HKG: Car Port for G80 2022 (3.5T, HDA2)

bump tg (#37700 )
* bump tg * bump tg * assign * bump * cpu llvm * frame buffer updated in place, no need to return * don't bake in stale pointers * fix update image output indices * lint * bump
2026-06-08 14:54:46 +08:00 · 2026-04-02 17:30:28 -04:00 · 2026-04-02 09:16:11 -07:00 · 2026-04-01 16:24:50 -07:00 · 2026-04-01 16:14:15 -07:00 · 2026-04-01 16:11:07 -07:00
273 changed files with 20914 additions and 11121 deletions
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -33,21 +33,3 @@ jobs:
        change-to: ${{ github.base_ref }}
        already-exists-action: close_this
        already-exists-comment: "Your PR should be made against the `master` branch"
-
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v3
-      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
-      with:
-        repo_token: ${{ secrets.GITHUB_TOKEN }}
-        issue_message: ""
-        pr_message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
--- a/.github/workflows/diff_report.yaml
+++ b/.github/workflows/diff_report.yaml
@@ -0,0 +1,45 @@
+name: diff report
+
+on:
+  pull_request_target:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  comment:
+    name: comment
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+    - name: Wait for process replay
+      id: wait
+      continue-on-error: true
+      uses: lewagon/wait-on-check-action@v1.3.4
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        check-name: process replay
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        allowed-conclusions: success,failure
+        wait-interval: 20
+    - name: Download diff
+      if: steps.wait.outcome == 'success'
+      uses: dawidd6/action-download-artifact@v6
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        workflow: tests.yaml
+        workflow_conclusion: ''
+        pr: ${{ github.event.number }}
+        name: diff_report_${{ github.event.number }}
+        path: .
+        allow_forks: true
+    - name: Comment on PR
+      if: steps.wait.outcome == 'success'
+      uses: thollander/actions-comment-pull-request@v2
+      with:
+        filePath: diff_report.txt
+        comment_tag: diff_report
+        pr_number: ${{ github.event.number }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -9,28 +9,6 @@ env:
  PYTHONPATH: ${{ github.workspace }}

 jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Update translations
-        run: python3 selfdrive/ui/update_translations.py --vanish
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
-        with:
-          author: Vehicle Researcher <user@comma.ai>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
  package_updates:
    name: package_updates
    runs-on: ubuntu-latest
@@ -68,7 +46,6 @@ jobs:
        git add .
    - name: update car docs
      run: |
-        scons -j$(nproc) --minimal opendbc_repo
        python selfdrive/car/docs.py
        git add docs/CARS.md
    - name: Create Pull Request
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -139,12 +139,22 @@ jobs:
      id: print-diff
      if: always()
      run: cat selfdrive/test/process_replay/diff.txt
+    - name: Print diff report
+      if: always()
+      run: cat selfdrive/test/process_replay/diff_report.txt
    - uses: actions/upload-artifact@v6
      if: always()
      continue-on-error: true
      with:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload diff report
+      uses: actions/upload-artifact@v6
+      if: always() && github.event_name == 'pull_request'
+      continue-on-error: true
+      with:
+        name: diff_report_${{ github.event.number }}
+        path: selfdrive/test/process_replay/diff_report.txt
    - name: Checkout ci-artifacts
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: actions/checkout@v4
@@ -164,7 +174,7 @@ jobs:
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay
+        git push origin process-replay --force
    - name: Run regen
      if: false
      timeout-minutes: 4
--- a/.gitignore
+++ b/.gitignore
@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-
-/docs_site/
+bin/

 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,11 +39,13 @@ a.out
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html

+# build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -56,46 +58,30 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl*

 # openpilot log files
 *.bz2
 *.zst
+*.rlog

 build/

 !**/.gitkeep

-poetry.toml
-Pipfile

 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets

-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
-
+# agents
 .claude/
 .context/
 PLAN.md
--- a/.python-version
+++ b/.python-version
@@ -0,0 +1 @@
+3.12.13
--- a/8
+++ b/8
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
      ])
    }

@@ -218,14 +218,14 @@ node {
      'camerad OX03C10': {
        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
      'camerad OS04C10': {
        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
        ])
      },
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@
  <span> · </span>
  <a href="https://discord.comma.ai">Community</a>
  <span> · </span>
-  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+  <a href="https://comma.ai/shop">Try it on a comma four</a>
 </h3>

 Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
@@ -42,10 +42,10 @@ Using openpilot in a car
 ------

 To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma four, available at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
+2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
 3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.

 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,8 +1,17 @@
-Version 0.10.4 (2026-02-17)
+Version 0.11.1 (2026-04-22)
 ========================
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
+Version 0.11.0 (2026-03-17)
+========================
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
 * Kia K7 2017 support thanks to royjr!
 * Lexus LS 2018 support thanks to Hacheoy!
-* Reduce comma four standby power usage by 77% to 52 mW

 Version 0.10.3 (2025-12-17)
 ========================
--- a/102
+++ b/102
@@ -4,9 +4,11 @@ import sys
 import sysconfig
 import platform
 import shlex
+import importlib
 import numpy as np

 import SCons.Errors
+from SCons.Defaults import _stripixes

 SCons.Warnings.warningAsException(True)

@@ -14,9 +16,6 @@ Decider('MD5-timestamp')

 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))

-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
@@ -38,23 +37,47 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-if arch != "larch64":
-  import bzip2
-  import capnproto
-  import eigen
-  import ffmpeg as ffmpeg_pkg
-  import libjpeg
-  import libyuv
-  import ncurses
-  import python3_dev
-  import zeromq
-  import zstd
-  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, zeromq, zstd]
-  py_include = python3_dev.INCLUDE_DIR
-else:
-  # TODO: remove when AGNOS has our new vendor pkgs
-  pkgs = []
-  py_include = sysconfig.get_paths()['include']
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkgs = [importlib.import_module(name) for name in pkg_names]
+
+
+# ***** enforce a whitelist of system libraries *****
+# this prevents silently relying on a 3rd party package,
+# e.g. apt-installed libusb. all libraries should either
+# be distributed with all Linux distros and macOS, or
+# vendored in commaai/dependencies.
+allowed_system_libs = {
+  "EGL", "GLESv2", "GL",
+  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
+  "dl", "drm", "gbm", "m", "pthread",
+}
+
+def _resolve_lib(env, name):
+  for d in env.Flatten(env.get('LIBPATH', [])):
+    p = Dir(str(d)).abspath
+    for ext in ('.a', '.so', '.dylib'):
+      f = File(os.path.join(p, f'lib{name}{ext}'))
+      if f.exists() or f.has_builder():
+        return name
+  if name in allowed_system_libs:
+    return name
+  raise SCons.Errors.UserError(f"Unexpected non-vendored library '{name}'")
+
+def _libflags(target, source, env, for_signature):
+  libs = []
+  lp = env.subst('$LIBLITERALPREFIX')
+  for lib in env.Flatten(env.get('LIBS', [])):
+    if isinstance(lib, str):
+      if os.sep in lib or lib.startswith('#'):
+        libs.append(File(lib))
+      elif lib.startswith('-') or (lp and lib.startswith(lp)):
+        libs.append(lib)
+      else:
+        libs.append(_resolve_lib(env, lib))
+    else:
+      libs.append(lib)
+  return _stripixes(env['LIBLINKPREFIX'], libs, env['LIBLINKSUFFIX'],
+                    env['LIBPREFIXES'], env['LIBSUFFIXES'], env, env['LIBLITERALPREFIX'])

 env = Environment(
  ENV={
@@ -107,14 +130,14 @@ env = Environment(
  tools=["default", "cython", "compilation_db", "rednose_filter"],
  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
+if arch != "larch64":
+  env['_LIBFLAGS'] = _libflags

 # Arch-specific flags and paths
 if arch == "larch64":
  env["CC"] = "clang"
  env["CXX"] = "clang++"
  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
    "/usr/lib/aarch64-linux-gnu",
  ])
  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
@@ -126,19 +149,6 @@ elif arch == "Darwin":
  ])
  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])

 _extra_cc = shlex.split(GetOption('ccflags') or '')
 if _extra_cc:
@@ -176,7 +186,7 @@ if os.environ.get('SCONS_PROGRESS'):

 # ********** Cython build environment **********
 envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
+envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")

@@ -209,7 +219,6 @@ Export('common')
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})

 SConscript(['cereal/SConscript'])

@@ -235,10 +244,23 @@ if arch == "larch64":
 # Build openpilot
 SConscript(['third_party/SConscript'])

-SConscript(['selfdrive/SConscript'])
+# Build selfdrive
+SConscript([
+  'selfdrive/pandad/SConscript',
+  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
+  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'selfdrive/locationd/SConscript',
+  'selfdrive/modeld/SConscript',
+  'selfdrive/ui/SConscript',
+])

-if Dir('#tools/cabana/').exists() and arch != "larch64":
-  SConscript(['tools/cabana/SConscript'])
+# Build tools
+if arch != "larch64":
+  SConscript([
+    'tools/replay/SConscript',
+    'tools/cabana/SConscript',
+    'tools/jotpluggler/SConscript',
+  ])


 env.CompilationDatabase('compile_commands.json')
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -88,6 +88,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    lowMemory @51;
    stockAeb @52;
    stockLkas @98;
+    lateralManeuver @99;
    ldw @53;
    carUnrecognized @54;
    invalidLkasSetting @55;
@@ -1241,6 +1242,10 @@ struct DriverAssistance {
  # FCW, AEB, etc. will go here
 }

+struct LateralManeuverPlan {
+  desiredCurvature @0 :Float32;  # 1/m
+}
+
 struct LongitudinalPlan @0xe00b5b3eba12876c {
  modelMonoTime @9 :UInt64;
  hasLead @7 :Bool;
@@ -1426,6 +1431,8 @@ struct LivePose {
  posenetOK @5 :Bool = false;
  sensorsOK @6 :Bool = false;

+  timestamp @8 :UInt64;
+
  debugFilterState @7 :FilterState;

  struct XYZMeasurement {
@@ -2169,12 +2176,14 @@ struct DriverStateV2 {
    facePosition @2 :List(Float32);
    facePositionStd @3 :List(Float32);
    faceProb @4 :Float32;
-    leftEyeProb @5 :Float32;
-    rightEyeProb @6 :Float32;
-    leftBlinkProb @7 :Float32;
-    rightBlinkProb @8 :Float32;
-    sunglassesProb @9 :Float32;
+    eyesVisibleProb @14 :Float32;
+    eyesClosedProb @15 :Float32;
    phoneProb @13 :Float32;
+    leftEyeProbDEPRECATED @5 :Float32;
+    rightEyeProbDEPRECATED @6 :Float32;
+    leftBlinkProbDEPRECATED @7 :Float32;
+    rightBlinkProbDEPRECATED @8 :Float32;
+    sunglassesProbDEPRECATED @9 :Float32;
    notReadyProbDEPRECATED @12 :List(Float32);
    occludedProbDEPRECATED @10 :Float32;
    readyProbDEPRECATED @11 :List(Float32);
@@ -2610,6 +2619,8 @@ struct Event {
    bookmarkButton @148 :UserBookmark;
    audioFeedback @149 :AudioFeedback;

+    lateralManeuverPlan @150 :LateralManeuverPlan;
+
    # *********** debug ***********
    testJoystick @52 :Joystick;
    roadEncodeData @86 :EncodeData;
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -49,6 +49,7 @@ _services: dict[str, tuple] = {
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
  "longitudinalPlan": (True, 20., 10),
+  "lateralManeuverPlan": (True, 20.),
  "driverAssistance": (True, 20., 20),
  "procLog": (True, 0.5, 15, QueueSize.BIG),
  "gpsLocationExternal": (True, 10., 10),
--- a/common/.gitignore
+++ b/common/.gitignore
@@ -1 +0,0 @@
-*.cpp
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython')

 common_libs = [
  'params.cc',
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
+    if abs(self.velocity.x) < 1e-3:
      self.velocity.x = 0.0
    self.x += self.velocity.x
    return self.x
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -82,6 +82,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LiveParametersV2", {PERSISTENT, BYTES}},
    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
    {"NetworkMetered", {PERSISTENT, BOOL}},
--- a/common/time_helpers.py
+++ b/common/time_helpers.py
@@ -2,6 +2,7 @@ import datetime
 from pathlib import Path

 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
+MAX_DATE = datetime.datetime(year=2035, month=1, day=1)

 def min_date():
  # on systemd systems, the default time is the systemd build time
@@ -12,4 +13,4 @@ def min_date():
  return MIN_DATE

 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < datetime.datetime.now() < MAX_DATE
--- a/common/transformations/.gitignore
+++ b/common/transformations/.gitignore
@@ -1,2 +0,0 @@
-transformations
-transformations.cpp
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.4"
+#define COMMA_VERSION "0.11.1"
--- a/conftest.py
+++ b/conftest.py
@@ -10,7 +10,6 @@ from openpilot.system.hardware import TICI, HARDWARE
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
-  "selfdrive/ui/tests/test_translations",
  "selfdrive/test/process_replay/test_processes.py",
  "selfdrive/test/process_replay/test_regen.py",
 ]
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -13,14 +13,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |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|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 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|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -32,7 +32,7 @@ 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"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|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>|||
 |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>|||
@@ -171,12 +171,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -220,8 +220,8 @@ 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|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|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"></img></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"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
@@ -231,8 +231,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](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 1500 2019-24">Buy Here</a></sub></details>|||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|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-empty.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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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>|||
@@ -243,15 +243,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|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>|||
@@ -301,45 +301,45 @@ 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"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|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"></img></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"></img></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"></img></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"></img></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"></img></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"></img></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"></img></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"></img></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>|||

 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
+<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 />
@@ -349,11 +349,12 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<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 />

 ## 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/).
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution

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

 ## Pull Requests

--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -6,4 +6,4 @@
 * **segment**: routes are split into one minute chunks called segments.
 * **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
 * **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
+* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four).
--- a/docs/getting-started/what-is-openpilot.md
+++ b/docs/getting-started/what-is-openpilot.md
@@ -5,7 +5,7 @@

 ## How do I use it?

-openpilot is designed to be used on the comma 3X.
+openpilot is designed to be used on the comma four.

 ## How does it work?

--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,15 +1,15 @@
-# connect to a comma 3X
+# connect to a comma four

-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).

 ## Serial Console

-On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+On both the comma three and comma four, the serial console is accessible from the main OBD-C port.
+Connect the comma four to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.

 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.

-On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+On the comma four, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.

  * Username: `comma`
  * Password: `comma`
@@ -45,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`

 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma four.

 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).

--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.

 ## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma four*

 1. Connect your PC to a jungle.
 2.
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -3,7 +3,7 @@

 In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

-And if you have a comma 3X, we'll deploy the change to your device for testing.
+And if you have a comma four, we'll deploy the change to your device for testing.

 ## 1. Set up your development environment

--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -7,6 +7,7 @@ source "$DIR/launch_env.sh"
 function agnos_init {
  # TODO: move this to agnos
  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+  rm -f /data/scons_cache/config.lock

  # set success flag for current boot slot
  sudo abctl --set_success
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="16"
+  export AGNOS_VERSION="17.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,18 +26,18 @@ dependencies = [
  "numpy >=2.0",

  # vendored native dependencies
-  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
-  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
-  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
-  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
-  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
-  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
-  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
-  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
-  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
-  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
+  "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
+  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",

  # body / webrtcd
  "av",
@@ -107,6 +107,7 @@ dev = [
 ]

 tools = [
+  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]

@@ -205,6 +206,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
 "pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
 "pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+"pyray.draw_texture".msg = "Use rl.draw_texture_ex for float position support"

 [tool.ruff.format]
 quote-style = "preserve"
@@ -248,3 +250,6 @@ unsupported-operator = "ignore"
 # Ignore not-subscriptable - false positives from dynamic types
 not-subscriptable = "ignore"
 # not-iterable errors are now fixed
+
+[tool.uv]
+python-preference = "only-managed"
--- a/2
+++ b/2
--- a/release/pack.py
+++ b/release/pack.py
@@ -13,11 +13,12 @@ from openpilot.common.basedir import BASEDIR

 DIRS = ['cereal', 'openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
 INTERPRETER = '/usr/bin/env python3'


 def copy(src, dest):
-  if any(src.endswith(ext) for ext in EXTS):
+  if any(src.endswith(ext) for ext in EXTS) and not any(exc in src for exc in EXCLUDE):
    shutil.copy2(src, dest, follow_symlinks=True)


@@ -28,6 +29,8 @@ if __name__ == '__main__':
  parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
  args = parser.parse_args()

+  print('WARNING: copying all files! make sure to run scons and git tree is clean')
+
  if not args.output:
    args.output = args.module

--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -38,6 +38,11 @@ if __name__ == "__main__":
      continue

    fn = os.path.basename(f)
-    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    master_path = MASTER_PATH + MODEL_PATH + fn
+    if os.path.exists(master_path):
+      master = get_checkpoint(master_path)
+      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
+    else:
+      master_col = "N/A (new model)"
    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -1,6 +0,0 @@
-SConscript(['pandad/SConscript'])
-SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['locationd/SConscript'])
-SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
--- a/selfdrive/assets/.gitignore
+++ b/selfdrive/assets/.gitignore
@@ -1,4 +1,2 @@
-*.cc
 fonts/*.fnt
 fonts/*.png
-translations_assets.qrc
--- a/selfdrive/assets/icons_mici/onroad/bookmark_fill.png
+++ b/selfdrive/assets/icons_mici/onroad/bookmark_fill.png
--- a/selfdrive/assets/icons_mici/onroad/glasses.png
+++ b/selfdrive/assets/icons_mici/onroad/glasses.png
--- a/selfdrive/assets/icons_mici/settings/device/language.png
+++ b/selfdrive/assets/icons_mici/settings/device/language.png
--- a/selfdrive/assets/icons_mici/setup/back_new.png
+++ b/selfdrive/assets/icons_mici/setup/back_new.png
--- a/selfdrive/assets/icons_mici/setup/factory_reset.png
+++ b/selfdrive/assets/icons_mici/setup/factory_reset.png
--- a/selfdrive/assets/icons_mici/setup/medium_button_bg.png
+++ b/selfdrive/assets/icons_mici/setup/medium_button_bg.png
--- a/selfdrive/assets/icons_mici/setup/medium_button_pressed_bg.png
+++ b/selfdrive/assets/icons_mici/setup/medium_button_pressed_bg.png
--- a/selfdrive/assets/icons_mici/setup/reset/small_button.png
+++ b/selfdrive/assets/icons_mici/setup/reset/small_button.png
--- a/selfdrive/assets/icons_mici/setup/reset/small_button_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/reset/small_button_pressed.png
--- a/selfdrive/assets/icons_mici/setup/reset/wide_button.png
+++ b/selfdrive/assets/icons_mici/setup/reset/wide_button.png
--- a/selfdrive/assets/icons_mici/setup/reset/wide_button_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/reset/wide_button_pressed.png
--- a/selfdrive/assets/icons_mici/setup/reset_failed.png
+++ b/selfdrive/assets/icons_mici/setup/reset_failed.png
--- a/selfdrive/assets/icons_mici/setup/scroll_down_indicator.png
+++ b/selfdrive/assets/icons_mici/setup/scroll_down_indicator.png
--- a/selfdrive/assets/icons_mici/setup/small_red_pill.png
+++ b/selfdrive/assets/icons_mici/setup/small_red_pill.png
--- a/selfdrive/assets/icons_mici/setup/small_red_pill_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/small_red_pill_pressed.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_bg.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_bg.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle.png
--- a/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/small_slider/slider_red_circle_pressed.png
--- a/selfdrive/assets/icons_mici/setup/smaller_button.png
+++ b/selfdrive/assets/icons_mici/setup/smaller_button.png
--- a/selfdrive/assets/icons_mici/setup/smaller_button_disabled.png
+++ b/selfdrive/assets/icons_mici/setup/smaller_button_disabled.png
--- a/selfdrive/assets/icons_mici/setup/smaller_button_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/smaller_button_pressed.png
--- a/selfdrive/assets/icons_mici/setup/widish_button.png
+++ b/selfdrive/assets/icons_mici/setup/widish_button.png
--- a/selfdrive/assets/icons_mici/setup/widish_button_disabled.png
+++ b/selfdrive/assets/icons_mici/setup/widish_button_disabled.png
--- a/selfdrive/assets/icons_mici/setup/widish_button_pressed.png
+++ b/selfdrive/assets/icons_mici/setup/widish_button_pressed.png
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -90,7 +90,6 @@ class Car:
          break

      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
-      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)

      cached_params = None
      cached_params_raw = self.params.get("CarParamsCache")
@@ -98,7 +97,7 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, cached_params)
      self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
      self.CP = self.CI.CP

--- a/selfdrive/car/tests/.gitignore
+++ b/selfdrive/car/tests/.gitignore
@@ -1 +0,0 @@
-*.bz2
--- a/selfdrive/controls/.gitignore
+++ b/selfdrive/controls/.gitignore
@@ -1,2 +0,0 @@
-calibration_param
-traces
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -37,7 +37,7 @@ class Controls:
    self.CI = interfaces[self.CP.carFingerprint](self.CP)

    self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
-                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
+                                   'liveCalibration', 'livePose', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
    self.pm = messaging.PubMaster(['carControl', 'controlsState'])

@@ -116,7 +116,10 @@ class Controls:

    # Steering PID loop and lateral MPC
    # Reset desired curvature to current to avoid violating the limits on engage
-    new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    if self.sm.valid['lateralManeuverPlan']:
+      new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
+    else:
+      new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
    self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
    lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS

--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
  def __init__(self, CP, CI, dt):
    super().__init__(CP, CI, dt)
    self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_safety = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
    angle_log = log.ControlsState.LateralAngleState.new_message()
--- a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -50,8 +50,10 @@ def simulate_straight_road_msgs(est):
  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
    carOutput.actuatorsOutput.torque = float(-steer_torque)
-    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
-    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    livePose.orientationNED = {'x': float(np.deg2rad(ROLL_BIAS_DEG)), 'valid': True}
+    livePose.angularVelocityDevice = {'z': float(lat_accel / V_EGO), 'valid': True}
+    livePose.inputsOK, livePose.sensorsOK, livePose.posenetOK = True, True, True
+    livePose.timestamp = int(t * 1e9)
    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
      est.handle_log(t, which, msg)

--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -45,8 +45,6 @@ if __name__ == "__main__":
      extra[(Ecu.unknown, 0x750, i)] = []
    extra = {"any": {"debug": extra}}

-  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
-
  t = time.monotonic()
  print("Getting vin...")
  set_obd_multiplexing(True)
@@ -56,7 +54,7 @@ if __name__ == "__main__":
  print()

  t = time.monotonic()
-  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
+  fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, progress=True)
  _, candidates = match_fw_to_car(fw_vers, vin)

  print()
--- a/selfdrive/debug/debug_fw_fingerprinting_offline.py
+++ b/selfdrive/debug/debug_fw_fingerprinting_offline.py
@@ -44,7 +44,7 @@ if __name__ == "__main__":
  parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
  parser.add_argument('route', nargs='?', help='Route name, live if not specified')
  parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
-  parser.add_argument('--rxoffset', default='')
+  parser.add_argument('--rxoffset', default='0x8')
  args = parser.parse_args()

  addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@@ -1,2 +0,0 @@
-params_learner
-paramsd
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -28,11 +28,26 @@ MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
+MIN_LAT_ACCEL_RANGE = 0.5
 MIN_CONFIDENCE = 0.7
 CORR_BORDER_OFFSET = 5
 LAG_CANDIDATE_CORR_THRESHOLD = 0.9
+SMOOTH_K = 5
+SMOOTH_SIGMA = 1.0


+def masked_symmetric_moving_average(x: np.ndarray, mask: np.ndarray, k: int, sigma: float) -> np.ndarray:
+  assert k >= 1 and k % 2 == 1, "k must be positive and odd"
+  pad = k // 2
+  i = np.arange(k) - pad
+  w = np.exp(-0.5 * (i / sigma) ** 2)
+  w /= w.sum()
+  xp = np.pad(x * mask, pad, mode="edge")
+  mp = np.pad(mask, pad, mode="edge")
+  num = np.convolve(xp, w, mode="valid")
+  den = np.convolve(mp, w, mode="valid")
+  return np.divide(num, den, out=np.full_like(num, np.nan, dtype=np.float64), where=den != 0)
+
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
  """
  References:
@@ -294,11 +309,14 @@ class LateralLagEstimator:

    times, desired, actual, okay = self.points.get()
    # check if there are any new valid data points since the last update
-    is_valid = self.points_valid()
+    is_valid = self.points_valid() and (actual.max() - actual.min() >= MIN_LAT_ACCEL_RANGE)
    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))

+    desired = masked_symmetric_moving_average(desired, okay, SMOOTH_K, SMOOTH_SIGMA)
+    actual = masked_symmetric_moving_average(actual, okay, SMOOTH_K, SMOOTH_SIGMA)
+
    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MIN_LAG, MAX_LAG)
    if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
      return
@@ -310,16 +328,16 @@ class LateralLagEstimator:
  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
                     dt: float, min_lag: float, max_lag: float) -> tuple[float, float, float]:
    assert len(expected_sig) == len(actual_sig)
-    min_lag_samples, max_lag_samples = int(round(min_lag / dt)), int(round(max_lag / dt))
-    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+    min_lag_samples, max_lag_samples, one_sec_samples = int(round(min_lag / dt)), int(round(max_lag / dt)), int(round(1.0 / dt))
+    padded_size = fft_next_good_size(len(expected_sig) + max(max_lag_samples, one_sec_samples))

    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)

-    # only consider lags from min_lag to max_lag
-    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples]
-    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
-    roi_ncc = ncc[roi]
-    extended_roi_ncc = ncc[extended_roi]
+    # only consider lags from ranges:
+    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples] # min_lag - max_lag range
+    threshold_roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + one_sec_samples] # 0 - 1 second range
+    confidence_roi = np.s_[threshold_roi.start - CORR_BORDER_OFFSET: threshold_roi.stop + CORR_BORDER_OFFSET] # threshold range +/- border
+    roi_ncc, confidence_roi_ncc, threshold_roi_ncc = ncc[roi], ncc[confidence_roi], ncc[threshold_roi]

    max_corr_index = np.argmax(roi_ncc)
    corr = roi_ncc[max_corr_index]
@@ -327,8 +345,8 @@ class LateralLagEstimator:

    # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
    # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
-    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
-    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    ncc_thresh = (threshold_roi_ncc.max() - threshold_roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + threshold_roi_ncc.min()
+    good_lag_candidate_mask = confidence_roi_ncc >= ncc_thresh
    good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
    starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
    run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -28,6 +28,9 @@ INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
 INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20
+CAM_ODO_POSE_DELAY = 0.1 # dependent on the vision model context frames and temporal frequency (current model is 5 fps with 2 context frames)
+CAM_ODO_ROT_STD_MULT = 10
+CAM_ODO_TRANS_STD_MULT = 4


 def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
@@ -155,6 +158,8 @@ class LocationEstimator:
        self.device_from_calib = rot_from_euler(calib)

    elif which == "cameraOdometry":
+      # camera odometry is delayed depending on the model context frames and temporal frequency
+      t = msg.timestampEof * 1e-9 - CAM_ODO_POSE_DELAY
      if not self._validate_timestamp(t):
        return HandleLogResult.TIMING_INVALID

@@ -177,8 +182,8 @@ class LocationEstimator:
      self.posenet_stds[-1] = trans_calib_std[0]

      # Multiply by N to avoid to high certainty in kalman filter because of temporally correlated noise
-      rot_calib_std *= 10
-      trans_calib_std *= 2
+      rot_calib_std *= CAM_ODO_ROT_STD_MULT
+      trans_calib_std *= CAM_ODO_TRANS_STD_MULT

      rot_device_std = rotate_std(self.device_from_calib, rot_calib_std)
      trans_device_std = rotate_std(self.device_from_calib, trans_calib_std)
@@ -234,6 +239,7 @@ class LocationEstimator:
    livePose.inputsOK = inputs_valid
    livePose.posenetOK = not std_spike or self.car_speed <= 5.0
    livePose.sensorsOK = sensors_valid
+    livePose.timestamp = int(np.nan_to_num(self.kf.t) * 1e9)

    return msg

--- a/selfdrive/locationd/models/pose_kf.py
+++ b/selfdrive/locationd/models/pose_kf.py
@@ -47,13 +47,13 @@ class PoseKalman(KalmanFilter):
  # process noise
  Q = np.diag([0.001**2, 0.001**2, 0.001**2,
               0.01**2, 0.01**2, 0.01**2,
-               0.1**2, 0.1**2, 0.1**2,
+               0.085**2, 0.085**2, 0.085**2,
               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
               3**2, 3**2, 3**2,
               0.005**2, 0.005**2, 0.005**2])

  obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
+               ObservationKind.PHONE_ACCEL: np.diag([0.75**2, 0.75**2, 0.75**2]),
               ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
               ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}

--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -65,6 +65,7 @@ class VehicleParamsLearner:

  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
    if which == 'livePose':
+      t = msg.timestamp * 1e-9
      device_pose = Pose.from_live_pose(msg)
      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)

--- a/selfdrive/locationd/test/.gitignore
+++ b/selfdrive/locationd/test/.gitignore
@@ -1 +0,0 @@
-out/
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -19,8 +19,8 @@ DT = 0.05
 def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
  for i in range(n_frames):
    t = i * estimator.dt
-    desired_la = np.cos(10 * t) * 0.1
-    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
+    desired_la = np.cos(10 * t) * 0.3
+    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.3

    # if sample is masked out, set it to desired value (no lag)
    rejected = random.uniform(0, 1) < rejection_threshold
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -3,6 +3,7 @@ from collections import defaultdict
 from enum import Enum

 from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.locationd.lagd import masked_symmetric_moving_average
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name

@@ -15,6 +16,7 @@ SELECT_COMPARE_FIELDS = {
  'inputs_flag': ['inputsOK'],
  'sensors_flag': ['sensorsOK'],
 }
+SMOOTH_FIELDS = ['yaw_rate', 'roll']
 JUNK_IDX = 100
 CONSISTENT_SPIKES_COUNT = 10

@@ -32,6 +34,8 @@ class Scenario(Enum):


 def get_select_fields_data(logs):
+  def sig_smooth(signal):
+    return masked_symmetric_moving_average(signal, np.ones_like(signal), 5, 1.0)
  def get_nested_keys(msg, keys):
    val = None
    for key in keys:
@@ -44,6 +48,8 @@ def get_select_fields_data(logs):
      data[key].append(get_nested_keys(msg, fields))
  for key in data:
    data[key] = np.array(data[key][JUNK_IDX:], dtype=float)
+    if key in SMOOTH_FIELDS:
+      data[key] = sig_smooth(data[key])
  return data


@@ -110,7 +116,7 @@ class TestLocationdScenarios:
    """
    orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))

  def test_gyro_off(self):
    """
@@ -135,7 +141,7 @@ class TestLocationdScenarios:
    """
    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))
    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])

@@ -169,7 +175,7 @@ class TestLocationdScenarios:
    """
    orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
-    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
+    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.35))

  def test_single_timing_spike(self):
    """
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -180,7 +180,9 @@ class TorqueEstimator(ParameterEstimator):
      self.lag = msg.lateralDelay
    # calculate lateral accel from past steering torque
    elif which == "livePose":
-      if len(self.raw_points['steer_torque']) == self.hist_len:
+      is_valid = msg.angularVelocityDevice.valid and msg.orientationNED.valid and msg.inputsOK and msg.sensorsOK and msg.posenetOK
+      if len(self.raw_points['steer_torque']) == self.hist_len and is_valid:
+        t = msg.timestamp * 1e-9
        device_pose = Pose.from_live_pose(msg)
        calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
        angular_velocity_calibrated = calibrated_pose.angular_velocity
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -18,10 +18,10 @@ def estimate_pickle_max_size(onnx_size):
 tg_flags = {
    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
+}.get(arch, 'DEV=CPU:LLVM THREADS=0')

 # Get model metadata
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
  fn = File(f"models/{model_name}").abspath
  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
@@ -45,29 +45,19 @@ def tg_compile(flags, model_name):
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  compile_node = lenv.Command(
+    pkl,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+  )
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
-    [onnx_path] + tinygrad_files + [chunker_file],
-    [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-     do_chunk]
+    compile_node,
+    do_chunk,
  )

 # Compile small models
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+for model_name in ['driving_vision', 'driving_off_policy', 'driving_on_policy', 'dmonitoring_model']:
  tg_compile(tg_flags, model_name)
-
-# Compile BIG model if USB GPU is available
-if "USBGPU" in os.environ:
-  import subprocess
-  # because tg doesn't support multi-process
-  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
-  if b"AMD" in devs:
-    print("USB GPU detected... building")
-    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
-    bp = tg_compile(flags, "big_driving_policy")
-    bv = tg_compile(flags, "big_driving_vision")
-    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
-  else:
-    print("USB GPU not detected... skipping")
--- a/selfdrive/modeld/compile_warp.py
+++ b/selfdrive/modeld/compile_warp.py
@@ -94,11 +94,11 @@ def make_frame_prepare(cam_w, cam_h, model_w, model_h):


 def make_update_img_input(frame_prepare, model_w, model_h):
-  def update_img_input_tinygrad(tensor, frame, M_inv):
+  def update_img_input_tinygrad(frame_buffer, frame, M_inv):
    M_inv = M_inv.to(Device.DEFAULT)
    new_img = frame_prepare(frame, M_inv)
-    full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
-    return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+    frame_buffer.assign(frame_buffer[6:].cat(new_img, dim=0).contiguous())
+    return Tensor.cat(frame_buffer[:6], frame_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
  return update_img_input_tinygrad


@@ -107,9 +107,9 @@ def make_update_both_imgs(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_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
+    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


@@ -136,29 +136,18 @@ def compile_modeld_warp(cam_w, cam_h):

  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-  big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-
  for i in range(10):
-    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
    img_inputs = [full_buffer,
-                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                  Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
-    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
    big_img_inputs = [big_full_buffer,
-                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                      Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
    inputs = img_inputs + big_img_inputs
    Device.default.synchronize()

-    inputs_np = [x.numpy() for x in inputs]
-    inputs_np[0] = full_buffer_np
-    inputs_np[3] = big_full_buffer_np
-
    st = time.perf_counter()
-    out = update_img_jit(*inputs)
-    full_buffer = out[0].contiguous().realize().clone()
-    big_full_buffer = out[2].contiguous().realize().clone()
+    _ = update_img_jit(*inputs)
    mt = time.perf_counter()
    Device.default.synchronize()
    et = time.perf_counter()
@@ -183,7 +172,7 @@ def compile_dm_warp(cam_w, cam_h):
  warp_dm_jit = TinyJit(warp_dm, prune=True)

  for i in range(10):
-    inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
+    inputs = [Tensor(np.random.randint(0, 256, yuv_size, dtype=np.uint8)).realize(),
              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
    Device.default.synchronize()
    st = time.perf_counter()
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -80,7 +80,7 @@ def parse_model_output(model_output):
    face_descs = model_output[f'face_descs_{ds_suffix}']
    parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
    parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
      parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
  return parsed

@@ -90,11 +90,8 @@ def fill_driver_data(msg, model_output, ds_suffix):
  msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
  msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
  msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
  msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()

 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -34,11 +34,13 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

-VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
-POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
-VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
-POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 MODELS_DIR = Path(__file__).parent / 'models'
+VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
+VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
+ON_POLICY_PKL_PATH = MODELS_DIR / 'driving_on_policy_tinygrad.pkl'
+ON_POLICY_METADATA_PATH = MODELS_DIR / 'driving_on_policy_metadata.pkl'
+OFF_POLICY_PKL_PATH = MODELS_DIR / 'driving_off_policy_tinygrad.pkl'
+OFF_POLICY_METADATA_PATH = MODELS_DIR / 'driving_off_policy_metadata.pkl'

 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
@@ -151,7 +153,13 @@ class ModelState:
      self.vision_output_slices = vision_metadata['output_slices']
      vision_output_size = vision_metadata['output_shapes']['outputs'][1]

-    with open(POLICY_METADATA_PATH, 'rb') as f:
+    with open(OFF_POLICY_METADATA_PATH, 'rb') as f:
+      off_policy_metadata = pickle.load(f)
+      self.off_policy_input_shapes =  off_policy_metadata['input_shapes']
+      self.off_policy_output_slices = off_policy_metadata['output_slices']
+      off_policy_output_size = off_policy_metadata['output_shapes']['outputs'][1]
+
+    with open(ON_POLICY_METADATA_PATH, 'rb') as f:
      policy_metadata = pickle.load(f)
      self.policy_input_shapes =  policy_metadata['input_shapes']
      self.policy_output_slices = policy_metadata['output_slices']
@@ -175,11 +183,13 @@ class ModelState:
    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
+    self.off_policy_output = np.zeros(off_policy_output_size, dtype=np.float32)
    self.parser = Parser()
    self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
    self.update_imgs = None
    self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
-    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
+    self.policy_run = pickle.loads(read_file_chunked(str(ON_POLICY_PKL_PATH)))
+    self.off_policy_run = pickle.loads(read_file_chunked(str(OFF_POLICY_PKL_PATH)))

  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
@@ -212,8 +222,7 @@ class ModelState:

    out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
                           self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
-    self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
-    vision_inputs = {'img': out[1], 'big_img': out[3]}
+    vision_inputs = {'img': out[0], 'big_img': out[1]}

    if prepare_only:
      return None
@@ -228,9 +237,17 @@ class ModelState:

    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
+
+    self.off_policy_output = self.off_policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(self.off_policy_output, self.off_policy_output_slices))
+    off_policy_outputs_dict.pop('plan')
+
+
+    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
+    if 'planplus' in combined_outputs_dict and 'plan' in combined_outputs_dict:
+      combined_outputs_dict['plan'] = combined_outputs_dict['plan'] + combined_outputs_dict['planplus']
    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy(), self.off_policy_output.copy()])

    return combined_outputs_dict

--- a/selfdrive/modeld/models/big_driving_policy.onnx
+++ b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -1 +0,0 @@
-driving_policy.onnx
--- a/selfdrive/modeld/models/big_driving_vision.onnx
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -1 +0,0 @@
-driving_vision.onnx
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
--- a/selfdrive/modeld/models/driving_off_policy.onnx
+++ b/selfdrive/modeld/models/driving_off_policy.onnx
--- a/selfdrive/modeld/models/driving_on_policy.onnx
+++ b/selfdrive/modeld/models/driving_on_policy.onnx
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -96,11 +96,17 @@ class Parser:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
+    return outs
+
+  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
    self.parse_binary_crossentropy('lane_lines_prob', outs)
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    self.parse_binary_crossentropy('meta', outs)
    self.parse_binary_crossentropy('lead_prob', outs)
    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
@@ -120,5 +126,6 @@ class Parser:

  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_off_policy_outputs(outs)
    outs = self.parse_policy_outputs(outs)
    return outs
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -1,4 +1,4 @@
-from math import atan2
+from math import atan2, radians
 import numpy as np

 from cereal import car, log
@@ -32,9 +32,8 @@ class DRIVER_MONITOR_SETTINGS:
    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.

    self._FACE_THRESHOLD = 0.7
-    self._EYE_THRESHOLD = 0.65
-    self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.865
+    self._EYE_THRESHOLD = 0.5
+    self._BLINK_THRESHOLD = 0.5
    self._PHONE_THRESH = 0.5

    self._POSE_PITCH_THRESHOLD = 0.3133
@@ -43,6 +42,9 @@ class DRIVER_MONITOR_SETTINGS:
    self._POSE_YAW_THRESHOLD = 0.4020
    self._POSE_YAW_THRESHOLD_SLACK = 0.5042
    self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
+    self._POSE_YAW_MIN_STEER_DEG = 30
+    self._POSE_YAW_STEER_FACTOR = 0.15
+    self._POSE_YAW_STEER_MAX_OFFSET = 0.3927
    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
    self._PITCH_NATURAL_THRESHOLD = 0.449
    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
@@ -59,7 +61,6 @@ class DRIVER_MONITOR_SETTINGS:
    self._POSESTD_THRESHOLD = 0.3
    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
-    self._ALWAYS_ON_ALERT_MIN_SPEED = 11

    self._POSE_CALIB_MIN_SPEED = 13  # 30 mph
    self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
@@ -101,6 +102,7 @@ class DriverPose:
    self.low_std = True
    self.cfactor_pitch = 1.
    self.cfactor_yaw = 1.
+    self.steer_yaw_offset = 0.

 class DriverProb:
  def __init__(self, raw_priors, max_trackable):
@@ -108,11 +110,6 @@ class DriverProb:
    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
    self.prob_calibrated = False

-class DriverBlink:
-  def __init__(self):
-    self.left = 0.
-    self.right = 0.
-

 # model output refers to center of undistorted+leveled image
 EFL = 598.0 # focal length in K
@@ -147,7 +144,7 @@ class DriverMonitoring:
    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
    self.pose = DriverPose(settings=self.settings)
-    self.blink = DriverBlink()
+    self.blink_prob = 0.
    self.phone_prob = 0.

    self.always_on = always_on
@@ -238,7 +235,11 @@ class DriverMonitoring:
      yaw_error = self.pose.yaw - min(max(self.pose.yaw_offseter.filtered_stat.mean(),
                                                    self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
    pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
-    yaw_error = abs(yaw_error)
+
+    if yaw_error * self.pose.steer_yaw_offset > 0: # unidirectional
+      yaw_error = max(abs(yaw_error) - min(abs(self.pose.steer_yaw_offset), self.settings._POSE_YAW_STEER_MAX_OFFSET), 0.)
+    else:
+      yaw_error = abs(yaw_error)

    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
@@ -246,7 +247,7 @@ class DriverMonitoring:
    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
      distracted_types.append(DistractedType.DISTRACTED_POSE)

-    if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
+    if self.blink_prob > self.settings._BLINK_THRESHOLD:
      distracted_types.append(DistractedType.DISTRACTED_BLINK)

    if self.phone_prob > self.settings._PHONE_THRESH:
@@ -254,7 +255,7 @@ class DriverMonitoring:

    return distracted_types

-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False, steering_angle_deg=0.):
    rhd_pred = driver_state.wheelOnRightProb
    # calibrates only when there's movement and either face detected
    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
@@ -277,17 +278,17 @@ class DriverMonitoring:

    self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
+    steer_d = max(abs(steering_angle_deg) - self.settings._POSE_YAW_MIN_STEER_DEG, 0.)
+    self.pose.steer_yaw_offset = radians(steer_d) * -np.sign(steering_angle_deg) * self.settings._POSE_YAW_STEER_FACTOR
    if self.wheel_on_right:
      self.pose.yaw *= -1
+      self.pose.steer_yaw_offset *= -1
    self.wheel_on_right_last = self.wheel_on_right
    self.pose.pitch_std = driver_data.faceOrientationStd[0]
    self.pose.yaw_std = driver_data.faceOrientationStd[1]
    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
-                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink_prob = driver_data.eyesClosedProb * (driver_data.eyesVisibleProb > self.settings._EYE_THRESHOLD)
    self.phone_prob = driver_data.phoneProb

    self.distracted_types = self._get_distracted_types()
@@ -360,19 +361,19 @@ class DriverMonitoring:
      if self.awareness > self.threshold_prompt:
        return

+    _reaching_pre = self.awareness - self.step_change <= self.threshold_pre
    _reaching_audible = self.awareness - self.step_change <= self.threshold_prompt
    _reaching_terminal = self.awareness - self.step_change <= 0
-    standstill_orange_exemption = standstill and _reaching_audible
+    standstill_exemption = standstill and _reaching_pre
    always_on_red_exemption = always_on_valid and not op_engaged and _reaching_terminal
-    always_on_lowspeed_exemption = always_on_valid and not op_engaged and car_speed < self.settings._ALWAYS_ON_ALERT_MIN_SPEED

    certainly_distracted = self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected
    maybe_distracted = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME or not self.face_detected

    if certainly_distracted or maybe_distracted:
-      # should always be counting if distracted unless at standstill (lowspeed for always-on) and reaching orange
+      # should always be counting if distracted unless at standstill and reaching green
      # also will not be reaching 0 if DM is active when not engaged
-      if not (standstill_orange_exemption or always_on_red_exemption or (always_on_lowspeed_exemption and _reaching_audible)):
+      if not (standstill_exemption or always_on_red_exemption):
        self.awareness = max(self.awareness - self.step_change, -0.1)

    alert = None
@@ -385,7 +386,7 @@ class DriverMonitoring:
    elif self.awareness <= self.threshold_prompt:
      # prompt orange alert
      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
-    elif self.awareness <= self.threshold_pre and not always_on_lowspeed_exemption:
+    elif self.awareness <= self.threshold_pre:
      # pre green alert
      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive

@@ -451,6 +452,7 @@ class DriverMonitoring:
      op_engaged=enabled,
      standstill=standstill,
      demo_mode=demo,
+      steering_angle_deg=sm['carState'].steeringAngleDeg,
    )

    # Update distraction events
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -19,10 +19,8 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
  ds.leftDriverData.faceOrientation = [0., 0., 0.]
  ds.leftDriverData.facePosition = [0., 0.]
  ds.leftDriverData.faceProb = 1. * face_detected
-  ds.leftDriverData.leftEyeProb = 1.
-  ds.leftDriverData.rightEyeProb = 1.
-  ds.leftDriverData.leftBlinkProb = 1. * distracted
-  ds.leftDriverData.rightBlinkProb = 1. * distracted
+  ds.leftDriverData.eyesVisibleProb = 1.
+  ds.leftDriverData.eyesClosedProb = 1. * distracted
  ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
  ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
  # TODO: test both separately when e2e is used
@@ -186,10 +184,10 @@ class TestMonitoring:
    standstill_vector = always_true[:]
    standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \
-                                                                                                                    EventName.preDriverDistracted
-    assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted
-    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted
+    assert len(events[int((_redlight_time-0.1)/DT_DMON)]) == 0
+    _pre_to_prompt = d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL - d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL
+    assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.preDriverDistracted
+    assert events[int((_redlight_time+_pre_to_prompt+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted

  # engaged, model is somehow uncertain and driver is distracted
  #  - should fall back to wheel touch after uncertain alert
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -78,22 +78,6 @@ class TestPandad:

    assert any(Panda(s).is_internal() for s in Panda.list())

-  def test_best_case_startup_time(self):
-    # run once so we're up to date
-    self._run_test(60)
-
-    ts = []
-    for _ in range(10):
-      # should be nearly instant this time
-      dt = self._run_test(5)
-      ts.append(dt)
-
-    # 5s for USB (due to enumeration)
-    # - 0.2s pandad -> pandad
-    # - plus some buffer
-    print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < 0.7
-
  def test_old_spi_protocol(self):
    # flash firmware with old SPI protocol
    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -409,6 +409,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                                       "Ensure road ahead is clear"),
  },

+  EventName.lateralManeuver: {
+    ET.WARNING: longitudinal_maneuver_alert,
+    ET.PERMANENT: NormalPermanentAlert("Lateral Maneuver Mode"),
+  },
+
  EventName.selfdriveInitializing: {
    ET.NO_ENTRY: NoEntryAlert("System Initializing"),
  },
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -74,7 +74,7 @@ class SelfdriveD:
    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
    self.car_state_sock = messaging.sub_sock('carState', timeout=20)

-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -83,7 +83,8 @@ class SelfdriveD:
    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'lateralManeuverPlan'] + \
                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -148,7 +149,10 @@ class SelfdriveD:
      self.events.add(EventName.joystickDebug)
      self.startup_event = None

-    if self.sm.recv_frame['alertDebug'] > 0:
+    if self.sm.recv_frame['lateralManeuverPlan'] > 0:
+      self.events.add(EventName.lateralManeuver)
+      self.startup_event = None
+    elif self.sm.recv_frame['alertDebug'] > 0:
      self.events.add(EventName.longitudinalManeuver)
      self.startup_event = None

--- a/selfdrive/test/.gitignore
+++ b/selfdrive/test/.gitignore
@@ -3,7 +3,7 @@ docker_out/

 process_replay/diff.txt
 process_replay/model_diff.txt
+process_replay/fakedata/
 valgrind_logs.txt

-*.bz2
 *.hevc
--- a/selfdrive/test/process_replay/.gitignore
+++ b/selfdrive/test/process_replay/.gitignore
@@ -1 +0,0 @@
-fakedata/
--- a/selfdrive/test/process_replay/diff_report.py
+++ b/selfdrive/test/process_replay/diff_report.py
@@ -0,0 +1,92 @@
+import os
+from collections import defaultdict
+
+from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR
+
+
+class MsgWrap:
+  """Adapter so to_dict() includes defaults"""
+  def __init__(self, msg):
+    self._msg = msg
+  def to_dict(self) -> dict:
+    return self._msg.to_dict(verbose=True)
+
+
+def diff_process(cfg, ref_msgs, new_msgs) -> tuple | None:
+  ref = defaultdict(list)
+  new = defaultdict(list)
+  for m in ref_msgs:
+    if m.which() in cfg.subs:
+      ref[m.which()].append(m)
+  for m in new_msgs:
+    if m.which() in cfg.subs:
+      new[m.which()].append(m)
+
+  diffs = []
+  for sub in cfg.subs:
+    if len(ref[sub]) != len(new[sub]):
+      diffs.append((f"{sub} (message count)", 0, (len(ref[sub]), len(new[sub])), 0))
+    for i, (r, n) in enumerate(zip(ref[sub], new[sub], strict=False)):
+      for d in compare_logs([r], [n], cfg.ignore, tolerance=cfg.tolerance):
+        if d[0] == "change":
+          a, b = d[2]
+          if a != a and b != b:
+            continue
+          diffs.append((d[1], i, d[2], r.logMonoTime))
+        elif d[0] in ("add", "remove"):
+          for item in d[2]:
+            if item[1] != item[1]:
+              continue
+            diffs.append((f"{d[1]}.{item[0]}", i, (d[0], item[1]), r.logMonoTime))
+  return (diffs, ref, new) if diffs else None
+
+
+def diff_format(diffs, ref, new, field) -> list[str]:
+  if any(part.isdigit() for part in field.split(".")):
+    return format_numeric_diffs(diffs)
+  msg_type = field.split(".")[0]
+  ref_ts = [(m.logMonoTime, MsgWrap(m)) for m in ref.get(msg_type, [])]
+  new_wrapped = [MsgWrap(m) for m in new.get(msg_type, [])]
+  return format_diff(diffs, ref_ts, new_wrapped, field)
+
+
+def diff_report(replay_diffs, segments) -> None:
+  seg_to_plat = {seg: plat for plat, seg in segments}
+
+  with_diffs, errors, n_passed = [], [], 0
+  for seg, proc, data in replay_diffs:
+    plat = seg_to_plat.get(seg, "UNKNOWN")
+    if data is None:
+      n_passed += 1
+    elif isinstance(data, str):
+      errors.append((plat, seg, proc, data))
+    else:
+      with_diffs.append((plat, seg, proc, data))
+
+  icon = "⚠️" if with_diffs else "✅"
+  lines = [
+    "## Process replay diff report",
+    "Replays driving segments through this PR and compares the behavior to master.",
+    "Please review any changes carefully to ensure they are expected.\n",
+    f"{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors",
+  ]
+
+  for plat, seg, proc, err in errors:
+    lines.append(f"\nERROR {plat} - {seg} [{proc}]: {err}")
+
+  if with_diffs:
+    lines.append("<details><summary><b>Show changes</b></summary>\n\n```")
+    for plat, seg, proc, (diffs, ref, new) in with_diffs:
+      lines.append(f"\n{plat} - {seg} [{proc}]")
+      by_field = defaultdict(list)
+      for d in diffs:
+        by_field[d[0]].append(d)
+      for field, fd in sorted(by_field.items()):
+        lines.append(f"\n  {field} ({len(fd)} diffs)")
+        lines.extend(diff_format(fd, ref, new, field))
+    lines.append("```\n</details>")
+
+  with open(os.path.join(PROC_REPLAY_DIR, "diff_report.txt"), "w") as f:
+    f.write("\n".join(lines))
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -39,6 +39,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
    migrate_controlsState,
    migrate_carState,
    migrate_liveLocationKalman,
+    migrate_livePose,
    migrate_liveTracks,
    migrate_driverAssistance,
    migrate_drivingModelData,
@@ -175,6 +176,7 @@ def migrate_liveLocationKalman(msgs):
    m = messaging.new_message('livePose')
    m.valid = msg.valid
    m.logMonoTime = msg.logMonoTime
+    m.livePose.timestamp = msg.logMonoTime
    for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
      lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
      lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
@@ -186,6 +188,21 @@ def migrate_liveLocationKalman(msgs):
  return ops, [], []


+@migration(inputs=["livePose"])
+def migrate_livePose(msgs):
+  ops = []
+  needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
+  if not needs_migration:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() == "livePose":
+      new_msg = msg.as_builder()
+      new_msg.livePose.timestamp = msg.logMonoTime
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
@migration(inputs=["controlsState"], product="selfdriveState")
 def migrate_controlsState(msgs):
  add_ops = []
--- a/Show More
+++ b/Show More