upstream changes

# Conflicts:
#	opendbc_repo
#	scripts/lint/lint.sh

.codespellignore

@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO

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

@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
         required: true
         type: string
       artifact_suffix:
@@ -63,11 +63,12 @@ on:
         default: 'None'
         options:
           - None
-          - Master Models
-          - Release Models
-          - 2025 World Models
-          - 2026 World Models
+          - Simple Plan Models
+          - Space Lab Models
+          - TR Models
+          - DTR Models
           - Custom Merge Models
+          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'

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

@@ -30,11 +30,6 @@ on:
         required: false
         type: string
         default: ''
-      target_hardware:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
-        required: false
-        type: string
-        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -51,14 +46,6 @@ on:
         required: false
         type: boolean
         default: true
-      target_hardware:
-        description: 'Hardware target to compile for'
-        required: true
-        type: choice
-        options:
-          - qcom
-          - usbgpu
-        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -182,17 +169,7 @@ jobs:
           COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-
-          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
-            echo "USBGPU build"
-            export USBGPU=1
-            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
-          else
-            echo "QCOM build"
-            TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
@@ -226,15 +203,24 @@ jobs:
           fi
 
           if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
             env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
               --model-type $MODEL_TYPE \
               --model-size $MODEL_SIZE \
               --camera-resolutions $CAMERA_RES \
               $ONNX_ARGS \
-              --output "$OUTPUT_PKL"
+              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
           fi
 
+      - name: Validate Model Outputs
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --validate-only \
+            --model-dir "${{ env.MODELS_DIR }}"
+
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}

.idea/customTargets.xml

@@ -21,5 +21,12 @@
         </clean>
       </configuration>
     </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,4 +20,11 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>

.run/Replay for controls + ui.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>

.run/replay for controls.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

cereal/custom.capnp

@@ -137,16 +137,10 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
-  struct Chunk {
-    fileName @0 :Text;
-    sha256 @1 :Text;
-  }
-
   struct Artifact {
     fileName @0 :Text;
     downloadUri @1 :DownloadUri;
     downloadProgress @2 :DownloadProgress;
-    chunks @3 :List(Chunk);
   }
 
   struct Model {
@@ -161,7 +155,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       policy @3;
       offPolicy @4;
       onPolicy @5;
-      chunked @6;
     }
   }
 

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/).

pyproject.toml

@@ -226,6 +226,7 @@ exclude = [
   "teleoprtc/",
   "teleoprtc_repo/",
   "third_party/",
+  "**/*.ipynb",
 ]
 
 [tool.ty.rules]

release/ci/model_generator.py

@@ -5,6 +5,8 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
+import os
+import pickle
 import sys
 import hashlib
 import json
@@ -12,8 +14,46 @@ import re
 from pathlib import Path
 from datetime import datetime, UTC
 
+REQUIRED_OUTPUT_KEYS = frozenset({
+  "plan",
+  "lane_lines",
+  "road_edges",
+  "lead",
+  "desire_state",
+  "desire_pred",
+  "meta",
+  "lead_prob",
+  "lane_lines_prob",
+  "pose",
+  "wide_from_device_euler",
+  "road_transform",
+  "hidden_state",
+})
+OPTIONAL_OUTPUT_KEYS = frozenset({
+  "planplus",
+  "sim_pose",
+  "desired_curvature",
+})
 
-def create_short_name(full_name: str) -> str:
+
+def validate_model_outputs(metadata_paths: list[Path]) -> None:
+  combined_keys: set[str] = set()
+  for path in metadata_paths:
+    if path.stat().st_size == 0:
+      print(f"skipping empty metadata: {path}")
+      continue
+    with open(path, "rb") as f:
+      metadata = pickle.load(f)
+    combined_keys.update(metadata.get("output_slices", {}).keys())
+  missing = REQUIRED_OUTPUT_KEYS - combined_keys
+  if missing:
+    raise ValueError(f"Combined model metadata is missing required output keys: {sorted(missing)}")
+  detected_optional = sorted(OPTIONAL_OUTPUT_KEYS & combined_keys)
+  if detected_optional:
+    print(f"Optional output keys detected: {detected_optional}")
+
+
+def create_short_name(full_name):
   # Remove parentheses and extract alphanumeric words
   clean_name = re.sub(r'\([^)]*\)', '', full_name)
   words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
@@ -81,41 +121,49 @@ def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
   return old_pkl.rename(new_pkl)
 
 
-def generate_chunked_model(driving_pkl: Path) -> dict:
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
+  base = model_path.stem
+  metadata_file = output_dir / f"{base}_metadata.pkl"
+
+  if short_name:
+    renamed_meta = output_dir / f"{base}_{short_name.lower()}_metadata.pkl"
+    if metadata_file.exists() and not renamed_meta.exists():
+      metadata_file = metadata_file.rename(renamed_meta)
+    elif renamed_meta.exists():
+      metadata_file = renamed_meta
+
+  if not metadata_file.exists():
+    print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
+    return
+
   tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
 
-  chunks_config = []
-  manifest_file = Path(f"{driving_pkl}.chunkmanifest")
-  if manifest_file.exists():
-    num_chunks = int(manifest_file.read_text().strip())
-    for i in range(num_chunks):
-      chunk_path = Path(f"{driving_pkl}.chunk{i + 1:02d}of{num_chunks:02d}")
-      if chunk_path.exists():
-        chunk_hash = hashlib.sha256(chunk_path.read_bytes()).hexdigest()
-        chunks_config.append({
-          "file_name": chunk_path.name,
-          "sha256": chunk_hash
-        })
+  with open(metadata_file, 'rb') as f:
+    metadata_hash = hashlib.sha256(f.read()).hexdigest()
 
-  artifact_data = {
-    "file_name": driving_pkl.name,
-    "download_uri": {
-      "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
-      "sha256": tinygrad_hash
+  model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]
+
+  return {
+    "type": model_type,
+    "artifact": {
+      "file_name": driving_pkl.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
+        "sha256": tinygrad_hash
+      }
+    },
+    "metadata": {
+      "file_name": metadata_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
+        "sha256": metadata_hash
+      }
     }
   }
 
-  if chunks_config:
-    artifact_data["chunks"] = chunks_config
 
-  return {
-    "type": "chunked",
-    "artifact": artifact_data,
-  }
-
-
-def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown") -> None:
-  bundle_json = {
+def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
+  metadata_json = {
     "short_name": short_name,
     "display_name": custom_name or upstream_branch,
     "is_20hz": is_20hz,
@@ -131,26 +179,40 @@ def create_metadata_json(models: list, output_dir: Path, custom_name=None, short
   }
 
   # Write metadata to output_dir
-  metadata_json = {
-    "bundles": [bundle_json]
-  }
-
   with open(output_dir / "metadata.json", "w") as f:
     json.dump(metadata_json, f, indent=2)
-  print("Generated metadata.json")
+
+  print(f"Generated metadata.json with {len(models)} models.")
 
 
 if __name__ == "__main__":
   import argparse
+  import glob
 
-  parser = argparse.ArgumentParser(description="Generate metadata JSON for the compiled JIT model")
-  parser.add_argument("--model-dir", default="./models", help="Directory containing the model files")
+  parser = argparse.ArgumentParser(description="Generate metadata for model files")
+  parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files")
   parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
   parser.add_argument("--custom-name", help="Custom display name for the model")
   parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
+  parser.add_argument("--validate-only", action="store_true")
   parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
   args = parser.parse_args()
 
+  if args.validate_only:
+    metadata_paths = glob.glob(os.path.join(args.model_dir, "*_metadata.pkl"))
+    if not metadata_paths:
+      print(f"No metadata files found in {args.model_dir}", file=sys.stderr)
+      sys.exit(1)
+    validate_model_outputs([Path(p) for p in metadata_paths])
+    print(f"Validated {len(metadata_paths)} metadata files successfully.")
+    sys.exit(0)
+
+  # Find all ONNX files in the given directory
+  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
+  if not model_paths:
+    print(f"No ONNX files found in {args.model_dir}", file=sys.stderr)
+    sys.exit(1)
+
   _output_dir = Path(args.output_dir)
   _output_dir.mkdir(exist_ok=True, parents=True)
   _short_name = create_short_name(args.custom_name) if args.custom_name else None
@@ -167,5 +229,14 @@ if __name__ == "__main__":
     else:
       _driving_pkl = new_pkl
 
-  _model_metadata = generate_chunked_model(_driving_pkl)
-  create_metadata_json([_model_metadata], _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
+  _models = []
+
+  for _model_path in model_paths:
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, _short_name, _driving_pkl)
+    if _model_metadata:
+      _models.append(_model_metadata)
+
+  if _models:
+    create_metadata_json(_models, _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
+  else:
+    print("No models processed.", file=sys.stderr)

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*|^third_party.*"
 
 function run() {

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()
 

sunnypilot/modeld_v2/compile_modeld.py

@@ -10,291 +10,471 @@ import argparse
 import os
 import pickle
 import time
-from collections import defaultdict
 from functools import partial
+from collections import defaultdict
+
 import numpy as np
-os.environ['GMMU'] = '0'
-
-def _patch_tinygrad_fetch_fw():
-  import hashlib
-  import pathlib
-  import zstandard
-  from tinygrad import helpers
-  _orig_fetch_fw = helpers.fetch_fw
-  def fetch_fw(path, name, sha256):
-    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
-    if p.is_file():
-      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
-      if hashlib.sha256(blob).hexdigest() == sha256:
-        return blob
-    return _orig_fetch_fw(path, name, sha256)
-  helpers.fetch_fw = fetch_fw
-_patch_tinygrad_fetch_fw()
-
-from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare, sample_desire, sample_skip, shift_and_sample
-from tinygrad import dtypes
+from tinygrad.tensor import Tensor
 from tinygrad.device import Device
 from tinygrad.engine.jit import TinyJit
-from tinygrad.tensor import Tensor
+
+from openpilot.selfdrive.modeld.compile_modeld import (
+  NV12Frame, make_frame_prepare,
+  shift_and_sample, sample_skip, sample_desire,
+)
 
 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
 
 
-def _detect_desire_key(shapes: dict) -> str | None:
-  return next((key for key in shapes if key.startswith('desire')), None)
+def _detect_desire_key(policy_input_shapes):
+  for k in policy_input_shapes:
+    if k.startswith('desire'):
+      return k
+  return None
 
 
-def _detect_vision_keys(shapes: dict) -> tuple[str | None, str | None]:
-  img_keys = sorted(key for key in shapes if 'img' in key)
-  return (
-    next((key for key in img_keys if 'big' not in key), None),
-    next((key for key in img_keys if 'big' in key), None)
-  )
+def _detect_vision_keys(vision_input_shapes):
+  img_keys = sorted([k for k in vision_input_shapes if 'img' in k])
+  road_key = next((k for k in img_keys if 'big' not in k), None)
+  wide_key = next((k for k in img_keys if 'big' in k), None)
+  if road_key is None or wide_key is None:
+    raise ValueError(f"Cannot determine road/wide image keys from {list(vision_input_shapes.keys())}")
+  return road_key, wide_key
 
 
-def derive_frame_skip(vision_input_shapes: dict, policy_input_shapes: dict) -> int:
-  features_buffer = policy_input_shapes.get('features_buffer')
-  return 1 if not features_buffer or features_buffer[1] >= 99 else 4
+def make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  road_key, _ = _detect_vision_keys(vision_input_shapes)
+  img = vision_input_shapes[road_key]
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
 
+  fb = policy_input_shapes['features_buffer']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  dp = policy_input_shapes[desire_key]
+  tc = policy_input_shapes.get('traffic_convention', (1, 2))
 
-def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  road_key, _ = _detect_vision_keys(input_shapes)
-  if not road_key:
-    raise ValueError("Vision road key missing from input shapes.")
-
-  img_shape = input_shapes[road_key]
-  n_frames = img_shape[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
-
-  desire_key = _detect_desire_key(input_shapes)
-  if not desire_key:
-    raise ValueError("Desire key missing from input shapes.")
-
-  desire_shape = input_shapes[desire_key]
-  features_buffer = input_shapes.get('features_buffer')
-
-  npy_arrays = {
-    'desire': np.zeros(desire_shape[2], dtype=np.float32),
+  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)
+    'big_tfm': np.zeros((3, 3), dtype=np.float32),
   }
 
-  for key, shape in input_shapes.items():
-    if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
-      npy_arrays[key] = np.zeros(shape, dtype=np.float32)
+  handled = {'features_buffer', desire_key, 'traffic_convention'}
+  for key, shape in policy_input_shapes.items():
+    if key in handled:
+      continue
+    npy[key] = np.zeros(shape, dtype=np.float32)
 
-  queues = {
+  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(),
-    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                  dtype=np.float32), 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 npy.items()},
   }
-
-  if features_buffer:
-    queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-                       dtype=np.float32), device=device).contiguous().realize()
-
-  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
-  return queues, npy_arrays
+  return input_queues, npy
 
 
-def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device)
-
-
-def make_supercombo_input_queues(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device)
-
-
-def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
-            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
-  frame_prepare = make_frame_prepare(nv12, *model_size)
+def make_run_split_policy(vision_runner, policy_runner, nv12: NV12Frame, model_w, model_h,
+                          vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                          vision_road_key, vision_wide_key, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
   sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
   sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
 
-  desire_key = _detect_desire_key(input_shapes)
-  road_key, wide_key = _detect_vision_keys(input_shapes)
+  def run_policy(img_q, big_img_q, feat_q, desire_q, desire, traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
+    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
+                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
+    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
+    Tensor.realize(*npy_tensors, *extra_device.values())
+    tfm, big_tfm, desire, traffic_convention = npy_tensors
 
-  if not desire_key or not road_key or not wide_key:
-    raise ValueError("Missing required vision or desire keys in input shapes.")
-
-  extra_keys = [key for key in input_shapes if key not in (desire_key, 'features_buffer', 'traffic_convention') and 'img' not in key]
-
-  def runner(img_q, big_img_q, feat_q, frame, big_frame, tfm, big_tfm, **kwargs):
-    desire_q = kwargs['desire_q']
-    desire = kwargs['desire']
-    traffic_convention = kwargs.get('traffic_convention')
-
-    npys = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT), desire.to(Device.DEFAULT)]
-    if traffic_convention is not None:
-      npys.append(traffic_convention.to(Device.DEFAULT))
-
-    extra_tensors = {key: kwargs[key].to(Device.DEFAULT) for key in extra_keys if key in kwargs}
-    Tensor.realize(*npys, *extra_tensors.values())
-
-    tfm_dev, big_tfm_dev, desire_dev = npys[:3]
-    traffic_conv_dev = npys[3] if traffic_convention is not None else None
-
-    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn)
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
 
     if prepare_only:
       return img, big_img
 
-    desire_buf = shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
-    inputs = {desire_key: desire_buf, **extra_tensors}
+    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: big_img}).values())).cast('float32')
 
-    if traffic_conv_dev is not None:
-      inputs['traffic_convention'] = traffic_conv_dev
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
 
-    if vision_runner:
-      vision_out = next(iter(vision_runner({road_key: img, wide_key: big_img}).values()))
-      vision_out_cast = vision_out.cast('float32')
-      new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
-      inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
-      policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32') for pol_runner in policy_runners]
-      return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])
-    inputs.update({road_key: img, wide_key: big_img, 'features_buffer': sample_skip_fn(feat_q)})
-    policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32')
-    new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
-    shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
-    return policy_out
+    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+    policy_out = next(iter(policy_runner(inputs).values())).cast('float32')
 
-  return runner
+    return vision_out, policy_out
+  return run_policy
 
 
-def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
-  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+def compile_split_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                         vision_runner, policy_runner, vision_metadata, policy_metadata):
+  print(f"Compiling combined policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
 
-  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
+  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
 
-  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
-  if not feat_meta:
-    raise ValueError("Could not find vision, model, or policy metadata.")
+  _run = make_run_split_policy(vision_runner, policy_runner, nv12, model_w, model_h,
+                               vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                               vision_road_key, vision_wide_key, prepare_only)
+  run_policy_jit = TinyJit(_run, prune=True)
 
-  features_slice = feat_meta['output_slices']['hidden_state']
-  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
+  SEED = 42
 
-  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
-  run_jit = TinyJit(run_func, prune=True)
-  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT)
+  def random_inputs_run_fn(fn, seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+    np.random.seed(seed)
+    Tensor.manual_seed(seed)
 
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for i in range(n_runs):
+      frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+      for v in npy.values():
+        v[:] = np.random.randn(*v.shape).astype(v.dtype)
+      Device.default.synchronize()
+      st = time.perf_counter()
+      outs = fn(**input_queues, frame=frame, big_frame=big_frame)
+      mt = time.perf_counter()
+      Device.default.synchronize()
+      et = time.perf_counter()
+      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+      if i == 0:
+        val = [np.copy(v.numpy()) for v in outs]
+        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
+
+    if test_val is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    if test_buffers is not None:
+      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
+      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+    return fn, val, buffers
+
+  print('capture + replay')
+  run_policy_jit, test_val, test_buffers = random_inputs_run_fn(run_policy_jit, SEED)
+
+  print('pickle round trip')
+  run_policy_jit = pickle.loads(pickle.dumps(run_policy_jit))
+  random_inputs_run_fn(run_policy_jit, SEED, test_val, test_buffers, expect_match=True)
+  random_inputs_run_fn(run_policy_jit, SEED+1, test_val, test_buffers, expect_match=False)
+  return run_policy_jit
+
+
+def derive_frame_skip(vision_input_shapes, policy_input_shapes):
+  fb = policy_input_shapes.get('features_buffer')
+  if fb is None:
+    return 1
+  fb_history = fb[1]
+  if fb_history >= 99:
+    return 1
+  return 4
+
+
+def make_supercombo_input_queues(input_shapes, frame_skip, device):
+  img_shape = input_shapes.get('img', input_shapes.get('input_imgs'))
+  if img_shape is None:
+    raise ValueError("No img input found in model shapes")
+
+  n_frames = img_shape[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])
+
+  numpy_keys = {}
+  queue_keys = {}
+
+  for key, shape in input_shapes.items():
+    if 'img' in key:
+      continue
+    if len(shape) == 3 and shape[1] > 1:
+      if key.startswith('desire'):
+        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()
+      elif key == 'features_buffer':
+        queue_keys['feat_q'] = Tensor(
+          np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
+          device=device).contiguous().realize()
+      else:
+        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+    elif len(shape) == 2:
+      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+
+  if 'traffic_convention' not in numpy_keys:
+    tc_shape = input_shapes.get('traffic_convention', (1, 2))
+    numpy_keys['traffic_convention'] = np.zeros(tc_shape, 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 numpy_keys.items()},
+  }
+  return input_queues, numpy_keys
+
+
+def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
+                        features_slice, frame_skip, input_shapes, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  desire_key = _detect_desire_key(input_shapes)
+  if desire_key is None:
+    raise ValueError(f"No desire* key found in input_shapes: {list(input_shapes.keys())}")
+  road_img_key, wide_img_key = _detect_vision_keys(input_shapes)
+  extra_policy_keys = [k for k in input_shapes
+                       if k not in (desire_key, 'features_buffer', 'traffic_convention')
+                       and 'img' not in k]
+
+  def run_supercombo(img_q, big_img_q, feat_q, desire_q,
+                     frame, big_frame, **kwargs):
+    desire = kwargs.get(desire_key)
+    traffic_convention = kwargs.get('traffic_convention')
+    tfm = kwargs['tfm']
+    big_tfm = kwargs['big_tfm']
+
+    tfm = tfm.to(Device.DEFAULT)
+    big_tfm = big_tfm.to(Device.DEFAULT)
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    Tensor.realize(tfm, big_tfm, desire, traffic_convention)
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    feat_buf = sample_skip_fn(feat_q)
+
+    inputs = {road_img_key: img, wide_img_key: big_img,
+              desire_key: desire_buf, 'features_buffer': feat_buf,
+              'traffic_convention': traffic_convention}
+    for k in extra_policy_keys:
+      if k in kwargs:
+        inputs[k] = kwargs[k].to(Device.DEFAULT)
+
+    model_out = next(iter(model_runner(inputs).values())).cast('float32')
+
+    new_feat = model_out[:, features_slice].reshape(1, -1).unsqueeze(0)
+    shift_and_sample(feat_q, new_feat, sample_skip_fn)
+
+    return model_out
+
+  return run_supercombo
+
+
+def make_run_vision_multi_policy(vision_runner, policy_runners, nv12: NV12Frame, model_w, model_h,
+                                 vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                                 vision_road_key, vision_wide_key, prepare_only=False):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+
+  def run_multi_policy(img_q, big_img_q, feat_q, desire_q, desire,
+                       traffic_convention, tfm, big_tfm, frame, big_frame, **extra):
+    npy_tensors = [tfm.to(Device.DEFAULT), big_tfm.to(Device.DEFAULT),
+                   desire.to(Device.DEFAULT), traffic_convention.to(Device.DEFAULT)]
+    extra_device = {k: extra[k].to(Device.DEFAULT) for k in extra_policy_keys}
+    Tensor.realize(*npy_tensors, *extra_device.values())
+    tfm, big_tfm, desire, traffic_convention = npy_tensors
+
+    img = shift_and_sample(img_q, frame_prepare(frame, tfm).unsqueeze(0), sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm).unsqueeze(0), sample_skip_fn)
+
+    if prepare_only:
+      return img, big_img
+
+    vision_out = next(iter(vision_runner({vision_road_key: img, vision_wide_key: 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)
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+
+    inputs = {'features_buffer': feat_buf, desire_key: desire_buf, 'traffic_convention': traffic_convention, **extra_device}
+
+    policy_outputs = []
+    for runner in policy_runners:
+      policy_out = next(iter(runner(inputs).values())).cast('float32')
+      policy_outputs.append(policy_out)
+
+    return (vision_out, *policy_outputs)
+
+  return run_multi_policy
+
+
+def _warmup_and_serialize(run_jit, input_queues, npy, nv12):
   for i in range(3):
     np.random.seed(42 + i)
-    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
-    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
-    for arr in npy_arrays.values():
-      arr[:] = np.random.randn(*arr.shape).astype(arr.dtype)
-
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
+    for v in npy.values():
+      v[:] = np.random.randn(*v.shape).astype(v.dtype)
     Device.default.synchronize()
-    start_time = time.perf_counter()
-    run_jit(**queues, frame=frame, big_frame=big_frame)
-    mid_time = time.perf_counter()
+    st = time.perf_counter()
+    run_jit(**input_queues, frame=frame, big_frame=big_frame)
+    mt = time.perf_counter()
     Device.default.synchronize()
-    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
-
-  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
+    et = time.perf_counter()
+    print(f"  [{i + 1}/3] enqueue {(mt - st) * 1e3:6.2f} ms -- total {(et - st) * 1e3:6.2f} ms")
+  return pickle.loads(pickle.dumps(run_jit))
 
 
-def _parse_size(size_str: str) -> tuple[int, int]:
-  width, height = size_str.lower().split('x')
-  return int(width), int(height)
+def compile_supercombo(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                       model_runner, metadata):
+  print(f"Compiling combined supercombo JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  features_slice = metadata['output_slices']['hidden_state']
+  input_shapes = metadata['input_shapes']
+
+  _run = make_run_supercombo(model_runner, nv12, model_w, model_h,
+                             features_slice, frame_skip, input_shapes, prepare_only)
+  run_jit = TinyJit(_run, prune=True)
+
+  input_queues, npy = make_supercombo_input_queues(input_shapes, frame_skip, Device.DEFAULT)
+
+  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
+  return run_jit
 
 
-def read_file_chunked_to_shm(path):
-  if not path:
-    return None
-  import atexit
-  from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.system.hardware.hw import Paths
-  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
-  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
-  with open(shm_path, 'wb') as f:
-    f.write(read_file_chunked(path))
-  return shm_path
+def compile_multi_policy(nv12: NV12Frame, model_w, model_h, prepare_only, frame_skip,
+                         vision_runner, policy_runners, vision_metadata, policy_metadata):
+  print(f"Compiling combined multi-policy JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
+
+  vision_features_slice = vision_metadata['output_slices']['hidden_state']
+  vision_input_shapes = vision_metadata['input_shapes']
+  policy_input_shapes = policy_metadata['input_shapes']
+  desire_key = _detect_desire_key(policy_input_shapes)
+  extra_policy_keys = [k for k in policy_input_shapes if k not in ('features_buffer', desire_key, 'traffic_convention')]
+  vision_road_key, vision_wide_key = _detect_vision_keys(vision_input_shapes)
+
+  _run = make_run_vision_multi_policy(vision_runner, policy_runners, nv12, model_w, model_h,
+                                      vision_features_slice, frame_skip, desire_key, extra_policy_keys,
+                                      vision_road_key, vision_wide_key, prepare_only)
+  run_jit = TinyJit(_run, prune=True)
+
+  input_queues, npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+
+  run_jit = _warmup_and_serialize(run_jit, input_queues, npy, nv12)
+  return run_jit
 
 
-def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
-               vision_runner, policy_runners: list, metadata: dict) -> dict:
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-  return {
-    (cam_w, cam_h): {
-      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
-                   frame_skip, vision_runner, policy_runners, metadata)
-      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
-    }
-    for cam_w, cam_h in camera_resolutions
-  }
-
-
-def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
-  runners, keys = [], []
-  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
-    if onnx_arg:
-      runners.append(OnnxRunner(onnx_arg))
-      keys.append(name)
-  return runners, keys
+def _parse_size(s):
+  w, h = s.lower().split('x')
+  return int(w), int(h)
 
 
 if __name__ == "__main__":
-  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
   from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
 
-  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
-  parser.add_argument('--model-type', choices=MODEL_TYPES, required=True)
-  parser.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  parser.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
-  parser.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
-  parser.add_argument('--output', required=True)
+  p = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
+  p.add_argument('--model-type', choices=MODEL_TYPES, required=True)
+  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
+  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True)
+  p.add_argument('--frame-skip', type=int, default=None, help='frame skip value (auto-derived if not provided)')
+  p.add_argument('--output', required=True)
 
-  parser.add_argument('--vision-onnx', help='vision ONNX (for split models)')
-  parser.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
-  parser.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
-  parser.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
-  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
+  p.add_argument('--vision-onnx', help='vision ONNX (for split models)')
+  p.add_argument('--policy-onnx', help='policy ONNX (for vision_policy)')
+  p.add_argument('--off-policy-onnx', help='off-policy ONNX (for vision_multi_policy)')
+  p.add_argument('--on-policy-onnx', help='on-policy ONNX (for vision_multi_policy)')
+  p.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
 
-  args = parser.parse_args()
-  output_data = defaultdict(dict)
-
-  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
-  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
-  args.off_policy_onnx = read_file_chunked_to_shm(args.off_policy_onnx)
-  args.on_policy_onnx = read_file_chunked_to_shm(args.on_policy_onnx)
-  args.supercombo_onnx = read_file_chunked_to_shm(args.supercombo_onnx)
-
-  vision_runner = OnnxRunner(args.vision_onnx) if args.vision_onnx else None
+  args = p.parse_args()
+  out = defaultdict(dict)
 
   if args.model_type == 'vision_policy':
-    assert vision_runner and args.policy_onnx
-    policy_runners = [OnnxRunner(args.policy_onnx)]
-    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx), 'policy': make_metadata_dict(args.policy_onnx)}
+    assert args.vision_onnx and args.policy_onnx
+    vision_runner = OnnxRunner(args.vision_onnx)
+    policy_runner = OnnxRunner(args.policy_onnx)
+    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
+    out['metadata']['policy'] = make_metadata_dict(args.policy_onnx)
+
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
+                                                                                       out['metadata']['policy']['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_split_policy(nv12, model_w, model_h, prepare_only, frame_skip,
+                                   vision_runner, policy_runner,
+                                   out['metadata']['vision'], out['metadata']['policy'])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
   elif args.model_type == 'supercombo':
     assert args.supercombo_onnx
-    policy_runners = [OnnxRunner(args.supercombo_onnx)]
-    output_data['metadata'] = {'model': make_metadata_dict(args.supercombo_onnx)}
+    model_runner = OnnxRunner(args.supercombo_onnx)
+    out['metadata']['model'] = make_metadata_dict(args.supercombo_onnx)
+
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip({}, out['metadata']['model']['input_shapes'])
+
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_supercombo(nv12, model_w, model_h, prepare_only, frame_skip,
+                                 model_runner, out['metadata']['model'])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
   elif args.model_type == 'vision_multi_policy':
-    assert vision_runner
-    policy_runners, policy_names = _load_policy_runners(args)
-    output_data['metadata'] = {'vision': make_metadata_dict(args.vision_onnx)}
-    for name in policy_names:
-      runner_arg = getattr(args, f"{name}_onnx")
-      output_data['metadata'][name] = make_metadata_dict(runner_arg)
+    assert args.vision_onnx
+    vision_runner = OnnxRunner(args.vision_onnx)
+    out['metadata']['vision'] = make_metadata_dict(args.vision_onnx)
 
-  policy_keys = [key for key in output_data['metadata'].keys() if key != 'vision']
-  first_policy_meta = output_data['metadata'][policy_keys[0]] if policy_keys else {}
-  vision_meta = output_data['metadata'].get('vision', {})
+    policy_runners = []
+    policy_onnxes = []
+    if args.policy_onnx:
+      policy_onnxes.append(('policy', args.policy_onnx))
+    if args.off_policy_onnx:
+      policy_onnxes.append(('off_policy', args.off_policy_onnx))
+    if args.on_policy_onnx:
+      policy_onnxes.append(('on_policy', args.on_policy_onnx))
 
-  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
-  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
-                        vision_runner, policy_runners, output_data['metadata']))
+    for name, onnx_path in policy_onnxes:
+      runner = OnnxRunner(onnx_path)
+      policy_runners.append(runner)
+      out['metadata'][name] = make_metadata_dict(onnx_path)
 
-  with open(args.output, "wb") as file:
-    pickle.dump(output_data, file)
+    first_policy_key = policy_onnxes[0][0]
+    frame_skip = args.frame_skip if args.frame_skip is not None else derive_frame_skip(out['metadata']['vision']['input_shapes'],
+                                                                                       out['metadata'][first_policy_key]['input_shapes'])
 
+    for cam_w, cam_h in args.camera_resolutions:
+      nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+      model_w, model_h = args.model_size
+      out[(cam_w, cam_h)] = {
+        name: compile_multi_policy(nv12, model_w, model_h, prepare_only, frame_skip,
+                                   vision_runner, policy_runners,
+                                   out['metadata']['vision'], out['metadata'][first_policy_key])
+        for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
+      }
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
   pkl_size = os.path.getsize(args.output)
   print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
 
   from openpilot.common.file_chunker import chunk_file, get_chunk_targets
   chunk_targets = get_chunk_targets(args.output, pkl_size)
   chunk_file(args.output, chunk_targets)
-  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
+  num_chunks = len(chunk_targets) - 1
+  print(f"Chunked into {num_chunks} file(s)")

sunnypilot/modeld_v2/modeld.py

@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import os
-os.environ['GMMU'] = '0'
 from openpilot.system.hardware import TICI
 os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 USBGPU = "USBGPU" in os.environ
@@ -110,8 +109,6 @@ class ModelState(ModelStateBase):
     jits = pickle.loads(read_file_chunked(pkl_path))
 
     self.DEV = Device.DEFAULT
-    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
-    self.QUEUE_DEV = self.DEV
 
     metadata = jits['metadata']
     if 'model' in metadata:
@@ -123,7 +120,7 @@ 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.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.QUEUE_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']
@@ -141,11 +138,7 @@ class ModelState(ModelStateBase):
       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.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.QUEUE_DEV)
-
-    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
-    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
-    self._wide_key = next(key for key in self._vision_input_names if 'big' in key)
+      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
@@ -167,11 +160,12 @@ class ModelState(ModelStateBase):
 
     self._run_policy = jits[(cam_w, cam_h)]['run_policy']
     self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
-    yuv_size = self.frame_buf_params[self._road_key][3]
+    road_name = next(k for k in self._vision_input_names if 'big' not in k)
+    yuv_size = self.frame_buf_params[road_name][3]
     self._warp_enqueue(
       **self.input_queues,
-      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize(),
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.DEV).contiguous().realize())
 
 
   @property
@@ -184,7 +178,7 @@ class ModelState(ModelStateBase):
 
   @property
   def desire_key(self) -> str:
-    return self._desire_key
+    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:
@@ -195,19 +189,19 @@ class ModelState(ModelStateBase):
       yuv_size = self.frame_buf_params[key][3]
       cache_key = (key, ptr)
       if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.DEV)
       self.full_frames[key] = self._blob_cache[cache_key]
 
     desire_key = self.desire_key
     inputs[desire_key][0] = 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'):
+    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 = self._road_key
-    wide_key = self._wide_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.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
     self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
 
@@ -246,20 +240,13 @@ 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' not in model_output:
-      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)
-      desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
-
-      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
-                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
-      desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
-    else:
-      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)
+    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)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
 
+    curvature_plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0] if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan
+    desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
     if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
       if v_ego > self.MIN_LAT_CONTROL_SPEED:
         desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
@@ -412,12 +399,6 @@ 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 # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
-    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
-    lat_action_t = lat_delay + frame_delay + action_delay
-    long_action_t = long_delay + frame_delay + action_delay
-
     inputs:dict[str, np.ndarray] = {
       model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
@@ -426,9 +407,6 @@ def main(demo=False):
     if 'lateral_control_params' in model.numpy_inputs:
       inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
-    if 'action_t' in model.numpy_inputs:
-      inputs['action_t'] = np.array([lat_action_t, long_action_t], dtype=np.float32)
-
     mt1 = time.perf_counter()
     model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
@@ -440,7 +418,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
       mdv2sp_send = messaging.new_message('modelDataV2SP')
 
-      action = model.get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -134,8 +134,6 @@ class Parser:
                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
     if 'sim_pose' in outs:
       self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
-    if 'action' in outs:
-      self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.ACTION_WIDTH,))
 
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))

sunnypilot/modeld_v2/tests/test_warp.py

@@ -0,0 +1,103 @@
+import os
+os.environ['DEV'] = 'CPU'
+import pytest
+import numpy as np
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.sunnypilot.modeld_v2.warp import CAMERA_CONFIGS
+from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
+
+VISION_NAME_PAIRS = [  # needed to account for supercombos input_imgs
+  ('img', 'big_img'),
+  ('input_imgs', 'big_input_imgs'),
+]
+
+
+class MockVisionBuf:
+  def __init__(self, w, h):
+    self.width = w
+    self.height = h
+    _, _, _, yuv_size = get_nv12_info(w, h)
+    self.data = np.zeros(yuv_size, dtype=np.uint8)
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+def test_warp_initialization(buffer_length):
+  warp = Warp(buffer_length)
+  assert warp.buffer_length == buffer_length
+  assert warp.img_buffer_shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+@pytest.mark.parametrize("cam_w, cam_h", CAMERA_CONFIGS)
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_process(buffer_length, cam_w, cam_h, road, wide):
+  warp = Warp(buffer_length)
+  mock_buf = MockVisionBuf(cam_w, cam_h)
+  transform = np.eye(3, dtype=np.float32).flatten()
+  bufs = {road: mock_buf, wide: mock_buf}
+  transforms = {road: transform, wide: transform}
+
+  out = warp.process(bufs, transforms)
+  assert isinstance(out, dict)
+  assert road in out and wide in out
+  assert out[road].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
+  assert out[wide].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
+
+  key = (cam_w, cam_h)
+  assert key in warp.jit_cache
+
+  out2 = warp.process(bufs, transforms)
+  assert out2[road].shape == out[road].shape
+
+
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_buffer_shift(road, wide):
+  warp = Warp(2)
+  cam_w, cam_h = CAMERA_CONFIGS[1]
+  transform = np.eye(3, dtype=np.float32).flatten()
+
+  buf1 = MockVisionBuf(cam_w, cam_h)
+  buf1.data[0] = 255
+  bufs1 = {road: buf1, wide: buf1}
+  transforms = {road: transform, wide: transform}
+  out1 = warp.process(bufs1, transforms)
+  road1 = out1[road].numpy().copy()
+
+  buf2 = MockVisionBuf(cam_w, cam_h)
+  buf2.data[0] = 128
+  bufs2 = {road: buf2, wide: buf2}
+  out2 = warp.process(bufs2, transforms)
+  assert not np.array_equal(road1, out2[road].numpy())
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_buffer_accumulation(buffer_length, road, wide):
+  warp = Warp(buffer_length)
+  cam_w, cam_h = CAMERA_CONFIGS[0]
+  transform = np.eye(3, dtype=np.float32).flatten()
+  transforms = {road: transform, wide: transform}
+  outputs = []
+
+  for i in range(buffer_length + 1):
+    buf = MockVisionBuf(cam_w, cam_h)
+    buf.data[:] = i * 10
+    out = warp.process({road: buf, wide: buf}, transforms)
+    outputs.append(out[road].numpy().copy())
+
+  assert warp.full_buffers['img'].shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+  for i in range(1, len(outputs)):
+    assert not np.array_equal(outputs[i - 1], outputs[i])
+
+
+def test_warp_different_cameras_same_instance():
+  warp = Warp(2)
+  transform = np.eye(3, dtype=np.float32).flatten()
+
+  buf1 = MockVisionBuf(*CAMERA_CONFIGS[0])
+  warp.process({'img': buf1, 'big_img': buf1}, {'img': transform, 'big_img': transform})
+  assert len(warp.jit_cache) == 1
+
+  buf2 = MockVisionBuf(*CAMERA_CONFIGS[1])
+  warp.process({'img': buf2, 'big_img': buf2}, {'img': transform, 'big_img': transform})
+  assert len(warp.jit_cache) == 2

sunnypilot/modeld_v2/warp.py

@@ -0,0 +1,171 @@
+import pickle
+import time
+import numpy as np
+from pathlib import Path
+from tinygrad.tensor import Tensor
+from tinygrad.engine.jit import TinyJit
+from tinygrad.device import Device
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, make_frame_prepare as _make_frame_prepare
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
+  (_os_fisheye.width, _os_fisheye.height),
+]
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+  return _make_frame_prepare(nv12, model_w, model_h)
+
+
+def warp_pkl_path(w, h):
+  from openpilot.selfdrive.modeld.helpers import MODELS_DIR
+  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+
+
+def make_update_img_input(frame_prepare, model_w, model_h):
+  def update_img_input_tinygrad(tensor, frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    new_img = frame_prepare(frame, M_inv)
+    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
+    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+  return update_img_input_tinygrad
+
+
+def make_update_both_imgs(frame_prepare, model_w, model_h):
+  update_img = make_update_img_input(frame_prepare, model_w, model_h)
+  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
+                                calib_big_img_buffer, new_big_img, M_inv_big):
+    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_pair, calib_big_img_pair
+  return update_both_imgs_tinygrad
+
+MODELS_DIR = Path(__file__).parent / 'models'
+MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
+UPSTREAM_BUFFER_LENGTH = 5
+
+
+def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
+  return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
+
+
+def compile_v2_warp(cam_w, cam_h, buffer_length):
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+  img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+  print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
+
+  frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
+  update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
+  update_img_jit = TinyJit(update_both_imgs, prune=True)
+
+  full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
+  big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
+  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  for i in range(10):
+    img_inputs = [full_buffer,
+                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    big_img_inputs = [big_full_buffer,
+                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    inputs = img_inputs + big_img_inputs
+    Device.default.synchronize()
+
+    st = time.perf_counter()
+    _ = update_img_jit(*inputs)
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
+  with open(pkl_path, "wb") as f:
+    pickle.dump(update_img_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+  jit = pickle.load(open(pkl_path, "rb"))
+  verify_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  verify_big_frame = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  fresh_inputs = [
+    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
+    Tensor.from_blob(verify_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
+    Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize(),
+    Tensor.from_blob(verify_big_frame.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY'),
+  ]
+  jit(*fresh_inputs)
+
+
+class Warp:
+  def __init__(self, buffer_length=2):
+    self.buffer_length = buffer_length
+    self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+    self.jit_cache = {}
+    self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
+    self._blob_cache: dict[int, Tensor] = {}
+    self._nv12_cache: dict[tuple[int, int], int] = {}
+    self.transforms_np = {k: np.zeros((3, 3), dtype=np.float32) for k in ['img', 'big_img']}
+    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
+
+  def process(self, bufs, transforms):
+    if not bufs:
+      return {}
+    road = next(n for n in bufs if 'big' not in n)
+    wide = next(n for n in bufs if 'big' in n)
+    cam_w, cam_h = bufs[road].width, bufs[road].height
+    key = (cam_w, cam_h)
+
+    if key not in self.jit_cache:
+      v2_pkl = v2_warp_pkl_path(cam_w, cam_h, self.buffer_length)
+      if v2_pkl.exists():
+        with open(v2_pkl, 'rb') as f:
+          self.jit_cache[key] = pickle.load(f)
+      elif self.buffer_length == UPSTREAM_BUFFER_LENGTH:
+        upstream_pkl = warp_pkl_path(cam_w, cam_h)
+        if upstream_pkl.exists():
+          with open(upstream_pkl, 'rb') as f:
+            self.jit_cache[key] = pickle.load(f)
+      if key not in self.jit_cache:
+        frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
+        update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
+        self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
+
+    if key not in self._nv12_cache:
+      self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
+    yuv_size = self._nv12_cache[key]
+
+    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:
+      self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
+    road_blob = self._blob_cache[road_ptr]
+    wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
+    np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
+    np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
+
+    Device.default.synchronize()
+    res = self.jit_cache[key](
+      self.full_buffers['img'], road_blob, self.transforms['img'],
+      self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
+    )
+    out_road = res[0].realize()
+    out_wide = res[1].realize()
+
+    return {road: out_road, wide: out_wide}
+
+
+if __name__ == "__main__":
+  for cam_w, cam_h in CAMERA_CONFIGS:
+    for bl in [2, 5]:
+      compile_v2_warp(cam_w, cam_h, bl)

sunnypilot/models/fetcher.py

@@ -6,12 +6,11 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 import time
-import os
+
 import requests
 from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 
 from cereal import custom
@@ -27,35 +26,11 @@ class ModelParser:
     download_uri.sha256 = download_uri_data.get("sha256")
     return download_uri
 
-  @staticmethod
-  def _parse_chunk(chunk_data) -> custom.ModelManagerSP.Chunk:
-    chunk = custom.ModelManagerSP.Chunk()
-    chunk.fileName = chunk_data.get("file_name")
-    chunk.sha256 = chunk_data.get("sha256")
-    return chunk
-
   @staticmethod
   def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
     artifact = custom.ModelManagerSP.Artifact()
     artifact.fileName = artifact_data.get("file_name")
     artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
-
-    if "chunks" in artifact_data:
-      artifact.chunks = [ModelParser._parse_chunk(chunk_data) for chunk_data in artifact_data["chunks"]]
-
-      try:
-        model_dir = Paths.model_root()
-        os.makedirs(model_dir, exist_ok=True)
-        manifest_path = os.path.join(model_dir, f"{artifact.fileName}.chunkmanifest")
-        num_chunks = str(len(artifact.chunks))
-
-        if not os.path.exists(manifest_path) or open(manifest_path).read().strip() != num_chunks:
-          with open(manifest_path, "w") as f:
-            f.write(num_chunks)
-          cloudlog.info(f"Wrote chunk manifest for {artifact.fileName}: {num_chunks} chunks")
-      except Exception as e:
-        cloudlog.warning(f"Failed to write chunk manifest for {artifact.fileName}: {e}")
-
     return artifact
 
   @staticmethod
@@ -141,7 +116,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v17.json"
 
   def __init__(self, params: Params):
     self.params = params
@@ -209,7 +184,4 @@ if __name__ == "__main__":
       # Print artifact details
       print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
       # Print metadata details
-      if model.artifact.chunks:
-        print(f"Contains {len(model.artifact.chunks)} chunks.")
-      if hasattr(model, 'metadata') and model.metadata and model.metadata.fileName:
-        print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
+      print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")

sunnypilot/models/manager.py

@@ -89,16 +89,20 @@ class ModelManagerSP:
         del self._download_start_times[model.fileName]
 
   async def _download_chunked(self, base_url: str, base_path: str, artifact) -> None:
-    from openpilot.common.file_chunker import get_chunk_name, get_manifest_path
-
-    num_chunks = len(artifact.chunks)
-    if num_chunks == 0:
-      raise ValueError("No chunks defined in artifact")
-
+    from openpilot.common.file_chunker import get_manifest_path, get_chunk_name
+    manifest_url = get_manifest_path(base_url)
     manifest_path = get_manifest_path(base_path)
+
+    async with aiohttp.ClientSession() as session:
+      async with session.get(manifest_url) as resp:
+        if resp.status == 404:
+          raise FileNotFoundError
+        resp.raise_for_status()
+        num_chunks = int((await resp.read()).strip())
+
     self._download_start_times[artifact.fileName] = time.monotonic()
 
-    for i, _ in enumerate(artifact.chunks):
+    for i in range(num_chunks):
       chunk_url = get_chunk_name(base_url, i, num_chunks)
       chunk_path = get_chunk_name(base_path, i, num_chunks)
       chunk_downloaded = 0
@@ -113,7 +117,7 @@ class ModelManagerSP:
               if self.params.get("ModelManager_DownloadIndex") is None:
                 raise Exception("Download cancelled")
               intra = chunk_downloaded / max(chunk_size, 1)
-              progress = min(99.0, ((i + intra) / num_chunks) * 100)
+              progress = min(99, (i + intra) / num_chunks * 100)
               artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
               artifact.downloadProgress.progress = progress
               artifact.downloadProgress.eta = self._calculate_eta(artifact.fileName, progress)
@@ -144,9 +148,9 @@ class ModelManagerSP:
         self._report_status()
         return
 
-      if len(artifact.chunks) > 0:
+      try:
         await self._download_chunked(url, full_path, artifact)
-      else:
+      except (FileNotFoundError, aiohttp.ClientResponseError):
         await self._download_file(url, full_path, artifact)
 
       if not await verify_file(full_path, expected_hash):
@@ -166,15 +170,18 @@ class ModelManagerSP:
       artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
       artifact.downloadProgress.eta = 0
       self._sync_artifact_progress(artifact)
-      if self.selected_bundle:
-        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       self._report_status()
       self._download_start_times.pop(artifact.fileName, None)
       raise
 
   async def _process_model(self, model, destination_path: str) -> None:
     """Processes a single model download including verification"""
-    await self._process_artifact(model.artifact, destination_path)
+    model_artifact = model.artifact
+    metadata_artifact = model.metadata
+
+    await self._process_artifact(metadata_artifact, destination_path)
+    await self._process_artifact(model_artifact, destination_path)
 
   def _report_status(self) -> None:
     """Reports current status through messaging system"""
@@ -215,8 +222,7 @@ class ModelManagerSP:
       self.selected_bundle = None
 
     except Exception:
-      if self.selected_bundle:
-        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+      self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       raise
 
     finally:

sunnypilot/models/runners/helpers.py

@@ -0,0 +1,28 @@
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
+from openpilot.sunnypilot.models.runners.constants import ModelType
+
+
+def get_model_runner() -> ModelRunner:
+  """
+  Factory function to create and return the appropriate ModelRunner instance.
+
+  Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
+  models are detected in the active bundle.
+
+  :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
+  """
+  bundle = get_active_bundle()
+  if bundle and bundle.models:
+    model_types = {m.type.raw for m in bundle.models}
+    # Check if the bundle uses separate vision and policy models (legacy or new split format)
+    split_types = {ModelType.vision, ModelType.policy, ModelType.offPolicy, ModelType.onPolicy}
+    if model_types & split_types:
+      return TinygradSplitRunner()
+    # Otherwise, assume a single model (likely supercombo)
+    if bundle.models:
+      return TinygradRunner(bundle.models[0].type.raw)
+
+  # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
+  return TinygradRunner(ModelType.supercombo)

sunnypilot/models/runners/model_runner.py

@@ -0,0 +1,174 @@
+from abc import abstractmethod, ABC
+
+import numpy as np
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, Model, SliceDict, SEND_RAW_PRED
+from openpilot.system.hardware.hw import Paths
+import pickle
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+class ModelData:
+  """
+  Stores metadata and configuration for a specific machine learning model.
+
+  This class loads model metadata (like input shapes and output slices)
+  from a pickle file associated with a model instance.
+
+  :param model: The machine learning model object containing metadata.
+  """
+  def __init__(self, model: Model):
+    self.model = model
+    self.metadata = model.metadata
+    self.input_shapes: ShapeDict = {}
+    self.output_slices: SliceDict = {}
+    if self.metadata:
+      self._load_metadata()
+
+  def _load_metadata(self) -> None:
+    """Loads input shapes and output slices from the model's metadata pickle file."""
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
+    with open(metadata_path, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes = model_metadata.get('input_shapes', {})
+    self.output_slices = model_metadata.get('output_slices', {})
+
+
+class ModularRunner(ABC):
+  """
+  Represents a modular runner for handling and slicing model outputs.
+
+  This abstract base class is designed to provide an interface for modular
+  parsing and processing of model outputs. Classes inheriting from it must
+  implement the specified abstract methods, defining how model outputs
+  should be handled and stored. The primary goal is to enable structured
+  parsing of outputs through a dictionary-based method mapping.
+
+  :ivar parser_method_dict: Mapping dictionary containing parser methods
+      for handling specific types of outputs.
+  :type parser_method_dict: dict
+  """
+
+  @property
+  @abstractmethod
+  def parser_method_dict(self) -> dict:
+    pass
+
+  @parser_method_dict.setter
+  @abstractmethod
+  def parser_method_dict(self, value: dict) -> None:
+    pass
+
+  @abstractmethod
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    pass
+
+
+class ModelRunner(ModularRunner):
+  """
+  Abstract base class for managing and executing machine learning models.
+
+  Provides a common interface for loading models, preparing inputs, running
+  inference, and slicing/parsing outputs based on model metadata. Derived
+  classes implement the specifics of input preparation and model execution
+  for different frameworks (e.g., Tinygrad, ONNX).
+  """
+
+  def __init__(self):
+    """Initializes the model runner, loading the active model bundle."""
+    self.is_20hz: bool | None = None
+    self.is_20hz_3d: bool | None = None
+    self.models: dict[int, ModelData] = {}
+    self._model_data: ModelData | None = None  # Active model data for current operation
+    self._parser_method_dict: dict = {}
+    self.inputs: dict = {}
+    self._parser = None
+    self._load_models()
+    self._constants = None
+
+  @property
+  def constants(self):
+    return self._constants
+
+  @property
+  def parser_method_dict(self) -> dict:
+    """Returns the dictionary mapping model types to their respective parsing methods."""
+    return self._parser_method_dict
+
+  @parser_method_dict.setter
+  def parser_method_dict(self, value: dict) -> None:
+    """Sets the dictionary mapping model types to their respective parsing methods."""
+    self._parser_method_dict = value
+
+  def _load_models(self) -> None:
+    """Loads the active model bundle configuration and sets up ModelData."""
+    bundle = get_active_bundle()
+    if not bundle:
+      raise ValueError("No active model bundle found, why are we being executed?")
+
+    self.models = {model.type.raw: ModelData(model) for model in bundle.models}
+    self.is_20hz = bundle.is20hz
+    self.is_20hz_3d = False
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the input shapes for the currently active model."""
+    if self._model_data:
+      return self._model_data.input_shapes
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the output slices for the currently active model."""
+    if self._model_data:
+      return self._model_data.output_slices
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    if self._model_data:
+      return list(self._model_data.input_shapes.keys())
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @abstractmethod
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
+    """
+    Abstract method to prepare inputs for model inference.
+
+    :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
+    :return: Dictionary of prepared inputs ready for the model.
+    """
+    raise NotImplementedError
+
+  @abstractmethod
+  def _run_model(self) -> NumpyDict:
+    """
+    Abstract method to execute model inference with prepared inputs.
+
+    :return: Dictionary containing the model's raw output arrays.
+    """
+    raise NotImplementedError
+
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """
+    Slices the raw model output array based on the output_slices metadata.
+
+    :param model_outputs: The raw numpy array output from the model.
+    :return: A dictionary where keys are output names and values are sliced numpy arrays.
+    """
+    if not self._model_data:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+    sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
+    if SEND_RAW_PRED:
+      sliced_outputs['raw_pred'] = model_outputs.copy()  # Optionally include the full raw output
+    return sliced_outputs
+
+  def run_model(self) -> NumpyDict:
+    """
+    Executes the model inference pipeline: runs the model and parses outputs.
+
+    :return: Dictionary containing the final parsed model outputs.
+    """
+    return self._run_model()  # Parsing is handled within specific runner implementations

sunnypilot/models/runners/tinygrad/model_types.py

@@ -0,0 +1,91 @@
+import os
+from abc import ABC
+
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
+from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
+from openpilot.system.hardware.hw import Paths
+
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+class OffPolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for off-policy models.
+
+  Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
+  """
+  def __init__(self):
+    self._off_policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
+
+  def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses off-policy model outputs using SplitParser."""
+    result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+
+class OnPolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for on-policy models.
+
+  Uses a SplitParser to handle outputs specific to the on-policy part of a split model setup.
+  """
+  def __init__(self):
+    self._on_policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.onPolicy] = self._parse_on_policy_outputs
+
+  def _parse_on_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses on-policy model outputs using SplitParser."""
+    result: NumpyDict = self._on_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+
+class PolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for policy-only models.
+
+  Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
+  """
+  def __init__(self):
+    self._policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
+
+  def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses policy model outputs using SplitParser."""
+    result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class VisionTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._vision_parser = SplitParser()
+    self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
+
+  def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class SupercomboTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._supercombo_parser = CombinedParser()
+    self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
+
+  def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
+    return result

sunnypilot/models/runners/tinygrad/tinygrad_runner.py

@@ -0,0 +1,179 @@
+import pickle
+
+import numpy as np
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad, OnPolicyTinygrad
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+from tinygrad.tensor import Tensor
+
+
+class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad, OnPolicyTinygrad):
+  """
+  A ModelRunner implementation for executing Tinygrad models.
+
+  Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
+  Tensors (potentially using QCOM extensions on TICI), running inference,
+  and parsing the outputs.
+
+  :param model_type: The type of model (e.g., supercombo) to load and run.
+  """
+  def __init__(self, model_type: int = ModelType.supercombo):
+    ModelRunner.__init__(self)
+    SupercomboTinygrad.__init__(self)
+    PolicyTinygrad.__init__(self)
+    VisionTinygrad.__init__(self)
+    OffPolicyTinygrad.__init__(self)
+    OnPolicyTinygrad.__init__(self)
+    self._constants = ModelConstants
+    self._model_data = self.models.get(model_type)
+    if not self._model_data or not self._model_data.model:
+      raise ValueError(f"Model data for type {model_type} not available.")
+
+    artifact_filename = self._model_data.model.artifact.fileName
+    assert artifact_filename.endswith('_tinygrad.pkl'), \
+      f"Invalid model file {artifact_filename} for TinygradRunner"
+
+    model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
+    with open(model_pkl_path, "rb") as f:
+      try:
+        # Load the compiled Tinygrad model runner function
+        self.model_run = pickle.load(f)
+      except FileNotFoundError as e:
+        # Provide a helpful error message if the model was built for a different platform
+        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
+        raise
+
+    # Map input names to their required dtype and device from the loaded model
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      info = self.model_run.captured.expected_input_info[idx]
+      self.input_to_dtype[name] = info[2]  # dtype
+      self.input_to_device[name] = info[3]  # device
+    self._policy_cached = False
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    return [name for name in self.input_shapes.keys() if 'img' in name]
+
+
+  def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
+    if not self._policy_cached:
+      for key, value in numpy_inputs.items():
+        self.inputs[key] = Tensor(value, device='NPY').realize()
+      self._policy_cached = True
+
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
+    """Prepares all vision and policy inputs for the model."""
+    self.prepare_policy_inputs(numpy_inputs)
+    for key in self.vision_input_names:
+      if key in self.inputs:
+        self.inputs[key] = self.inputs[key].cast(self.input_to_dtype[key])
+    return self.inputs
+
+  def _run_model(self) -> NumpyDict:
+    """Runs the Tinygrad model inference and parses the outputs."""
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    return self._parse_outputs(outputs)
+
+  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses the raw model outputs using the standard Parser."""
+    if self._model_data is None:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
+    return result
+
+
+class TinygradSplitRunner(ModelRunner):
+  """
+  A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
+
+  Manages the execution of split vision and policy models, combining their inputs and outputs.
+  """
+  def __init__(self):
+    super().__init__()
+    self.is_20hz_3d = True
+    self.vision_runner = TinygradRunner(ModelType.vision)
+    self.policy_runner = TinygradRunner(ModelType.policy) if self.models.get(ModelType.policy) else None
+    self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
+    self.on_policy_runner = TinygradRunner(ModelType.onPolicy) if self.models.get(ModelType.onPolicy) else None
+    self._constants = SplitModelConstants
+
+  def _run_model(self) -> NumpyDict:
+    """Runs both vision and policy models and merges their parsed outputs."""
+    vision_output = self.vision_runner.run_model()
+    outputs = {**vision_output}
+
+    if self.policy_runner:
+      policy_output = self.policy_runner.run_model()
+      outputs.update(policy_output)
+
+    if self.off_policy_runner:
+      off_policy_output = self.off_policy_runner.run_model()
+      if self.on_policy_runner:
+        off_policy_output.pop('plan', None)
+      outputs.update(off_policy_output)
+
+    if self.on_policy_runner:
+      on_policy_output = self.on_policy_runner.run_model()
+      outputs.update(on_policy_output)
+
+    if 'planplus' in outputs and 'plan' in outputs:
+      outputs['plan'] = outputs['plan'] + outputs['planplus']
+
+    return outputs
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the vision runner."""
+    return list(self.vision_runner.vision_input_names)
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the combined input shapes from both vision and policy models."""
+    shapes = {**self.vision_runner.input_shapes}
+    if self.policy_runner:
+      shapes.update(self.policy_runner.input_shapes)
+    if self.off_policy_runner:
+      shapes.update(self.off_policy_runner.input_shapes)
+    if self.on_policy_runner:
+      shapes.update(self.on_policy_runner.input_shapes)
+    return shapes
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the combined output slices from both vision and policy models."""
+    slices = {**self.vision_runner.output_slices}
+    if self.policy_runner:
+      slices.update(self.policy_runner.output_slices)
+    if self.off_policy_runner:
+      slices.update(self.off_policy_runner.output_slices)
+    if self.on_policy_runner:
+      slices.update(self.on_policy_runner.output_slices)
+    return slices
+
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
+    """Prepares inputs for both vision and policy models."""
+    if self.policy_runner:
+      self.policy_runner.prepare_policy_inputs(numpy_inputs)
+
+    for key in self.vision_input_names:
+      if key in self.inputs:
+        self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
+
+    inputs = {**self.vision_runner.inputs}
+    if self.policy_runner:
+      inputs.update(self.policy_runner.inputs)
+
+    if self.off_policy_runner:
+      self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
+      inputs.update(self.off_policy_runner.inputs)
+    if self.on_policy_runner:
+      self.on_policy_runner.prepare_policy_inputs(numpy_inputs)
+      inputs.update(self.on_policy_runner.inputs)
+    return inputs

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/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/version.py

@@ -28,6 +28,8 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "release3-staging"): "release-tizi-staging",
   ("mici", "release3"): "release-mici",
   ("mici", "release3-staging"): "release-mici-staging",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }
 
 BUILD_METADATA_FILENAME = "build.json"

tools/plotjuggler/layouts/analyzing-panda-block-angle-hkg.xml

@@ -0,0 +1,183 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="actuator data">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="steering messages (CAN)">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
+       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
+       <curve name="/carControl/latActive" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Understanding Torque">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
+       <limitY/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-24.190000" left="301.990881" top="21.590000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="tab2">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#9467bd"/>
+       <curve name="/can/1/LFA_ALT/ADAS_ACIAnglTqRedcGainVal" color="#17becf"/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+       <curve name="/can/192/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#b8c91a"/>
+       <curve name="/can/192/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+       <curve name="/carState/steerFaultTemporary" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="3"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/analyzing-torque-angle-hkg.xml

@@ -0,0 +1,702 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="actuator data">
+   <Container>
+    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="0.100000" bottom="-0.100000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="21.512506" bottom="-143.133163" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="17.919758" bottom="7.125814" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="0.055486" bottom="-0.008455" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="steering messages (CAN)">
+   <Container>
+    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="1.020200" bottom="0.171800" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="3.417986" bottom="-1.676466" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="1.025000" bottom="-0.025000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="0.100000" bottom="-0.100000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Understanding Torque">
+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="378.825000" bottom="-1125.825000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carState/steeringTorque" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="17.092500" bottom="-32.992499" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Angle Error and Saturation TQ">
+   <Container>
+    <DockSplitter sizes="0.166667;0.166667;0.166667;0.166667;0.166667;0.166667" count="6" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="21.512506" bottom="-143.133163" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#d62728"/>
+       <curve name="/carState/steeringAngleDeg" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="48.052530" bottom="-34.508142" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="Angle Error" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="1.020200" bottom="0.171800" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="1.025000" bottom="-0.025000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="Angle Staturation" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="1.025000" bottom="-0.025000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="/carControl/latActive" color="#9467bd"/>
+       <curve name="/carState/steeringPressed" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="64.446359" bottom="25.681587" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="carState.vEgo kmh" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Smoothing and Torque celings">
+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="4.075000" bottom="0.925000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="subject_to_angle_smoothing" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="3.025000" bottom="1.975000" left="256.448992" right="302.818689"/>
+       <limitY/>
+       <curve name="base_ceiling_bracket" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="4"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="subject_to_angle_smoothing">
+   <global></global>
+   <function>if v1 == 0 then
+    return 0
+end
+
+if value &lt; 8.5 then 
+    return 1
+elseif value &lt; 11 then
+    return 2
+elseif value &lt;= 13.8 then
+    return 3
+elseif value &lt;= 18 then
+    return 4
+end
+
+return 0</function>
+   <linked_source>/carState/vEgo</linked_source>
+   <additional_sources>
+    <v1>/carControl/latActive</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="base_ceiling_bracket">
+   <global></global>
+   <function>if v1 == 0 then
+    return 0
+end
+
+if value &lt; 20 then 
+    return 1
+elseif value &lt; 40 then
+    return 2
+elseif value &lt;= 120 then
+    return 3
+end
+
+
+return 0</function>
+   <linked_source>carState.vEgo kmh</linked_source>
+   <additional_sources>
+    <v1>/carControl/latActive</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="max torque lj adj">
+   <global>min=0
+max=250
+max_from_speed=96
+
+k1=200
+k2=30
+k3=1    
+k4=1
+k5=10
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end</global>
+   <function>return 250 - value * 20</function>
+   <linked_source>desired lateral jark</linked_source>
+  </snippet>
+  <snippet name="Angle Staturation">
+   <global></global>
+   <function>if value > .3 then 
+    return 1
+end
+
+return 0</function>
+   <linked_source>Angle Error</linked_source>
+  </snippet>
+  <snippet name="ang_cmd rate">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+--return 0
+  return  (value * -9.8) - (v3 * 9.81)</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="abs(ang_cmd)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="zero">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>return 0</function>
+   <linked_source>/carState/aEgo</linked_source>
+  </snippet>
+  <snippet name="engaged curvature vehicle model">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value
+pressed = v1
+enabled = v2
+
+if (pressed == 1 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/enabled</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="engaged curvature plan">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value
+pressed = v1
+enabled = v2
+
+if (pressed == 1 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/lateralPlan/curvatures/0</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/enabled</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lateral jark">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="engaged_accel_plan">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+enabled = v3
+
+if (brake ~= 0 or gas ~= 0 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/longitudinalPlan/accels/0</linked_source>
+   <additional_sources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/enabled</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="Angle Error">
+   <global>last_angle_requested = 0</global>
+   <function>angle_error = last_angle_requested - v1
+
+
+last_angle_requested = value
+return angle_error</function>
+   <linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringAngleDeg</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lat accel">
+   <global></global>
+   <function>return value * v1^2</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="engaged_accel_actuator">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+enabled = v3
+
+if (brake ~= 0 or gas ~= 0 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/carControl/actuators/accel</linked_source>
+   <additional_sources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/enabled</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="engaged_accel_actual">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+enabled = v3
+
+if (brake ~= 0 or gas ~= 0 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linked_source>/carState/aEgo</linked_source>
+   <additional_sources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/enabled</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="Zero">
+   <global></global>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
+  </snippet>
+  <snippet name="abs(des la accel)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="max torque(calc)">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>la = apply_deadzone(v2, la_deadzone)
+lj = v3
+
+if la == 0.0 then
+    lj = 0.0
+end
+
+fla = math.min(math.abs(k1 * la)^k3, max)
+flj = math.min(math.abs(k2 * lj)^k4, max)
+
+out = fla
+
+flv = math.min(max_from_speed, k5 * v4)
+
+out = out + flv
+
+out = math.max(math.min(out, max), min)
+
+if sign(la) == sign(lj) then
+    out = out - flj
+else
+    out = out + flj
+end
+
+
+if v5 == 1.0 then
+    out = 0.0
+end
+
+out = math.max(math.min(out, max), min)
+out = apply_rate_limit(old, out, rate_lim)
+old = out
+
+return out</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+   <additional_sources>
+    <v1>ang_cmd rate</v1>
+    <v2>desired lat accel</v2>
+    <v3>desired lateral jark</v3>
+    <v4>/carState/vEgo</v4>
+    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
+   </additional_sources>
+  </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="engaged curvature yaw">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value / v3
+pressed = v1
+enabled = v2
+
+if (pressed == 1 or enabled == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return curvature
+else
+  return 0
+end</function>
+   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/enabled</v2>
+    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/hkg_angle_control.xml

@@ -0,0 +1,274 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
+       <limitY/>
+       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+       <curve color="#17becf" name="max torque(calc)">
+        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
+         <options compensate_offset="true" value="10"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
+       <limitY/>
+       <curve color="#f14cc1" name="desired lat accel"/>
+       <curve color="#888888" name="zero"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <customMathEquations>
+  <snippet name="zero">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>return 0</function>
+   <linked_source>/carState/aEgo</linked_source>
+  </snippet>
+  <snippet name="max torque lj adj">
+   <global>min=0
+max=250
+max_from_speed=96
+
+k1=200
+k2=30
+k3=1    
+k4=1
+k5=10
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end</global>
+   <function>return 250 - value * 20</function>
+   <linked_source>desired lateral jark</linked_source>
+  </snippet>
+  <snippet name="ang_cmd rate">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="max torque(calc)">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>la = apply_deadzone(v2, la_deadzone)
+lj = v3
+
+if la == 0.0 then
+    lj = 0.0
+end
+
+fla = math.min(math.abs(k1 * la)^k3, max)
+flj = math.min(math.abs(k2 * lj)^k4, max)
+
+out = fla
+
+flv = math.min(max_from_speed, k5 * v4)
+
+out = out + flv
+
+out = math.max(math.min(out, max), min)
+
+if sign(la) == sign(lj) then
+    out = out - flj
+else
+    out = out + flj
+end
+
+
+if v5 == 1.0 then
+    out = 0.0
+end
+
+out = math.max(math.min(out, max), min)
+out = apply_rate_limit(old, out, rate_lim)
+old = out
+
+return out</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+   <additional_sources>
+    <v1>ang_cmd rate</v1>
+    <v2>desired lat accel</v2>
+    <v3>desired lateral jark</v3>
+    <v4>/carState/vEgo</v4>
+    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lateral jark">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="abs(des la accel)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="desired lat accel">
+   <global></global>
+   <function>return value * v1^2</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="abs(ang_cmd)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/safety-limits-angle-kkg.xml

@@ -0,0 +1,175 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
+       <limitY/>
+       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#0097ff"/>
+       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#f14cc1">
+        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
+         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="tab2" containers="1">
+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="30595.900000" right="1431.113121" top="34884.100000" left="5.322399"/>
+       <limitY/>
+       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
+       <limitY/>
+       <curve name="/liveParameters/roll" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="1"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>
+
+if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
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