc_path).read() != dbc_content:
+    with open(dbc_path, "w") as f:
+      f.write(dbc_content)
+  return dbc_path
+
+
+def get_radar_can_parser(radar_spec: RadarSpec, bus: int) -> CANParser:
+  messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(radar_spec.start_addr, radar_spec.end_addr + 1)]
+  return CANParser(get_radar_dbc_path(radar_spec), messages, bus)
+
+
+def get_track_storage_key(radar_spec: RadarSpec, bus: int, addr: int, track_prefix: str) -> tuple[str, int, int]:
+  if radar_spec.name in ("RADAR_500_51F", "RADAR_3A5_3C4"):
+    return (radar_spec.name, bus, addr)
+
+  track_index = int(track_prefix[0]) - 1
+  return (radar_spec.name, bus, addr * 2 + track_index)
+
+
+def get_track_ts_nanos(parser: CANParser, msg_name: str, radar_spec: RadarSpec, track_prefix: str) -> int:
+  if radar_spec.name == "RADAR_602_611":
+    return parser.ts_nanos[msg_name][f"{track_prefix}DISTANCE"]
+  if radar_spec.name == "RADAR_210_21F":
+    return parser.ts_nanos[msg_name][f"{track_prefix}LONG_DIST"]
+  return parser.ts_nanos[msg_name]["LONG_DIST"]
+
+
+def decode_radar_track(radar_spec: RadarSpec, track_msg, track_prefix: str) -> tuple[float, float, float, float]:
+  if radar_spec.name == "RADAR_602_611":
+    return (
+      track_msg[f"{track_prefix}DISTANCE"],
+      track_msg[f"{track_prefix}LATERAL"],
+      track_msg[f"{track_prefix}SPEED"],
+      float("nan"),
+    )
+
+  if radar_spec.name == "RADAR_210_21F":
+    return (
+      track_msg[f"{track_prefix}LONG_DIST"],
+      track_msg[f"{track_prefix}LAT_DIST"],
+      track_msg[f"{track_prefix}REL_SPEED"],
+      float("nan"),
+    )
+
+  if radar_spec.name == "RADAR_500_51F":
+    azimuth = math.radians(track_msg["AZIMUTH"])
+    long_dist = track_msg["LONG_DIST"]
+    return (
+      math.cos(azimuth) * long_dist,
+      0.5 * -math.sin(azimuth) * long_dist,
+      track_msg["REL_SPEED"],
+      track_msg["REL_ACCEL"],
+    )
+
+  return (
+    track_msg["LONG_DIST"],
+    track_msg["LAT_DIST"],
+    track_msg["REL_SPEED"],
+    track_msg["REL_ACCEL"],
+  )
+
+
+def is_radar_track_valid(radar_spec: RadarSpec, track_msg, track_prefix: str) -> bool:
+  if radar_spec.name == "RADAR_602_611":
+    return track_msg[f"{track_prefix}DISTANCE"] != 255.75
+
+  if radar_spec.name == "RADAR_210_21F":
+    return track_msg[f"{track_prefix}STATE"] in (3, 4)
+
+  return track_msg["STATE"] in (3, 4)

tools/replay/ui_radar.py

@@ -0,0 +1,912 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import signal
+import subprocess
+import sys
+import time
+from dataclasses import dataclass
+
+import cv2
+import numpy as np
+import pyray as rl
+
+import cereal.messaging as messaging
+from opendbc.car.tests.routes import routes
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.tools.replay.custom_routes import CUSTOM_ROUTES
+from openpilot.tools.replay.lib.ui_helpers import (
+  UP,
+  BLACK,
+  GREEN,
+  Calibration,
+  get_blank_lid_overlay,
+  init_plots,
+  plot_lead,
+  plot_model,
+  to_topdown_pt,
+)
+from openpilot.tools.replay.radar_helpers import (
+  RADAR_SPECS,
+  build_seen_address_map,
+  decode_radar_track,
+  get_radar_can_parser,
+  get_radar_spec,
+  get_track_storage_key,
+  get_track_ts_nanos,
+  is_exclusive_full_range_match,
+  is_radar_track_valid,
+)
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+ANGLE_SCALE = 5.0
+RADAR_TRACK_TIMEOUT_FRAMES = 10
+RADAR_FORMAT_SWITCH_MISS_FRAMES = 30
+RADAR_TRACK_RADIUS = 4
+CAMERA_RADAR_Y_OFFSET = 25
+RADAR_HEATMAP_DECAY = 0.975
+RADAR_HEATMAP_ALPHA = 0.65
+CAMERA_RADAR_HEATMAP_ALPHA = 0.45
+REPLAY_PATH = os.path.join(os.path.dirname(__file__), "replay")
+REPLAY_SOCKET_WAIT_TIMEOUT_SECONDS = 10.0
+REPLAY_SPEEDS = (0.2, 0.5, 1.0, 2.0, 4.0, 8.0)
+CAMERA_DRAW_WIDTH = 640
+CAMERA_DRAW_HEIGHT = 480
+TOP_DOWN_DRAW_WIDTH = 384
+PLOT_DRAW_WIDTH = 480
+PLOT_DRAW_HEIGHT = 480
+RADAR_HEATMAP_MODES = ("OFF", "TOP", "CAMERA", "BOTH")
+CYAN = (90, 235, 255)
+AMBER = (255, 210, 90)
+SOFT_WHITE = (235, 235, 235)
+SLATE = (140, 180, 210)
+
+
+@dataclass
+class RadarTrackPoint:
+  trackId: int
+  measured: bool = True
+  dRel: float = 0.0
+  yRel: float = 0.0
+  vRel: float = 0.0
+  aRel: float = 0.0
+  yvRel: float = float("nan")
+
+
+def draw_radar_points(tracks, lid_overlay):
+  for track in tracks:
+    px, py = to_topdown_pt(track.dRel, -track.yRel)
+    if px != -1:
+      cv2.circle(lid_overlay, (py, px), RADAR_TRACK_RADIUS, 255, thickness=-1, lineType=cv2.LINE_AA)
+
+
+def update_radar_heatmap(tracks, radar_heatmap):
+  radar_heatmap *= RADAR_HEATMAP_DECAY
+  for track in tracks:
+    px, py = to_topdown_pt(track.dRel, -track.yRel)
+    if px != -1:
+      cv2.circle(radar_heatmap, (py, px), RADAR_TRACK_RADIUS + 2, 255.0, thickness=-1, lineType=cv2.LINE_AA)
+
+
+def update_radar_camera_heatmap(tracks, radar_heatmap, calibration, shape):
+  radar_heatmap *= RADAR_HEATMAP_DECAY
+  if calibration is None:
+    return
+
+  height, width = shape[:2]
+  for track in tracks:
+    if track.dRel <= 0.0:
+      continue
+
+    pt = calibration.car_space_to_bb(
+      np.asarray([track.dRel - RADAR_TO_CAMERA]),
+      np.asarray([-track.yRel]),
+      np.asarray([1.0]),
+    )
+    x, y = np.round(pt[0]).astype(int)
+    y += CAMERA_RADAR_Y_OFFSET
+    if 0 <= x < width and 0 <= y < height:
+      cv2.circle(radar_heatmap, (x, y), RADAR_TRACK_RADIUS + 3, 255.0, thickness=-1, lineType=cv2.LINE_AA)
+
+
+def overlay_heatmap(img, radar_heatmap, alpha_scale):
+  radar_heat_uint8 = np.ascontiguousarray(np.clip(radar_heatmap, 0, 255).astype(np.uint8))
+  radar_heat_mask = radar_heat_uint8 > 0
+  if not np.any(radar_heat_mask):
+    return
+
+  heat_rgb = cv2.cvtColor(cv2.applyColorMap(radar_heat_uint8, cv2.COLORMAP_TURBO), cv2.COLOR_BGR2RGB).astype(np.float32)
+  img_rgb = img.astype(np.float32)
+  alpha = ((radar_heat_uint8.astype(np.float32) / 255.0) * alpha_scale)[..., None]
+  img[:] = np.where(
+    radar_heat_mask[..., None],
+    np.clip(img_rgb * (1.0 - alpha) + heat_rgb * alpha, 0, 255).astype(np.uint8),
+    img,
+  )
+
+
+def draw_radar_points_camera(tracks, img, calibration):
+  if calibration is None:
+    return
+
+  for track in tracks:
+    if track.dRel <= 0.0:
+      continue
+
+    # Match the road-space projection convention used by other UI overlays.
+    pt = calibration.car_space_to_bb(
+      np.asarray([track.dRel - RADAR_TO_CAMERA]),
+      np.asarray([-track.yRel]),
+      np.asarray([1.0]),
+    )
+    x, y = np.round(pt[0]).astype(int)
+    y += CAMERA_RADAR_Y_OFFSET
+    if 0 <= x < img.shape[1] and 0 <= y < img.shape[0]:
+      cv2.circle(img, (x, y), RADAR_TRACK_RADIUS, (255, 255, 255), thickness=-1, lineType=cv2.LINE_AA)
+
+
+def draw_loading_overlay(font, lines, camera_texture, top_down_texture, hor_mode, panel_x, panel_y):
+  rl.draw_texture_pro(
+    camera_texture,
+    rl.Rectangle(0, 0, camera_texture.width, camera_texture.height),
+    rl.Rectangle(0, 0, CAMERA_DRAW_WIDTH, CAMERA_DRAW_HEIGHT),
+    rl.Vector2(0, 0),
+    0.0,
+    rl.WHITE,
+  )
+  rl.draw_texture(top_down_texture, CAMERA_DRAW_WIDTH, 0, rl.WHITE)  # noqa: TID251
+
+  if hor_mode:
+    panel_width = 620
+    panel_height = 300
+  else:
+    panel_width = 700
+    panel_height = 320
+
+  rl.draw_rectangle(panel_x - 20, panel_y - 30, panel_width, panel_height, rl.Color(0, 0, 0, 140))
+  rl.draw_rectangle_lines(panel_x - 20, panel_y - 30, panel_width, panel_height, rl.Color(255, 255, 255, 90))
+
+  for i, line in enumerate(lines):
+    if line:
+      rl.draw_text_ex(font, line, rl.Vector2(panel_x, panel_y + i * 40), 28 if i == 0 else 20, 0, rl.WHITE)
+
+
+def start_replay(route: str, prefix: str, playback: str, data_dir: str | None, start_seconds: int) -> subprocess.Popen:
+  cmd = [
+    REPLAY_PATH,
+    "--playback", playback,
+    "--prefix", prefix,
+  ]
+  if start_seconds > 0:
+    cmd.extend(["--start", str(start_seconds)])
+  if data_dir:
+    cmd.extend(["--data_dir", data_dir])
+  cmd.append(route)
+
+  env = os.environ.copy()
+  env["OPENPILOT_PREFIX"] = prefix
+  return subprocess.Popen(
+    cmd,
+    cwd=os.path.dirname(REPLAY_PATH),
+    env=env,
+    stdout=subprocess.DEVNULL,
+    stderr=subprocess.DEVNULL,
+    preexec_fn=os.setsid if os.name != "nt" else None,
+  )
+
+
+def stop_replay(proc: subprocess.Popen | None) -> None:
+  if proc is not None and proc.poll() is None:
+    if os.name != "nt":
+      try:
+        os.killpg(proc.pid, signal.SIGTERM)
+      except ProcessLookupError:
+        pass
+    else:
+      proc.terminate()
+
+    try:
+      proc.wait(timeout=5)
+    except subprocess.TimeoutExpired:
+      if os.name != "nt":
+        try:
+          os.killpg(proc.pid, signal.SIGKILL)
+        except ProcessLookupError:
+          pass
+      else:
+        proc.kill()
+      proc.wait(timeout=5)
+
+  # `replay` can leave helper processes like `replayd` behind, so do one
+  # targeted cleanup pass on shutdown as well.
+  for pattern in ("/tools/replay/replay", "replayd"):
+    try:
+      subprocess.run(
+        ["pkill", "-f", pattern],
+        stdout=subprocess.DEVNULL,
+        stderr=subprocess.DEVNULL,
+        check=False,
+      )
+    except FileNotFoundError:
+      pass
+
+
+def wait_for_can_socket(prefix: str, timeout: float) -> None:
+  socket_path = os.path.join("/tmp", f"msgq_{prefix}", "can")
+  started = time.monotonic()
+  while not os.path.exists(socket_path):
+    if time.monotonic() - started > timeout:
+      raise TimeoutError(f"Timed out waiting for CAN socket at {socket_path}")
+    time.sleep(0.1)
+
+
+def get_hkg_routes() -> list[tuple[str, str]]:
+  hkg_prefixes = ("HYUNDAI_", "KIA_", "GENESIS_")
+  return [
+    (route.route, getattr(route.car_model, "name", str(route.car_model)))
+    for route in routes
+    if route.car_model is not None and getattr(route.car_model, "name", str(route.car_model)).startswith(hkg_prefixes)
+  ]
+
+
+def get_custom_routes() -> list[tuple[str, str]]:
+  return [(route.route, route.car_model) for route in CUSTOM_ROUTES]
+
+
+def make_submaster(addr):
+  return messaging.SubMaster(
+    [
+      'carState',
+      'longitudinalPlan',
+      'carControl',
+      'radarState',
+      'liveCalibration',
+      'controlsState',
+      'selfdriveState',
+      'liveTracks',
+      'modelV2',
+      'liveParameters',
+      'roadCameraState',
+    ],
+    addr=addr,
+  )
+
+
+def reset_radar_state():
+  return (
+    0,
+    None,
+    0,
+    {radar_spec.name: 0 for radar_spec in RADAR_SPECS},
+    build_seen_address_map(),
+    {},
+    0,
+    {},
+    {},
+    {},
+  )
+
+
+def ui_thread(addr, route_entries=None, playback="1.0", data_dir=None, prefix="ui-replay", start_route_idx=0):
+  cv2.setNumThreads(1)
+
+  # Get monitor info before creating window
+  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
+  rl.init_window(1, 1, "")
+  max_height = rl.get_monitor_height(0)
+  rl.close_window()
+
+  hor_mode = os.getenv("HORIZONTAL") is not None
+  hor_mode = True if max_height < 960 + 300 else hor_mode
+
+  if hor_mode:
+    size = (CAMERA_DRAW_WIDTH + TOP_DOWN_DRAW_WIDTH + PLOT_DRAW_WIDTH, 960)
+    write_x = 5
+    write_y = 480
+  else:
+    size = (CAMERA_DRAW_WIDTH + TOP_DOWN_DRAW_WIDTH, 960 + 300)
+    write_x = CAMERA_DRAW_WIDTH + 5
+    write_y = 970
+
+  rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR)
+  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
+  rl.init_window(size[0], size[1], "openpilot debug UI")
+  rl.set_target_fps(60)
+
+  # Load font
+  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
+  font = rl.load_font_ex(font_path, 32, None, 0)
+
+  # Create textures for camera and top-down view
+  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
+  camera_texture = rl.load_texture_from_image(camera_image)
+  rl.unload_image(camera_image)
+
+  # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
+  # pygame treats first axis as width, so texture is 384 wide x 960 tall
+  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
+  top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
+  top_down_texture = rl.load_texture_from_image(top_down_image)
+  rl.unload_image(top_down_image)
+
+  current_route_idx = start_route_idx
+  current_route_name = None
+  current_route_model = None
+  replay_proc = None
+  current_start_seconds = 0
+  paused = False
+  state_checks_enabled = False
+  radar_heatmap_mode_idx = 0
+  current_playback = min(REPLAY_SPEEDS, key=lambda speed: abs(speed - float(playback)))
+  last_replay_started_at = time.monotonic()
+  playback_ready = False
+  loading_status = "Initializing UI"
+
+  def current_offset_seconds() -> int:
+    if paused or not playback_ready or replay_proc is None or replay_proc.poll() is not None:
+      return current_start_seconds
+    return max(0, int(current_start_seconds + (time.monotonic() - last_replay_started_at) * current_playback))
+
+  def connect_streams():
+    nonlocal replay_proc, current_route_name, current_route_model, current_route_idx, current_start_seconds, loading_status, paused, \
+             last_replay_started_at, current_playback, playback_ready
+
+    if route_entries:
+      current_route_name, current_route_model = route_entries[current_route_idx]
+      loading_status = f"Starting replay for route {current_route_idx + 1}/{len(route_entries)} at {current_start_seconds}s ({current_playback:.1f}x)"
+      stop_replay(replay_proc)
+      os.environ["OPENPILOT_PREFIX"] = prefix
+      messaging.reset_context()
+      replay_proc = start_replay(current_route_name, prefix, f"{current_playback:.1f}", data_dir, current_start_seconds)
+      paused = False
+      playback_ready = False
+      loading_status = "Waiting for CAN socket"
+      wait_for_can_socket(prefix, REPLAY_SOCKET_WAIT_TIMEOUT_SECONDS)
+
+    loading_status = "Connecting to messaging streams"
+    sm_local = make_submaster(addr)
+    logcan_local = messaging.sub_sock("can", addr=addr, conflate=False, timeout=100)
+    loading_status = "Waiting for road camera frames"
+    return sm_local, logcan_local
+
+  sm, logcan = connect_streams()
+
+  img = np.zeros((480, 640, 3), dtype='uint8')
+  imgff = None
+  num_px = 0
+  calibration = None
+  (can_range_msg_count,
+   active_radar_format_name,
+   active_radar_format_miss_count,
+   radar_format_total_counts,
+   radar_format_seen_addresses,
+   radar_track_ids,
+   next_radar_track_id,
+   radar_tracks,
+   radar_track_last_seen,
+   radar_parsers) = reset_radar_state()
+
+  lid_overlay_blank = get_blank_lid_overlay(UP)
+  radar_heatmap = np.zeros_like(lid_overlay_blank, dtype=np.float32)
+  camera_radar_heatmap = np.zeros(img.shape[:2], dtype=np.float32)
+
+  # plots
+  name_to_arr_idx = {
+    "gas": 0,
+    "computer_gas": 1,
+    "user_brake": 2,
+    "computer_brake": 3,
+    "v_ego": 4,
+    "v_pid": 5,
+    "angle_steers_des": 6,
+    "angle_steers": 7,
+    "angle_steers_k": 8,
+    "steer_torque": 9,
+    "v_override": 10,
+    "v_cruise": 11,
+    "a_ego": 12,
+    "a_target": 13,
+  }
+
+  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
+
+  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+  plot_names = [
+    ["gas", "computer_gas", "user_brake", "computer_brake"],
+    ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
+    ["v_ego", "v_override", "v_pid", "v_cruise"],
+    ["a_ego", "a_target"],
+  ]
+  plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"], ["b", "g", "r", "y"], ["b", "r"]]
+  plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-"]]
+
+  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
+
+  # Palette for converting lid_overlay grayscale indices to RGBA colors
+  palette = np.zeros((256, 4), dtype=np.uint8)
+  palette[:, 3] = 255  # alpha
+  palette[1] = [255, 0, 0, 255]  # RED
+  palette[2] = [0, 255, 0, 255]  # GREEN
+  palette[3] = [0, 0, 255, 255]  # BLUE
+  palette[4] = [255, 255, 0, 255]  # YELLOW
+  palette[110] = [110, 110, 110, 255]  # car_color (gray)
+  palette[255] = [255, 255, 255, 255]  # WHITE
+
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while not rl.window_should_close():
+    # ***** frame *****
+    if not vipc_client.is_connected():
+      vipc_client.connect(False)
+
+    rl.begin_drawing()
+    rl.clear_background(rl.Color(64, 64, 64, 255))
+
+    if rl.is_key_released(rl.KeyboardKey.KEY_Q):
+      rl.end_drawing()
+      stop_replay(replay_proc)
+      replay_proc = None
+      break
+
+    shift_down = rl.is_key_down(rl.KeyboardKey.KEY_LEFT_SHIFT) or rl.is_key_down(rl.KeyboardKey.KEY_RIGHT_SHIFT)
+
+    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
+      if paused:
+        sm, logcan = connect_streams()
+        vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+      else:
+        current_start_seconds = current_offset_seconds()
+        paused = True
+        loading_status = "Paused"
+        stop_replay(replay_proc)
+        replay_proc = None
+
+    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_RIGHT):
+      current_route_idx = (current_route_idx + 1) % len(route_entries)
+      current_start_seconds = 0
+      paused = False
+      (can_range_msg_count,
+       active_radar_format_name,
+       active_radar_format_miss_count,
+       radar_format_total_counts,
+       radar_format_seen_addresses,
+       radar_track_ids,
+       next_radar_track_id,
+       radar_tracks,
+       radar_track_last_seen,
+       radar_parsers) = reset_radar_state()
+      radar_heatmap.fill(0)
+      camera_radar_heatmap.fill(0)
+      sm, logcan = connect_streams()
+      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+
+    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_LEFT):
+      current_route_idx = (current_route_idx - 1) % len(route_entries)
+      current_start_seconds = 0
+      paused = False
+      (can_range_msg_count,
+       active_radar_format_name,
+       active_radar_format_miss_count,
+       radar_format_total_counts,
+       radar_format_seen_addresses,
+       radar_track_ids,
+       next_radar_track_id,
+       radar_tracks,
+       radar_track_last_seen,
+       radar_parsers) = reset_radar_state()
+      radar_heatmap.fill(0)
+      camera_radar_heatmap.fill(0)
+      sm, logcan = connect_streams()
+      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+
+    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_M):
+      current_start_seconds = max(0, current_offset_seconds() + (-60 if shift_down else 60))
+      paused = False
+      (can_range_msg_count,
+       active_radar_format_name,
+       active_radar_format_miss_count,
+       radar_format_total_counts,
+       radar_format_seen_addresses,
+       radar_track_ids,
+       next_radar_track_id,
+       radar_tracks,
+       radar_track_last_seen,
+       radar_parsers) = reset_radar_state()
+      radar_heatmap.fill(0)
+      camera_radar_heatmap.fill(0)
+      sm, logcan = connect_streams()
+      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+
+    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_S):
+      current_start_seconds = max(0, current_offset_seconds() + (-10 if shift_down else 10))
+      paused = False
+      (can_range_msg_count,
+       active_radar_format_name,
+       active_radar_format_miss_count,
+       radar_format_total_counts,
+       radar_format_seen_addresses,
+       radar_track_ids,
+       next_radar_track_id,
+       radar_tracks,
+       radar_track_last_seen,
+       radar_parsers) = reset_radar_state()
+      sm, logcan = connect_streams()
+      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+
+    if route_entries and (rl.is_key_released(rl.KeyboardKey.KEY_EQUAL) or rl.is_key_released(rl.KeyboardKey.KEY_KP_ADD)):
+      for speed in REPLAY_SPEEDS:
+        if speed > current_playback:
+          current_playback = speed
+          break
+      if not paused:
+        current_start_seconds = current_offset_seconds()
+        (can_range_msg_count,
+         active_radar_format_name,
+         active_radar_format_miss_count,
+         radar_format_total_counts,
+         radar_format_seen_addresses,
+         radar_track_ids,
+         next_radar_track_id,
+         radar_tracks,
+         radar_track_last_seen,
+         radar_parsers) = reset_radar_state()
+        radar_heatmap.fill(0)
+        camera_radar_heatmap.fill(0)
+        sm, logcan = connect_streams()
+        vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+
+    if route_entries and (rl.is_key_released(rl.KeyboardKey.KEY_MINUS) or rl.is_key_released(rl.KeyboardKey.KEY_KP_SUBTRACT)):
+      for speed in reversed(REPLAY_SPEEDS):
+        if speed < current_playback:
+          current_playback = speed
+          break
+      if not paused:
+        current_start_seconds = current_offset_seconds()
+        (can_range_msg_count,
+         active_radar_format_name,
+         active_radar_format_miss_count,
+         radar_format_total_counts,
+         radar_format_seen_addresses,
+         radar_track_ids,
+         next_radar_track_id,
+         radar_tracks,
+         radar_track_last_seen,
+         radar_parsers) = reset_radar_state()
+        radar_heatmap.fill(0)
+        camera_radar_heatmap.fill(0)
+        sm, logcan = connect_streams()
+        vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+
+    if rl.is_key_released(rl.KeyboardKey.KEY_C):
+      state_checks_enabled = not state_checks_enabled
+
+    if rl.is_key_released(rl.KeyboardKey.KEY_H):
+      radar_heatmap_mode_idx = (radar_heatmap_mode_idx + 1) % len(RADAR_HEATMAP_MODES)
+      if RADAR_HEATMAP_MODES[radar_heatmap_mode_idx] == "OFF":
+        radar_heatmap.fill(0)
+        camera_radar_heatmap.fill(0)
+
+    yuv_img_raw = vipc_client.recv()
+    if yuv_img_raw is None or not yuv_img_raw.data.any():
+      if replay_proc is not None and replay_proc.poll() is not None:
+        loading_status = f"Replay exited with code {replay_proc.poll()}"
+
+      loading_lines = [
+        f"{loading_status}{' (paused)' if paused else ''}",
+        f"Route {current_route_idx + 1}/{len(route_entries)}" if route_entries else "Connected to external replay",
+        f"Platform: {current_route_model}" if current_route_model is not None else "",
+        f"Route: {current_route_name}" if current_route_name is not None else "",
+        f"Offset: {current_offset_seconds()}s" if route_entries else "",
+        f"Playback: {current_playback:.1f}x" if route_entries else "",
+        f"Radar state checks: {'ON' if state_checks_enabled else 'OFF'}",
+        f"Radar heatmap: {RADAR_HEATMAP_MODES[radar_heatmap_mode_idx]}",
+        "Keys: SPACE play/pause, RIGHT next, LEFT prev, M +/-60s, S +/-10s, +/- speed, C checks, H heatmap, Q quit" \
+        if route_entries else "Keys: C checks, H heatmap, Q quit",
+      ]
+      draw_loading_overlay(font, loading_lines, camera_texture, top_down_texture, hor_mode, 80, 160)
+      rl.end_drawing()
+      continue
+
+    if not playback_ready:
+      playback_ready = True
+      last_replay_started_at = time.monotonic()
+    loading_status = "Streaming"
+
+    lid_overlay = lid_overlay_blank.copy()
+    top_down = top_down_texture, lid_overlay
+
+    sm.update(0)
+
+    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
+
+    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
+    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
+    nv12_size = h * 3 // 2 * stride
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
+    num_px = w * h
+    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
+
+    qcam = "QCAM" in os.environ
+    bb_scale = 0.825 if qcam else 0.8
+    calib_scale = camera.fcam.width / 640.0
+    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
+    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
+
+    intrinsic_matrix = camera.fcam.intrinsics
+
+    w = sm['controlsState'].lateralControlState.which()
+    if w == 'lqrStateDEPRECATED':
+      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
+    elif w == 'indiState':
+      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
+    else:
+      angle_steers_k = np.inf
+
+    plot_arr[:-1] = plot_arr[1:]
+    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
+    # TODO gas is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
+    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
+    # TODO brake is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
+    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
+    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
+
+    if len(sm['longitudinalPlan'].accels):
+      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
+
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], img, calibration, top_down)
+
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], top_down)
+
+    if sm.updated['liveCalibration'] and num_px:
+      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
+      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
+
+    can_packets = messaging.drain_sock(logcan)
+    if can_packets:
+      can_strings = [
+        (can_packet.logMonoTime, [(msg.address, msg.dat, msg.src) for msg in can_packet.can])
+        for can_packet in can_packets
+      ]
+      detected_format_counts = {radar_spec.name: 0 for radar_spec in RADAR_SPECS}
+
+      for can_packet in can_packets:
+        for msg in can_packet.can:
+          radar_spec = get_radar_spec(msg.address)
+          if radar_spec is not None:
+            can_range_msg_count += 1
+            detected_format_counts[radar_spec.name] += 1
+            radar_format_total_counts[radar_spec.name] += 1
+            radar_format_seen_addresses[radar_spec.name].add(msg.address)
+            if radar_spec.name not in radar_parsers:
+              radar_parsers[radar_spec.name] = {}
+            if msg.src not in radar_parsers[radar_spec.name]:
+              radar_parsers[radar_spec.name][msg.src] = get_radar_can_parser(radar_spec, msg.src)
+
+      matching_formats = [
+        radar_spec.name
+        for radar_spec in RADAR_SPECS
+        if is_exclusive_full_range_match(radar_spec, radar_format_seen_addresses)
+      ]
+      if len(matching_formats) == 1:
+        if active_radar_format_name == matching_formats[0]:
+          active_radar_format_miss_count = 0
+        elif active_radar_format_name is None:
+          active_radar_format_name = matching_formats[0]
+          active_radar_format_miss_count = 0
+        else:
+          active_radar_format_miss_count += 1
+          if active_radar_format_miss_count >= RADAR_FORMAT_SWITCH_MISS_FRAMES:
+            active_radar_format_name = matching_formats[0]
+            active_radar_format_miss_count = 0
+      elif len(matching_formats) == 0 and active_radar_format_name is not None:
+        active_radar_format_miss_count += 1
+        if active_radar_format_miss_count >= RADAR_FORMAT_SWITCH_MISS_FRAMES:
+          active_radar_format_name = None
+          active_radar_format_miss_count = 0
+
+      active_radar_spec = next((spec for spec in RADAR_SPECS if spec.name == active_radar_format_name), None)
+      if active_radar_spec is not None:
+        for bus, parser in radar_parsers.get(active_radar_spec.name, {}).items():
+          updated_addrs = parser.update(can_strings)
+          relevant_updated_addrs = {
+            track_addr for track_addr in updated_addrs
+            if active_radar_spec.start_addr <= track_addr <= active_radar_spec.end_addr
+          }
+          if not relevant_updated_addrs:
+            continue
+
+          for track_addr in relevant_updated_addrs:
+            msg_name = f"RADAR_TRACK_{track_addr:x}"
+            track_msg = parser.vl[msg_name]
+            for track_prefix in active_radar_spec.track_prefixes:
+              track_key = get_track_storage_key(active_radar_spec, bus, track_addr, track_prefix)
+              ts_nanos = get_track_ts_nanos(parser, msg_name, active_radar_spec, track_prefix)
+              if ts_nanos == 0:
+                continue
+
+              if state_checks_enabled and not is_radar_track_valid(active_radar_spec, track_msg, track_prefix):
+                radar_tracks.pop(track_key, None)
+                radar_track_last_seen.pop(track_key, None)
+                continue
+
+              d_rel, y_rel, v_rel, a_rel = decode_radar_track(active_radar_spec, track_msg, track_prefix)
+
+              if track_key not in radar_track_ids:
+                radar_track_ids[track_key] = next_radar_track_id
+                next_radar_track_id += 1
+
+              radar_tracks[track_key] = RadarTrackPoint(
+                trackId=radar_track_ids[track_key],
+                dRel=d_rel,
+                yRel=y_rel,
+                vRel=v_rel,
+                aRel=a_rel,
+              )
+              radar_track_last_seen[track_key] = sm.frame
+
+      stale_tracks = [
+        track_key for track_key, last_seen in radar_track_last_seen.items()
+        if (sm.frame - last_seen) > RADAR_TRACK_TIMEOUT_FRAMES
+      ]
+      for track_key in stale_tracks:
+        radar_track_last_seen.pop(track_key, None)
+        radar_tracks.pop(track_key, None)
+
+    active_radar_tracks = [
+      track for track_key, track in radar_tracks.items()
+      if active_radar_format_name is not None and track_key[0] == active_radar_format_name
+    ]
+    active_radar_buses = sorted({
+      track_key[1] for track_key in radar_tracks
+      if active_radar_format_name is not None and track_key[0] == active_radar_format_name
+    })
+    if len(active_radar_tracks) == 0:
+      active_radar_tracks = sm['liveTracks'].points
+      active_radar_buses = []
+
+    radar_heatmap_mode = RADAR_HEATMAP_MODES[radar_heatmap_mode_idx]
+    if radar_heatmap_mode in ("TOP", "BOTH"):
+      update_radar_heatmap(active_radar_tracks, radar_heatmap)
+    if radar_heatmap_mode in ("CAMERA", "BOTH"):
+      update_radar_camera_heatmap(active_radar_tracks, camera_radar_heatmap, calibration, img.shape)
+      overlay_heatmap(img, camera_radar_heatmap, CAMERA_RADAR_HEATMAP_ALPHA)
+
+    # draw decoded radar tracks when present, otherwise fall back to liveTracks
+    draw_radar_points(active_radar_tracks, top_down[1])
+    draw_radar_points_camera(active_radar_tracks, img, calibration)
+
+    # *** blits ***
+    # Update camera texture from numpy array
+    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
+    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
+    rl.draw_texture_pro(
+      camera_texture,
+      rl.Rectangle(0, 0, camera_texture.width, camera_texture.height),
+      rl.Rectangle(0, 0, CAMERA_DRAW_WIDTH, CAMERA_DRAW_HEIGHT),
+      rl.Vector2(0, 0),
+      0.0,
+      rl.WHITE,
+    )
+
+    # display alerts
+    rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
+    rl.draw_text_ex(font, sm['selfdriveState'].alertText2, rl.Vector2(180, 190), 20, 0, rl.RED)
+
+    # draw plots (texture is reused internally)
+    plot_texture = draw_plots(plot_arr)
+    if hor_mode:
+      rl.draw_texture_pro(
+        plot_texture,
+        rl.Rectangle(0, 0, plot_texture.width, plot_texture.height),
+        rl.Rectangle(CAMERA_DRAW_WIDTH + TOP_DOWN_DRAW_WIDTH, 0, PLOT_DRAW_WIDTH, PLOT_DRAW_HEIGHT),
+        rl.Vector2(0, 0),
+        0.0,
+        rl.WHITE,
+      )
+    else:
+      rl.draw_texture(plot_texture, 0, 300, rl.WHITE)  # noqa: TID251
+
+    # Convert lid_overlay to RGBA and update top_down texture
+    # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer
+    lid_rgba = palette[lid_overlay.T]
+    if radar_heatmap_mode in ("TOP", "BOTH"):
+      overlay_heatmap(lid_rgba[..., :3], radar_heatmap.T, RADAR_HEATMAP_ALPHA)
+    rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data))
+    rl.draw_texture(top_down_texture, CAMERA_DRAW_WIDTH, 0, rl.WHITE)  # noqa: TID251
+
+    SPACING = 20
+    lines = [
+      ("ENABLED", GREEN if sm['selfdriveState'].enabled else BLACK),
+      ("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", CYAN),
+      ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), CYAN),
+      ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), CYAN),
+      (f"RADAR FORMAT: {active_radar_format_name or 'NONE'}", AMBER),
+      (f"RADAR CAN MSGS: {can_range_msg_count}", AMBER),
+      (f"RADAR TRACKS: {len(active_radar_tracks)}"
+       + (f" (BUS {','.join(str(bus) for bus in active_radar_buses)})" if active_radar_buses else ""),
+       AMBER),
+      (f"RADAR STATE CHECKS: {'ON' if state_checks_enabled else 'OFF'}", AMBER),
+      (f"RADAR HEATMAP: {RADAR_HEATMAP_MODES[radar_heatmap_mode_idx]}", AMBER),
+      (f"ROUTE: {current_route_name}" if current_route_name is not None else "", SLATE),
+      (f"PLATFORM: {current_route_model}" if current_route_model is not None else "", SLATE),
+      (f"OFFSET: {current_offset_seconds()}s" if route_entries else "", SOFT_WHITE),
+      (f"PLAYBACK: {current_playback:.1f}x" if route_entries else "", SOFT_WHITE),
+      (f"STATUS: {'PAUSED' if paused else 'PLAYING'}" if route_entries else "", SOFT_WHITE),
+      ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", SOFT_WHITE),
+      ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", SOFT_WHITE),
+      ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", SOFT_WHITE),
+      ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), SOFT_WHITE),
+    ]
+
+    hud_height = len(lines) * SPACING + 18
+    rl.draw_rectangle(write_x - 10, write_y - 12, 560, hud_height, rl.Color(8, 12, 18, 155))
+    rl.draw_rectangle(write_x - 10, write_y - 12, 4, hud_height, rl.Color(90, 235, 255, 255))
+    rl.draw_rectangle_lines(write_x - 10, write_y - 12, 560, hud_height, rl.Color(90, 235, 255, 80))
+
+    for i, line in enumerate(lines):
+      if line is not None:
+        color = rl.Color(line[1][0], line[1][1], line[1][2], 255)
+        rl.draw_text_ex(font, line[0], rl.Vector2(write_x, write_y + i * SPACING), 20, 0, color)
+
+    rl.end_drawing()
+
+  rl.unload_texture(camera_texture)
+  rl.unload_texture(top_down_texture)
+  rl.unload_font(font)
+  rl.close_window()
+  stop_replay(replay_proc)
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(description="Show replay data in a UI.", formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1", help="The ip address on which to receive zmq messages.")
+  parser.add_argument("--route", default=None, help="Route to replay locally before opening the UI.")
+  parser.add_argument("--routes", action="store_true", help="Cycle Hyundai/Kia/Genesis routes from opendbc/car/tests/routes.py.")
+  parser.add_argument("--custom-routes", nargs="?", type=int, const=1, default=None,
+                      help="Cycle routes from tools/replay/custom_routes.py, optionally starting from a 1-based route index.")
+  parser.add_argument("--data-dir", default=None, help="Optional local route data directory to pass to replay.")
+  parser.add_argument("--playback", default="1.0", help="Replay playback speed when using --route.")
+  parser.add_argument("--prefix", default="ui-replay", help="OPENPILOT_PREFIX to use when launching replay from the UI.")
+  parser.add_argument("--frame-address", default=None, help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+
+  selected_sources = int(args.route is not None) + int(args.routes) + int(args.custom_routes is not None)
+  if selected_sources > 1:
+    raise SystemExit("Use only one of --route, --routes, or --custom-routes.")
+
+  route_entries = None
+  start_route_idx = 0
+  if args.route is not None:
+    route_entries = [(args.route, "MANUAL_ROUTE")]
+  elif args.routes:
+    route_entries = get_hkg_routes()
+  elif args.custom_routes is not None:
+    route_entries = get_custom_routes()
+    start_route_idx = max(0, min(len(route_entries) - 1, args.custom_routes - 1))
+
+  if route_entries:
+    os.environ["OPENPILOT_PREFIX"] = args.prefix
+    messaging.reset_context()
+  elif args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.reset_context()
+
+  ui_thread(args.ip_address, route_entries=route_entries, playback=args.playback, data_dir=args.data_dir, prefix=args.prefix, start_route_idx=start_route_idx)

uv.lock

@@ -21,7 +21,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.13.5"
+version = "3.14.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,27 +30,29 @@ dependencies = [
     { name = "frozenlist" },
     { name = "multidict" },
     { name = "propcache" },
+    { name = "typing-extensions" },
     { name = "yarl" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/82/78/8ea7308cac6934de8c74a14f3d5f65d1c89287426688be79538d0e5c013d/aiohttp-3.14.1.tar.gz", hash = "sha256:307f2cff90a764d329e77040603fa032db89c5c24fdad50c4c15334cba744035", size = 7955794, upload-time = "2026-06-07T21:09:35.529Z" }
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