bump

# Conflicts:
#	opendbc_repo

.cache/plugin/git-committers/page-authors.json

@@ -1 +0,0 @@
-{"cache_date": "2024-08-08", "page_authors": {"docs/index.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}, {"login": "tecandrew", "name": "tecandrew", "url": "https://github.com/tecandrew", "avatar": "https://avatars.githubusercontent.com/u/21319730?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}]}, "docs/SAFETY.md": {"last_commit_date": "2023-07-25", "authors": [{"login": "haraschax", "name": "haraschax", "url": "https://github.com/haraschax", "avatar": "https://avatars.githubusercontent.com/u/6804392?v=4"}, {"login": "sshane", "name": "sshane", "url": "https://github.com/sshane", "avatar": "https://avatars.githubusercontent.com/u/25857203?v=4"}, {"login": "pd0wm", "name": "pd0wm", "url": "https://github.com/pd0wm", "avatar": "https://avatars.githubusercontent.com/u/1314752?v=4"}, {"login": "geohot", "name": "geohot", "url": "https://github.com/geohot", "avatar": "https://avatars.githubusercontent.com/u/72895?v=4"}]}, "docs/how-to/turn-the-speed-blue.md": {"last_commit_date": "2024-07-28", "authors": [{"login": "adeebshihadeh", "name": "adeebshihadeh", "url": "https://github.com/adeebshihadeh", "avatar": "https://avatars.githubusercontent.com/u/8762862?v=4"}]}}}

.codespellignore

@@ -1,3 +1,4 @@
 Wen
 REGIST
 PullRequest
+cancelled

.github/labeler.yaml

@@ -1,7 +1,11 @@
-CI / testing:
+ci:
   - changed-files:
     - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
+chore:
+  - changed-files:
+      - any-glob-to-all-files: "{.github/**}"
+
 car:
   - changed-files:
     - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'

.github/workflows/auto_pr_review.yaml

@@ -9,6 +9,7 @@ jobs:
     permissions:
       contents: read
       pull-requests: write
+      issues: write
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -28,25 +29,63 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
+        target: /^(?!master-new$).*/
+        exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-new` branch"
 
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ 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/sunnypilot/sunnypilot/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/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
+  update-pr-labels:
+    name: Update fork's PR Labels
+    runs-on: ubuntu-latest
+    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
+    env: 
+      PR_LABEL: 'dev-c3'
+      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
+    steps:
+      - name: Check if PR has dev-c3 label
+        id: check-labels
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber
+            });
+            
+            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
+            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
+            
+            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
+            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
+      
+      - name: Remove trust-fork-pr label if present
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.TRUST_FORK_PR_LABEL
+            });
+            
+            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
+            
+            // Add a comment to the PR
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
+            });

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

@@ -21,15 +21,30 @@ on:
   push:
     branches: [ master, master-new, master-dev-c3-new ]
     tags: [ '*' ]
+  pull_request_target:
+    types: [ labeled ]
   workflow_dispatch:
     inputs:
-      extra_version:
-        description: 'Extra version identifier'
+      wait_for_tests:
+        description: 'Wait for selfdrive_tests to finish'
         required: false
-        default: ''
+        type: boolean
+        default: false
 
 jobs:
+  validate_tests:
+    runs-on: ubuntu-24.04
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    steps:
+      - uses: actions/checkout@v4
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
   build:
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
@@ -39,10 +54,13 @@ jobs:
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
       commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+          ref: ${{ github.head_ref || github.ref_name }}
+          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
       - name: Cache SCons
@@ -59,15 +77,16 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set Configuration
+        if: (!github.event.pull_request.head.repo.fork)
         run: |
-          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+          if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
             # Dev configuration
             echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
             echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
             echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
           
-          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+          elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
             # Master configuration
             echo "BRANCH_TYPE=master" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
@@ -87,6 +106,13 @@ jobs:
             echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
             echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
           fi
+          
+      - name: Set Configuration (only forks)
+        if: (github.event.pull_request.head.repo.fork)
+        run: |
+          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
 
       - name: Set environment variables
         id: set-env
@@ -122,10 +148,6 @@ jobs:
           fi
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
-      - name: Build Panda
-        run: |
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
-
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"
@@ -194,14 +216,15 @@ jobs:
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
+
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
-    needs: build
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
-    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -245,7 +268,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: success()
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment
@@ -272,4 +295,27 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
           echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
+        shell: alpine.sh {0}
+  
+  manage-pr-labels:
+    name: Remove prebuilt label
+    runs-on: ubuntu-latest
+    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    env:
+      LABEL: prebuilt
+    steps:
+      - name: Remove trust-fork-pr label if present
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.LABEL
+            });
+
+            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/sunnypilot-master-dev-c3-prep.yaml

@@ -1,13 +1,22 @@
-name: Nightly Branch Reset and PR Squash
+name: Build dev-c3-new
 
 env:
   DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
 on:
+  push:
+    branches:
+      - master
+      - master-new    
+  pull_request_target:
+    types: [ labeled ]  
+    branches:    
+      - 'master'        
+      - 'master-new'            
   workflow_dispatch:
     inputs:
       source_branch:
@@ -20,18 +29,40 @@ on:
         required: true
         default: 'master-dev-c3-new'
         type: string
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
+      cancel_in_progress:
+        description: 'Cancel any in-progress runs of this workflow'
+        required: false
+        default: true
+        type: boolean
+
+concurrency:
+  group: ${{ github.workflow }}
+  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
 
 jobs:
   reset-and-squash:
     runs-on: ubuntu-latest
+    if: (
+            (github.event_name == 'workflow_dispatch')
+            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+        )
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        if: (
+                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            )
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Configure Git
         run: |
           git config --global user.name 'github-actions[bot]'
@@ -97,6 +128,17 @@ jobs:
                     headRefName
                     title
                     createdAt
+                    labels(last:10) {
+                      nodes {
+                        name
+                      }
+                    }
+                    headRepository {
+                      name
+                      nameWithOwner
+                      url
+                      isFork
+                    }
                     commits(last: 1) {
                       nodes {
                         commit {
@@ -109,7 +151,7 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
+            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
 
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:

.github/workflows/wait-for-action/action.yaml

@@ -0,0 +1,44 @@
+name: 'Wait for Tests'
+description: 'Action to wait for workflow tests to start and complete'
+inputs:
+  workflow:
+    description: 'The workflow file name to monitor'
+    required: true
+    default: 'selfdrive_tests.yaml'
+  branch:
+    description: 'The branch to monitor (defaults to current branch)'
+    required: false
+    default: ''
+  github-token:
+    description: 'GitHub token for API access'
+    required: true
+  wait-time:
+    description: 'Initial sleep time in seconds before monitoring starts'
+    required: false
+    default: '30'
+  should-wait-for-start:
+    description: 'Whether to wait for tests to start'
+    required: false
+    default: false
+
+runs:
+  using: 'composite'
+  steps:
+    - name: Wait for tests to start
+      if: inputs.should-wait-for-start == 'true'
+      shell: bash
+      run: |
+        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
+        sleep ${{ inputs.wait-time }}
+
+    - name: Wait for tests to finish
+      shell: bash
+      run: |
+        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
+        
+        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
+        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
+        echo "Watching run ID: $RUN_ID"
+        gh run watch "$RUN_ID"
+      env:
+        GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -15,7 +15,6 @@ a.out
 .hypothesis
 
 /docs_site/
-/docs_sp_site/
 
 *.dylib
 *.DSYM

Dockerfile.openpilot_base

@@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001

README.md

@@ -42,7 +42,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+
+> [!IMPORTANT]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |
+
+> [!TIP]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
@@ -66,12 +83,12 @@ sunnypilot is released under the [MIT License](LICENSE). This repository include
 
 The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
 
-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.  
->  
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.  
->  
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.  
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.  
+> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+>
+> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+>
+> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 > NO WARRANTY EXPRESSED OR IMPLIED.**
 
 For full license terms, please see the [`LICENSE`](LICENSE) file.

cereal/custom.capnp

@@ -136,6 +136,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     controlsMismatchLateral @12;
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
   }
 }
 

cereal/log.capnp

@@ -1174,6 +1174,8 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
+    desiredAcceleration @1 :Float32;
+    shouldStop @2 :Bool;
   }
 }
 
@@ -2284,6 +2286,7 @@ struct LiveDelayData {
   status @2 :Status;
 
   lateralDelayEstimate @3 :Float32;
+  lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
 
   enum Status {

cereal/services.py

@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Filet o Fish (Default)"
+#define DEFAULT_MODEL "Tomb Raider 3 (Default)"

common/params_keys.h

@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
+    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
     {"ExperimentalMode", PERSISTENT | BACKUP},
     {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -71,7 +71,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
+    {"LiveDelay", PERSISTENT},
     {"LiveParameters", PERSISTENT},
+    {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -127,6 +129,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"MaxTimeOffroad", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},

docs/CARS.md

@@ -4,19 +4,19 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 302 Supported Cars
+# 304 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -28,7 +28,7 @@ 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">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||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -54,23 +54,25 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</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 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</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 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</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 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</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 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</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 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</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 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</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 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</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 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</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 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</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 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
@@ -96,10 +98,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</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 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</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 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -110,11 +112,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 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 O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -122,36 +124,36 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>5</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 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>6</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 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023-24[<sup>5</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 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>6</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 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>5</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 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</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 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</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 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</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 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</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 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</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 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 2023-24[<sup>5</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023-24[<sup>6</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2018|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
@@ -162,11 +164,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>5</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>6</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</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 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -193,42 +195,42 @@ 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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=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>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=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>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=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|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |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 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=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 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=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 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 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 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 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 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 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 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Tesla|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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024[<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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>||
-|Tesla|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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW4) 2024[<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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
+|SEAT|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
+|Tesla|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
+|Tesla|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -241,8 +243,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -274,58 +276,60 @@ 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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=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>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</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>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>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>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</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>14</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>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>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>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>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 3X 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/).

docs_sp/CHANGELOGS.md

@@ -1,965 +0,0 @@
-sunnypilot - 0.9.8.0 (2024-xx-xx)
-========================
-* Always on driver monitoring toggle
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit 4ef757c (July 06, 2024)
-* NEW❗: Default Driving Model: Notre Dame (July 01, 2024)
-* NEW❗: Longitudinal: Acceleration Personality thanks to kegman, rav4kumar, and arne1282!
-  * Select from three distinct acceleration personalities: Eco, Normal, and Sport
-  * Acceleration personalities are integrated directly into the model's acceleration matrix and can be activated in real-time!
-* NEW❗: Longitudinal: Dynamic Personality thanks to rav4kumar!
-  * Dynamically adjusts following distance and reaction based on your "Driving Personality" setting
-  * Personalities adapt in real-time to your speed and the distance to the lead car
-  * Provides a more responsive and tailored driving experience compared to predefined settings
-* UPDATED: Driving Personality: Updated mode names
-  * Aggressive, Moderate, Standard, Relaxed
-* NEW❗: Toyota - Enhanced Blind Spot Monitor (BSM) thanks to arne182, rav4kumar, and eFiniLan!
-  * Enables Blind Spot Monitor (BSM) signals parsing in sunnypilot using the factory Blind Spot Monitor (BSM)
-  * sunnypilot will use debugging CAN messages to receive unfiltered BSM signals, allowing detection of more objects
-  * Supported platforms
-    * RAV4 TSS1, equipped with factory Blind Spot Monitoring (BSM)
-    * Lexus LSS1, equipped with factory Blind Spot Monitoring (BSM)
-    * Toyota TSS1/1.5, equipped with factory Blind Spot Monitoring (BSM)
-    * Prius TSS2, equipped with factory Blind Spot Monitoring (BSM)
-  * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
-* UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
-  * Re-tuned and tested by the community (July 1, 2024)
-* UPDATED: Driving Model Selector v5
-  * NEW❗: Driving Model additions
-    * Notre Dame (July 01, 2024) - NDv3
-* UPDATED: Toyota: Continued support for Smart DSU (SDSU) and Radar CAN Filter
-  * In response to the official deprecation of support for Smart DSU (SDSU) and Radar CAN Filter in the upstream ([commaai/openpilot#32777](https://github.com/commaai/openpilot/pull/32777)), sunnypilot will continue maintaining software support for Smart DSU (SDSU) and Radar CAN Filter
-* UPDATED: Continued support for Mapbox navigation
-  * In response to the official temporary deprecation of support for Mapbox navigation in the upstream ([commaai/openpilot#32773](https://github.com/commaai/openpilot/pull/32773)), sunnypilot will continue maintaining software support for Mapbox navigation
-* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
-  * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
-  * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
-* FIXED: Driving Personality:
-  * Maniac mode now correctly enforced when selected
-* UI Updates
-  * Display Metrics Below Chevron
-    * NEW❗: Time to Lead Car
-      * Displays the time to reach the position previously occupied by the lead car
-    * NEW❗: Display Distance, Speed, and Time to Lead Car simultaneously
-* Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
-
-sunnypilot - 0.9.7.1 (2024-06-13)
-========================
-* New driving model
-  * Inputs the past curvature for smoother and more accurate lateral control
-  * Simplified neural network architecture in the model's last layers
-  * Minor fixes to desire augmentation and weight decay
-* New driver monitoring model
-  * Improved end-to-end bit for phone detection
-* Adjust driving personality with the follow distance button
-* Support for hybrid variants of supported Ford models
-* Fingerprinting without the OBD-II port on all cars
-* Improved fuzzy fingerprinting for Ford and Volkswagen
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit f8cb04e (June 10, 2024)
-* NEW❗: sunnylink (Alpha early access)
-  * NEW❗: Config/Settings Backup
-    * Remotely back up and restore sunnypilot settings easily
-    * Device registration with sunnylink ensures a secure, integrated experience across services
-    * AES encryption derived from the device's RSA private key is used for utmost security
-    * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
-    * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
-    * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
-  * GitHub account pairing from device settings scanning QR code
-    * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
-    * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
-* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
-  * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
-  * comma Prime support
-  * Personal Mapbox/Amap/Google Maps token support
-  * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
-* NEW❗: Forced Offroad mode
-  * Force sunnypilot in the offroad state even when the car is on
-  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
-  * To engage/disengage Force Offroad, go to Settings -> Device panel
-* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
-  * NEW❗: New "Off" option to disable lane change by blinker
-* UPDATED: Pause Lateral Below Speed with Blinker
-  * NEW❗: Customizable Pause Lateral Speed
-    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
-* UPDATED: Hyundai CAN Longitudinal
-  * Auto-enable radar tracks on platforms with applicable Mando radar
-* UPDATED: Hyundai CAN-FD Camera-based SCC
-  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
-    * Improve lead tracking when using openpilot longitudinal
-* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
-  * openpilot Longitudinal Control available cars
-  * Custom Stock Longitudinal Control available cars
-* UPDATED: Continued support for comma Pedal
-  * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
-* UPDATED: Driving Model Selector v4
-  * NEW❗: Driving Model additions
-    * North Dakota (April 29, 2024) - NDv2
-    * WD40 (April 09, 2024) - WD40
-    * Duck Amigo (March 18, 2024) - DA
-    * Recertified Herbalist (March 01, 2024) - CHLR
-  * Legacy Driving Models with Navigate on openpilot (NoO) support
-    * Includes Duck Amigo and all preceding models
-* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
-* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
-  * Reset self-service access tokens for Mapbox, Amap, and Google Maps
-* UPDATED: Upstream native support for Gap Adjust Cruise
-* UPDATED: Neural Network Lateral Control (NNLC)
-  * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
-  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
-* UI Updates
-  * Display Metrics Below Chevron
-    * NEW❗: Metrics is now being displayed below the chevron instead of above
-    * NEW❗: Display both Distance and Speed simultaneously
-    * NEW❗: View sunnylink connectivity status on the left sidebar!
-
-sunnypilot - 0.9.6.2 (2024-05-29)
-========================
-* REMOVED: Screen Recorder
-  * Screen Recorder is removed due to unnecessary resource usage
-  * An improved version will be available in the near future. Stay tuned!
-
-sunnypilot - 0.9.6.1 (2024-02-27)
-========================
-* New driving model
-  * Vision model trained on more data
-  * Improved driving performance
-  * Directly outputs curvature for lateral control
-* New driver monitoring model
-  * Trained on larger dataset
-* AGNOS 9
-* comma body streaming and controls over WebRTC
-* Improved fuzzy fingerprinting for many makes and models
-* Alpha longitudinal support for new Toyota models
-* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Durango 2020-21 support
-* Hyundai Staria 2023 support thanks to sunnyhaibin!
-* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
-* Lexus LC 2024 support thanks to nelsonjchen!
-* Toyota RAV4 2023-24 support
-* Toyota RAV4 Hybrid 2023-24 support
-************************
-* UPDATED: Synced with commaai's openpilot
-  * master commit db57a21 (February 22, 2024)
-  * v0.9.6 release (February 27, 2024)
-* UPDATED: Dynamic Experimental Control (DEC)
-  * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
-* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
-* UPDATED: Driving Model Selector v3
-  * NEW❗: Driving Model additions
-    * Certified Herbalist v2 (February 13, 2024) - CHv2
-    * Certified Herbalist (February 5, 2024) - CH
-    * Los Angeles v2 (January 24, 2024) - LAv2
-    * Los Angeles (January 22, 2024) - LAv1
-  * NEW❗: Model Caching thanks to DevTekVE!
-    * Model caching allows the selection of previously downloaded Driving Model
-    * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
-  * Legacy Driving Models support
-    * New Delhi (December 21, 2023) - ND
-    * Blue Diamond v2 (December 11, 2023) - BDv2
-    * Blue Diamond (November 18, 2023) - BDv1
-    * Farmville (November 7, 2023) - FV
-    * Night Strike (October 3, 2023) - NS
-  * Certain features are deprecated with newer Driving Models
-    * Dynamic Lane Profile (DLP)
-    * Custom Offsets
-* UPDATED: Dynamic Lane Profile (DLP)
-  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
-  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
-* UPDATED: Custom Offsets
-  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
-  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
-* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
-  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
-* UI Updates
-  * NEW❗: Visuals: Display Feature Status toggle
-    * Display the statuses of certain features on the driving screen
-  * NEW❗: Visuals: Enable Onroad Settings toggle
-    * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
-  * REMOVED: "Device ambient" temperature option on the sidebar
-* FIXED: New comma 3X support
-* FIXED: New comma eSIM support
-* Bug fixes and performance improvements
-
-sunnypilot - 0.9.5.3 (2023-12-24)
-========================
-* UPDATED: Dynamic Experimental Control (DEC)
-  * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
-* UPDATED: Driving Model Selector v2
-  * Driving models sort in descending order based on availability date
-  * Experimental/unmerged driving models are only available in "dev-c3" branch
-    * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
-* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
-  * Refactored implementation thanks to pfeiferj!
-  * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
-* NEW❗: Speed Limit Warning
-  * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
-  * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
-* UPDATED: Speed Limit Source Policy
-  * Selectable speed limit source for Speed Limit Control and Speed Limit Warning
-  * Applicable to: Speed Limit Control, Speed Limit Warning
-* UPDATED: Speed Limit Control (SLC)
-  * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
-* UPDATED: OpenStreetMap (OSM) implementation
-  * Refactored implementation thanks to pfeiferj!
-    * Less resource impact
-    * Significantly smaller sizes with databases
-    * All regions are available to download
-    * Weekly map updates thanks to pfeiferj!
-    * Increased the font size of the road name
-  * C3X-specific changes
-    * Altitude (ALT.) display on Developer UI
-    * Current street name on top of driving screen when "OSM Debug UI" is enabled
-* UPDATED: Map-based Turn Speed Control (M-TSC) implementation
-  * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
-  * Refactored implementation thanks to pfeiferj!
-  * Based on the new OpenStreetMap implementation
-  * Improved predicted curvature calculations from OpenStreetMap data
-* UI updates
-  * RE-ENABLED: Navigation: Full screen support
-    * Display the map view in full screen
-    * To switch back to driving view, tap on the border edge
-* Hyundai Bayon Non-SCC 2019 support thanks to polein78!
-
-sunnypilot - 0.9.5.2 (2023-12-07)
-========================
-* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode
-  * Allow navigation to feed map view into the driving model while using Chill Mode
-  * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
-* NEW❗: Neural Network Lateral Controller
-  * Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
-  * Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
-* NEW❗: Driving Model Selector
-  * Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
-    * An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
-  * Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
-  * Change driving models via **Settings -> Software -> Current Driving Model**.
-* NEW❗: Hyundai CAN longitudinal:
-  * NEW❗: Enable radar tracks for certain Santa Fe platforms
-    * Internal Combustion Engine (ICE) 2021-23
-    * Hybrid 2022-23
-    * Plug-in Hybrid 2022-23
-* NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
-* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
-
-sunnypilot - 0.9.5.1 (2023-11-17)
-========================
-* UPDATED: Synced with commaai's master commit e94c3c5
-* NEW❗: Farmville driving model
-* NEW❗: Onroad Settings Panel
-  * Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
-    * Driving Personality
-    * Dynamic Lane Profile (DLP)
-    * Dynamic Experimental Control (DEC)
-    * Speed Limit Control (SLC)
-* NEW❗: Display main feature status on onroad view in real-time
-  * GAP - Driving Personality
-  * DLP - Dynamic Lane Profile
-  * DEC - Dynamic Experimental Control
-  * SLC - Speed Limit Control
-* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
-  * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
-  * Dynamic Experimental Control is only active while in Experimental Mode
-  * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
-* NEW❗: Hyundai CAN longitudinal:
-  * NEW❗: Parse lead info for camera-based SCC platforms
-    * Improve lead tracking when using openpilot longitudinal
-  * NEW❗: Parse lead distance to display on car cluster
-    * Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
-    * Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
-  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
-* NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl!
-  * Global (excluding Gen 2 and Hybrid) and Pre-Global support
-* NEW❗: Toyota - Stop and Go hack
-  * Allow some Toyota/Lexus cars to auto resume during stop and go traffic
-  * Only applicable to certain models and model years
-* NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
-* NEW❗: MSPA (Cereal structs refactor)
-  * Make sunnypilot Parsable Again - @sshane
-  * sunnypilot is now parsable with stock openpilot tools
-* NEW❗: Display 3D buildings on map thanks to jakethesnake420!
-* openpilot Longitudianl Control capable cars only
-  * UPDATED: Gap Adjust Cruise is now a part of Driving Personality
-    * [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
-    * Status now viewable in onroad view or Onroad Settings Panel
-    * REMOVED: Gap Adjust Cruise toggle
-* UPDATED: Speed Limit Control (SLC)
-  * NEW❗: Speed Limit Engage Mode
-    * Select the desired mode to set the cruising speed to the speed limit
-      * Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
-      * Auto: Automatic speed adjustment on motorways based on speed limit data
-      * User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
-    * Supported platforms
-      * openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
-      * Custom Stock Longitudinal Control available cars
-    * Unsupported platforms
-      * Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
-  * NEW❗: Speed limit source selector
-    * Select the desired precedence order of sources used to adapt cruise speed to road limits
-* UPDATED: Custom Stock Longitudinal Control
-  * RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
-* UPDATED: Custom Offsets reimplementation
-  * Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
-  * Path Offset can be applied to both Laneless and Laneful
-* UPDATED: Refactored Torque Lateral Control custom tuning menu
-  * NEW❗: Less Restrict Settings for Self-Tune (Beta)
-  * NEW❗: Custom Tuning for setting offline and live values in real-time
-* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
-  * REMOVED: "Enable Mapbox Navigation" toggle
-* UI updates
-  * New Settings menu redesign and improved interactions
-* FIXED: Retain hotspot/tethering state was not consistently saved
-* FIXED: Map stuck in "Map Loading" if comma Prime is active
-* FIXED: OpenStreetMap implementation on C3X devices
-  * M-TSC
-  * Altitude (ALT.) display on Developer UI
-  * Current street name on top of driving screen when "OSM Debug UI" is enabled
-* Hyundai Kona Non-SCC 2019 support thanks to Quex!
-* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!
-
-sunnypilot - 0.9.4.1 (2023-08-11)
-========================
-* UPDATED: Synced with commaai's 0.9.4 release
-* NEW❗: Moonrise driving model
-* NEW❗: Ford upstream models support
-* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
-* REMOVED: Dynamic Lane Profile driving screen UI button
-* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
-  * Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
-* REMOVED: Speed Limit Style override
-* Honda Accord 2016-17 support thanks to mlocoteta!
-  * Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
-* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!
-
-sunnypilot - 0.9.3.1 (2023-07-09)
-========================
-* UPDATED: Synced with commaai's 0.9.3 release
-* NEW❗: Display Temperature on Sidebar toggle
-  * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
-  * Replace "Display CPU Temperature on Sidebar" toggle
-* NEW❗: Hot Coffee driving model
-* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
-  * Smoother stopping behind a stopped car or desired stopping event.
-  * This is only applicable to HKG CAN platforms using openpilot longitudinal control
-* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
-  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
-* NEW❗: Enable Screen Recorder toggle
-  * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
-* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
-* REMOVED: Display CPU Temperature on Sidebar
-
-sunnypilot - 0.9.2.3 (2023-06-18)
-========================
-* NEW❗: Auto Lane Change: Delay with Blind Spot
-  * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
-* NEW❗: Driving Screen Off: Wake with Non-Critical Events
-  * When Driving Screen Off Timer is not set to "Always On":
-    * Enabled: Wake the brightness of the screen to display all events
-    * Disabled: Wake the brightness of the screen to display critical events
-  * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
-* NEW❗: Fleet Manager PIN Requirement toggle
-  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
-* NEW❗: Reset all sunnypilot settings toggle
-* NEW❗: Turn signals display on screen when blinker is used
-  * Green: Blinker is on
-  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
-* IMPROVED: mapd: better exceptions handling when loading dependencies
-* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
-* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
-* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
-  * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
-* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
-
-sunnypilot - 0.9.2.2 (2023-06-13)
-========================
-* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
-* IMPROVED: Ram: cruise button handling
-
-sunnypilot - 0.9.2.1 (2023-06-10)
-========================
-* UPDATED: Synced with commaai's 0.9.2 release
-* UPDATED: feature revamp with better stability
-* UPDATED:
-  * M.A.D.S.
-    * Path color becomes LIGHT ORANGE during Driver Steering Override
-  * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
-    * Updated profiles and jerk changes
-    * Experimental Mode support
-    * Three settings: Stock, Aggressive, and Maniac
-    * Stock is recommended and the default
-    * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
-  * Dynamic Lane Profile
-    * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
-    * Auto Mode optimization
-      * Permanent: Laneless during Auto Lane Change execution
-  * Mapd
-    * OpenStreetMap Database: new regions added
-  * Developer UI (Dev UI)
-    * REMOVED: 2-column design
-    * NEW❗: 1-column + 1-row design
-  * Custom Stock Longitudinal Control
-    * NEW❗: Chrysler/Jeep/Ram support
-    * NEW❗: Mazda support
-    * NEW❗: Volkswagen PQ support
-    * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
-* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
-  * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
-  * All openpilot longitudinal capable cars support
-* NEW❗: Nicki Minaj driving model
-* NEW❗: Nissan and Mazda upstream models support
-* NEW❗: Pre-Global Subaru upstream models support
-* NEW❗: Display End-to-end Longitudinal Status (Beta)
-  * Display an icon that appears when the End-to-end model decides to start or stop
-* NEW❗: Green Traffic Light Chime (Beta)
-  * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
-* NEW❗: Lead Vehicle Departure Alert
-  * Notify when the leading vehicle drives away
-* NEW❗: Speedometer: Display True Speed
-  * Display the true vehicle current speed from wheel speed sensors.
-* NEW❗: Speedometer: Hide from Onroad Screen
-* NEW❗: Auto-Hide UI Buttons
-  * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
-  * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
-* NEW❗: Display DM Camera in Reverse Gear
-  * Show Driver Monitoring camera while the car is in reverse gear
-* NEW❗: Block Lane Change: Road Edge Detection (Beta)
-  * Block lane change when road edge is detected on the stalk actuated side
-* NEW❗: Display CPU Temperature on Sidebar
-  * Display the CPU core with the highest temperature on the sidebar
-* NEW❗: Display current driving model in Software settings
-* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
-* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
-* FIXED: mapd: Exception handling for loading dependencies
-* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
-  * Access your dashcam footage, screen recordings, and error logs when the car is turned off
-  * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
-* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
-* Ram: Steer to 0/7 MPH support thanks to vincentw56!
-* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
-
-sunnypilot - Version Latest (2023-02-22)
-========================
-* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
-* Refactor sunnypilot features to be more stable
-
-sunnypilot - Version Latest (2022-12-16)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
-* NEW❗: GM:
-    * NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive
-    * NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
-* REMOVED❌: Toytoa: SnG Hack
-    * This method is not recommended and may cause some cars to not behave as expected
-    * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
-* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
-    * VOACC performance is drastically improved when using Chill Mode
-* IMPROVED: M.A.D.S. events handling
-* IMPROVED: UI: screen recorder button change
-* IMPROVED: OpenStreetMap Offline Database optimization
-* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
-* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
-* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-12-10)
-========================
-* IMPROVED: NEW❗ Developer UI design
-    * Second column metrics is now moved to the bottom of the screen
-        * ACC. = Acceleration
-        * L.S. = Lead Speed
-        * E.T. = EPS Torque
-        * B.D. = Bearing Degree
-        * FRI. = Friction
-        * L.A. = Lateral Acceleration
-        * ALT. = Altitude
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-12-07)
-========================
-* NEW❗: Screen Recorder support thanks to neokii and Kumar!
-* NEW❗: End-to-end longitudinal start/stop status icon
-    * Only appears when Experimental Mode is enabled
-* NEW❗: End-to-end longitudinal car chime when starting
-    * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
-    * i.e. Traffic light turns green, stop sign ready to go, etc.
-    * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-12-05)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-11-12)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
-* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-11-11)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
-* commaai: AGNOS 6.2 (commaai/openpilot#26441)
-* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit
-    * Compatible with certain models, trims, and model years
-* DISABLED: FCA: RAM HD - steer down to 0
-* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
-* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-11-08)
-========================
-* ADDED: New Zealand offline OpenStreetMap database
-
-sunnypilot - Version Latest (2022-11-04)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
-* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
-    * Can be found in "SP - Controls" menu
-* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco!
-    * Can be found in "SP - Controls" menu
-* NEW❗: UI: Road Camera Selector
-    * Enable this will display a button on the driving screen to select the driving camera
-    * Can be found in "SP - Visuals" menu
-* NEW❗: Controls: Camera & Path Custom Offsets
-    * Only applicable to laneline mode when using Dynamic Lane Profile
-* NEW❗: Buttons on driving screen are now sorted based on priority and availability
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-28)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-26)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-25)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
-* Pre-Global Subaru support thanks to @martinl!
-* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-23)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
-* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
-* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-21)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
-* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-20)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-19)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
-* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-18)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
-* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
-* NEW❗: Steering Rate Cost Live Tune
-    * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
-    * Can be found in "SP - Controls" menu
-* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-17)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
-* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
-* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-13)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
-* ADDED: Live Tmux toggle
-    * Can be found in "SP - General" menu
-* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-11)
-========================
-* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
-* ADDED: Check for OpenStreetMap Database Update button
-* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
-* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
-* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-09)
-========================
-* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
-* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
-* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-08)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
-* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
-* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
-* IMPROVED: OpenStreetMap Offline Database download experience
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-10-07)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
-* NEW❗: OpenStreetMap database can now be downloaded locally for offline use
-    * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
-    * Databases updated - 2022.10.05-03:30:00:GMT
-* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
-    * Go to https://openstreetmap.org and start mapping out your area!
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-09-30)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
-* RE-ADDED: Torque Lateral Controller Live Tune Menu
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-09-23)
-========================
-* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
-* Bug fixes and performance improvements
-
-sunnypilot - Version Latest (2022-09-22)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
-* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control
-    * Applicable cars only: Honda, Hyundai/Kia/Genesis
-    * Settings -> Toggles menu
-
-sunnypilot - Version Latest (2022-09-21)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
-* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
-    * To enable, first enable "Enforce Torque Lateral Controller" toggle
-* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
-    * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
-    * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
-* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
-
-sunnypilot - Version Latest (2022-09-20)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
-* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
-    * To enable, first enable "Enforce Torque Lateral Controller" toggle
-* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
-
-sunnypilot - Version Latest (2022-09-18)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
-* ADDED: Kia Forte Non-SCC 2019 support for @askalice
-* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
-* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
-
-sunnypilot - Version Latest (2022-09-17)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
-* NEW❗: Non SCC HKG support
-    * Custom Stock Longitudinal Control
-    * ❗No❗ openpilot longitudinal control
-* FIXED: Honda Bosch random low-value set speed changes
-
-sunnypilot - Version Latest (2022-09-16)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
-
-sunnypilot - Version Latest (2022-09-15)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
-* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
-* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
-
-sunnypilot - Version Latest (2022-09-14)u
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: GM models supported in Force Car Recognition (FCR)
-    * Under "SP - Vehicles"
-* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
-* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
-* UPDATED: ESCC: Use radar tracks from radar if available
-
-sunnypilot - Version Latest (2022-09-13)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: New metric in Developer UI
-    * Actual Lateral Acceleration (Roll Compensated)
-
-sunnypilot - Version Latest (2022-09-12)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
-
-sunnypilot - Version Latest (2022-09-11)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
-* RE-ENABLED: MADS Status Icon toggle
-
-sunnypilot - Version Latest (2022-09-10)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
-* NEW❗: RAM improvement implementation thanks to realfast!
-* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
-* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
-
-sunnypilot - Version Latest (2022-09-09)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
-* NEW❗: MADS now supporting General Motors (GM)
-* ADDED: Custom Stock Longitudinal Control - Volkswagen
-    * MQB & PQ
-* ADDED: Reverse ACC Change
-    * ACC +/-: Short=5, Long=1
-* ADDED: Custom Stock Longitudinal Control
-    * Hyundai/Kia/Genesis
-    * Honda Bosch
-* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
-* Vision Turn Speed Control re-enabled
-* Disable Onroad Uploads toggle re-enabled
-
-sunnypilot - Version Latest (2022-09-08)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
-* NEW❗: Block lane change initiation while brake is pressed
-
-sunnypilot - Version Latest (2022-09-07)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
-* NEW❗: Display End-to-end longitudinal 🌮 on screen
-    * NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
-    * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
-    * Only applicable to cars with openpilot longitudinal control
-* NEW❗: Block lane change initiation while brake is pressed
-* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
-* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
-
-sunnypilot - Version Latest (2022-09-06)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
-* NEW❗: Display useful metrics above the chevron that tracks the lead car
-    * Under "SP - Visuals" menu
-    * Only applicable to cars with openpilot longitudinal control
-* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
-* FIXED: Vienna speed limit interface now scales properly with the outer box
-* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
-
-sunnypilot - Version Latest (2022-09-05)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
-* NEW❗: Speed Limit Control (SLC) interface integrated with upstream
-* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control
-* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
-
-sunnypilot - Version Latest (2022-09-04)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
-* FIXED: Gap Adjust Cruise status now displays properly on screen
-* FIXED: mapd - missing index in list caused mapd to crash
-* REMOVED: Temporary removed Vision Turn Speed Control
-
-sunnypilot - Version Latest (2022-09-03)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
-* ADDED: New border colors for different operation engagements
-* ADDED: UI: Show barrier when car detected in blind spot
-    * Only applicable to cars that have BSM detection with openpilot
-* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
-* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
-* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
-
-sunnypilot - Version Latest (2022-08-31)
-========================
-* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
-* ADDED: New border colors for different operation engagements
-* ADDED: UI: Show barrier when car detected in blind spot
-    * Only applicable to cars that have BSM detection with openpilot
-* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
-* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
-
-sunnypilot - Version 0.8.16 (2022-07-16)
-========================
-* Sync with commaai's master branches
-* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
-* IMPROVED: Better controls mismatch handling
-* IMPROVED: Less frequent Low Memory alert
-* IMPROVED: Only allow lateral control when in forward gears
-* IMPROVED: Better alerts handling on gear changes
-
-sunnypilot - Version 0.8.14-1.3 (2022-06-29)
-========================
-* Hyundai/Kia/Genesis
-    * NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
-        * To engage/disengage MADS: Hold the button for 0.5 second
-* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
-* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
-    * Torque control: higher low speed gains and better steering angle deadzone logic
-* Developer UI: Remove Distance Traveled, replace with Memory Usage %
-    * This may have a potential to fix the Low Memory alert that may appear
-
-sunnypilot - Version 0.8.14-1 (2022-06-27)
-========================
-* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
-
-sunnypilot - Version 0.8.14-1 (2022-06-27)
-========================
-* NEW❗: Added toggle to enable updates for sunnypilot
-* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
-* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
-    * LKAS button continues to be used for MADS engagement/disengagement
-
-sunnypilot - Version 0.8.14-1 (2022-06-26)
-========================
-Visit https://bit.ly/sunnyreadme for more details
-* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
-* "0.8.14-prod-c3" branch only supports comma three
-    * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-* Mono-branch support
-    * Honda/Acura
-    * Hyundai/Kia/Genesis
-    * Toyota/Lexus
-    * Volkswagen MQB
-* Modified Assistive Driving Safety (MADS) Mode
-    * NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes
-    * NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
-* Dynamic Lane Profile (DLP)
-* NEW❗: Gap Adjust Cruise (GAC)
-    * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
-        * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
-* NEW❗: Custom Camera & Path Offsets
-* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
-* NEW❗: Torque Lateral Control Live Tune Menu
-* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
-* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
-    * Speed limit data will be utilized in the following availability:
-        * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
-* Custom Stock Longitudinal Control
-    * NEW❗: Volkswagen MQB
-    * Honda
-    * Hyundai/Kia/Genesis
-* NEW❗: Mapbox navigation support for non-Prime users
-    * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-* Hyundai/Kia/Genesis
-    * NEW❗: Enhanced SCC (ESCC) Support
-        * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-    * NEW❗: Smart MDPS (SMDPS) Support - Auto-detection
-        * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
-* Toyota/Lexus
-    * NEW❗: Added toggle to enforce stock longitudinal control
-
-sunnypilot - Version 0.8.12-4
-========================
-* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
-    * Speed Limit Control
-    * Vision-based Turn Control
-    * Map-based Turn Control
-* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
-* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13
-* NEW❗: Dev UI to display different metrics on screen
-    * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
-    * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
-* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
-* NEW❗: Current car speed text turns red when the car is braking
-* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
-* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
-* NEW❗: ACC +/-: Short=5, Long=1
-    * Change the ACC +/- buttons behavior with cruise speed change in openpilot
-    * Disabled (Stock):  Short=1, Long=5
-    * Enabled:  Short=5, Long=1
-* NEW❗: Speed Limit Value Offset (not %)*
-    * Set speed limit higher or lower than actual speed limit for a more personalized drive.
-    * *To use this feature, turn off "Enable Speed Limit % Offset"*
-* NEW❗: Dedicated icon to show the status of M.A.D.S.
-* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
-* NEW❗: Stop N' Go Resume Alternative
-    * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
-* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
-* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
-
-sunnypilot - Version 0.8.12-3
-========================
-* NEW❗: Bypass "System Malfunction" alert toggle
-    * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
-* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
-
-sunnypilot - Version 0.8.12-2
-========================
-* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
-    * Enable Stock openpilot engagement/disengagement
-* ADJUST: Initialize Driving Screen Off Brightness at 50%
-
-sunnypilot - Version 0.8.12-1
-========================
-* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
-* Dedicated Hyundai/Kia/Genesis branch support
-* NEW❗: OpenStreetMap integration thanks to the Move Fast team!
-    * NEW❗: Vision-based Turn Control
-    * NEW❗: Map-Data-based Turn Control
-    * NEW❗: Speed Limit Control w/ optional Speed Limit Offset
-    * NEW❗: OpenStreetMap integration debug UI
-    * Only available to openpilot longitudinal enabled cars
-* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation
-* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
-* NEW❗: Fast Boot (Prebuilt)
-* NEW❗: Auto Lane Change Timer
-* NEW❗: Screen Brightness Control (Global)
-* NEW❗: Driving Screen Off Timer
-* NEW❗: Driving Screen Off Brightness (%)
-* NEW❗: Max Time Offroad
-* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
-    * Lane Path
-        * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
-        * White⚪: M.A.D.S. suspended or disengaged
-        * Black⚫: M.A.D.S. engaged, steering is being manually override by user
-    * Screen border now only illuminates Green when SCC/ACC is engaged
-
-sunnypilot - Version 0.8.10-1 (Unreleased)
-========================
-* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
-* Add Toyota cars to Force Car Recognition
-
-sunnypilot - Version 0.8.9-4
-========================
-* Hyundai: Fix Ioniq Hybrid signals
-
-sunnypilot - Version 0.8.9-3
-========================
-* Update home screen brand and version structure
-
-sunnypilot - Version 0.8.9-2
-========================
-* Added additional Sonata Hybrid Firmware Versions
-* Features
-    * Modified Assistive Driving Safety (MADS) Mode
-    * Dynamic Lane Profile (DLP)
-    * Quiet Drive 🤫
-    * Force Car Recognition (FCR)
-    * PID Controller: add kd into the stock PID controller
-
-sunnypilot - Version 0.8.9-1
-========================
-* First changelog!
-* Features
-    * Modified Assistive Driving Safety (MADS) Mode
-    * Dynamic Lane Profile (DLP)
-    * Quiet Drive 🤫
-    * Force Car Recognition (FCR)
-    * PID Controller: add kd into the stock PID controller

docs_sp/SAFETY.md

@@ -1,36 +0,0 @@
-# Safety
-
-openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
-Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
-driver to be alert and to pay attention at all times.
-
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
-
-However, even with an attentive driver, we must make further efforts for the system to be
-safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
-used safely** and openpilot is provided with no warranty of fitness for any purpose.
-
-openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
-industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
-ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
-released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
-on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
-
-Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
-ensuring two main safety requirements.
-
-1. The driver must always be capable to immediately retake manual control of the vehicle,
-   by stepping on the brake pedal or by pressing the cancel button.
-2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1]. 
-
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
-
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
-
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
-

docs_sp/assets/features/dlp-1.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:996ef2f2fad71a5fa0c8a175c6f05fc841330ee57c1edee871077a95c737ac9f
-size 62046

docs_sp/assets/features/dlp-2.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2ac783627ef97d31bbe79281986226c1a06501a80ba57f73e5cc66bae318242c
-size 107559

docs_sp/assets/features/dlp-3.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:abac3aad3f1f6fd8cd0d278e82c5a7e79aa7e9e3275fe261bc387acab63bd046
-size 164956

docs_sp/branches/definitions.md

@@ -1,11 +0,0 @@
-# Definitions
-
-|    Branch    | Definition | Description                                                                                                                                                                                                                                 | Stability/Readiness |
-|:------------:|------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---|
-| `release-c3` | Release branch | Stable release branches. After testing on `staging-c3`, updates are pushed here and published publicly.                                                                                                                            | **Ready to Use:** Highly stable, recommended for most users. |
-| `staging-c3` | Staging branch | Pre-release testing branches. Community feedback is essential to identify issues before public release.                                                                                                                                     | **Varied Stability:** Generally stable, but intended for testing before public release. |
-|   `dev-c3`   | Development branches | Experimental branches with the latest features and bug fixes brought in manually. Expect bugs and braking changes.                                                                                                                          | **Experimental:** Least stable, suitable for testers and developers. |
-|   `master`   | Primary development branch | All Pull Requests are merged here for future releases. CI automatically strips, minifies, and pushes changes to `staging-c3`. Running the `master` branch is suitable for development purposes but not recommended for non-development use. | **For Development Use:** Suitable for developers, may be unstable for general use. |
-
-!!! tip
-    Your feedback is invaluable. Testers, even without software development experience, are encourage to run `dev-c3` or `staging-c3` and report issues.

docs_sp/branches/recommended-branches.md

@@ -1,7 +0,0 @@
-# Recommended Branches
-
-|      Branch      | Compatible Device | Installation URL          | Change Logs                                                                              |
-|:----------------:|-------------------|---------------------------|------------------------------------------------------------------------------------------|
-|   `release-c3`   | comma 3/3X        | release-c3.sunnypilot.ai  | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
-|   `staging-c3`   | comma 3/3X        | staging-c3.sunnypilot.ai  | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |
-|     `dev-c3`     | comma 3/3X        | dev-c3.sunnypilot.ai      | [CHANGELOGS.md](https://github.com/sunnyhaibin/sunnypilot/blob/release-c3/CHANGELOGS.md) |

docs_sp/community/CONTRIBUTING.md

@@ -1,68 +0,0 @@
-# How to contribute
-
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about open-sourcing and externalization](https://www.sunnypilot.ai/blog/july/a-new-chapter-transparency/). Development activity is coordinated through our [GitHub Issues](https://github.com/sunnypilot/sunnypilot/issues), [GitHub Discussions](https://github.com/sunnypilot/sunnypilot/discussions), and [Discord](https://discord.sunnypilot.ai).
-
-### Getting Started
-
-* Setup your [development environment](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
-* Read about the [development workflow](WORKFLOW.md)
-* Join our [Discord](https://discord.sunnypilot.ai)
-* Docs are at [https://docs.sunnypilot.ai](https://docs.sunnypilot.ai) and [https://www.sunnypilot.ai/blog](https://www.sunnypilot.ai/blog)
-
-## What contributions are we looking for?
-
-**sunnypilot's priorities are [safety](../SAFETY.md), stability, quality, and features, in that order.** Aligning with comma's ideals, part of sunnypilot's mission is to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal.
-
-### What gets merged?
-
-The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
-If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
-
-All of these are examples of good PRs:
-
-* [typo fix](https://github.com/commaai/openpilot/pull/30678)
-* [removing unused code](https://github.com/commaai/openpilot/pull/30573)
-* [simple car model port](https://github.com/commaai/openpilot/pull/30245)
-* [car brand port](https://github.com/commaai/openpilot/pull/23331)
-* [UI design changes](https://github.com/sunnypilot/sunnypilot/commit/84f6fce90639135611ec568c4d39a352a300bede)
-* [new features](https://github.com/sunnypilot/sunnypilot/commit/68e1379003bfdb599921cf9cd5684bfb762fd676)
-
-### What doesn't get merged?
-
-* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
-* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
-* **PRs without a clear goal**: every PR must have a singular and clear goal
-
-### First contribution
-
-Check out any [good first issue from commaai's openpilot](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
-
-### What do I need to contribute?
-
-A lot of sunnypilot work requires only a PC, and some requires a comma device.
-Most car-related contributions require access to that car, plus a comma device installed in the car.
-
-## Pull Requests
-
-Pull requests should be against the [`master`](https://github.com/sunnypilot/sunnypilot) branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
-
-A good pull request has all of the following:
-
-- a clearly stated purpose
-- every line changed directly contributes to the stated purpose
-- verification, i.e. how did you test your PR?
-- justification
-
-    * if you've optimized something, post benchmarks to prove it's better
-    * if you've improved your car's tuning, post before and after plots
-
-- passes the CI tests
-
-## Contributing without Code
-
-* Report bugs in [GitHub issues](https://github.com/sunnypilot/sunnypilot/issues).
-* Report driving issues in the `#general` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
-* Connect your device to Wi-Fi regularly, so that comma can pull data for training better driving models.
-* Run the `staging-c3` branch and report issues. This branch is like `master` but it's built just like a release.

docs_sp/community/WORKFLOW.md

@@ -1,43 +0,0 @@
-# sunnypilot development workflow
-
-Aside from the ML models, most tools used for sunnypilot development are in this repo.
-
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](https://github.com/sunnypilot/sunnypilot/tree/master/tools) for getting your PC setup for sunnypilot development.
-
-## Quick start
-
-```bash
-# get the latest stuff
-git pull
-git lfs pull
-git submodule update --init --recursive
-
-# update dependencies
-tools/ubuntu_setup.sh
-
-# build everything
-scons -j$(nproc)
-
-# build just the ui with either of these
-scons -j8 selfdrive/ui/
-cd selfdrive/ui/ && scons -u -j8
-
-# test everything
-pytest
-
-# test just logging services
-cd system/loggerd && pytest .
-
-# run the linter
-op lint
-```
-
-## Testing
-
-### Automated Testing
-
-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
-
-### Code Style and Linting
-
-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.

docs_sp/community/reporting-a-bug.md

@@ -1,274 +0,0 @@
-# Bug Reports
-
-sunnypilot is an actively maintained project that we constantly strive to improve. With project of this size and complexity, 
-bugs may occur. If you think you have discovered a bug, you can help us by submitting an issue 
-in [comma's public issue tracker][comma's issue tracker], 
-[sunnypilot's public issue tracker][sunnypilot's issue tracker] or on our [Discord][discord], following this guide.
-
-  [comma's issue tracker]: https://github.com/commaai/openpilot/issues
-  [sunnypilot's issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
-  [discord]: https://discord.sunnypilot.ai
-
-## Before creating an issue
-
-With more than 2,500 users, issues are created frequently. The maintainers of this project are trying very hard to keep 
-the number of open issues and reports down by fixing bugs as fast as possible. By following this guide, you will know 
-exactly what information we need to help you quickly.
-
-**But first, please do the following things before creating an issue.**
-
-### Upgrade to the latest version
-
-Chances are that the bug you discovered was already fixed in a subsequent version. Thus, before reporting an issue, 
-ensure that you're running the [latest release version](https://github.com/sunnypilot/sunnypilot/releases) of sunnypilot. 
-Please consult our [installation guide](../setup/read-before-installing.md) to learn how to upgrade to the latest version.
-
-!!! warning "Bug fixes are not backported"
-    Please understand that only bugs that occur in the latest version of sunnypilot will be addressed. Also, to reduce 
-    duplicate efforts, fixes cannot be backported to earlier versions.
-
-### Remove customizations
-
-If you're using customized features, such as your own tweaks of the features, please remove them from the branch 
-you are testing from before reporting a bug. We can't offer official support for bugs that might hide in your implementations, 
-so make sure to omit any customizations from the version being tested.
-
-If, after removing the customizations, the bug is gone, the bug is likely caused by your customizations. A good idea is 
-to add them back gradually to narrow down the root cause of the problem If you did a major version upgrade, make sure 
-you adjusted all customizations you have implemented.
-
-!!! tip
-    If you are an advanced user, you could also utilize `git bisect` 
-    to perform a binary search in the history to find a particular regression.
-
-!!! warning "Customizations mentioned in our documentation"
-    A handful of the features sunnypilot offers can only be implemented with customizations. if you find a bug in any of 
-    the customizations that our documentations explicitly mentioned, you are, of course, encouraged to report it.
-
-**Don't be shy to ask on our [Discord][discord] for help if you run into problems.**
-
-### Search for solutions
-
-At this stage, we know that the problem persists in the latest version and is not caused by any of your customizations. 
-However, the problem might result from a small typo or a syntactical error in the source code, e.g., `selfdrive/car/interfaces.py`.
-
-Now, before you go through the trouble of creating a bug report that is answered and closed right away with a link to
-the relevant documentation section or another already reported or closed issue or discussion, you can save time for us 
-and yourself by doing some research:
-
-1. [Search our documentation] and look for the relevant sections that could be related to your problem. If found, make
-    sure that the settings are configured correctly.
-2. [Search our Discord][discord] to learn if other users are struggling with similar problems and work together with 
-   our 
-   great comunity towards a solution. Many problems are solved there.
-3. [Search comma's openpilot issue tracker][comma's issue tracker], as another user might 
-   already have reported the same problem that may exist in
-   stock openpilot, and there might even be a known workaround or fix for it. Thus, no need to create a new issue.
-4. [Search sunnypilot's issue tracker][sunnypilot's issue tracker], as another user might already have 
-   reported the same problem, and there
-   might even be a known workaround or fix for it. Thus, no need to create a new issue.
-
-[Search our documentation]: ?q=
-
-**Keep track of all <u>search terms</u> and <u>relevant links</u>, you'll need them in the bug report.**[^1]
-
-  [^1]:
-    We might be using terminology in our documentation different from yours, but we mean the same. When you include the 
-    search terms and related links in your bug report, you help us to adjust and improve the documentation. 
-
----
-
-At this point, when you still haven't found a solution to your problem, we encourage you to report the issue on our 
-[Discord][discord] because it's now very likely that you stumbled over something we don't know 
-yet. Read the following section 
-to learn how to create a complete and helpful bug report.
-
-## Issue template
-
-We have created an issue template to make the bug reporting process as simple as possible, and more efficient for our
-community and us.
-
-- [Title]
-- [Context]<small>optional</small>
-- [Bug description]
-- [Related links]
-- [Reproduction]
-- [Steps to reproduce]
-- [Checklist]
-
-  [Title]: #title
-  [Context]: #context
-  [Bug description]: #bug-description
-  [Related links]: #related-links
-  [Reproduction]: #reproduction
-  [Steps to reproduce]: #steps-to-reproduce
-  [Checklist]: #checklist
-
-### Title
-
-A good title is short and descriptive. It should be a one-sentence executive summary of the issue, so the impact and
-severity of the bug you want to report can be inferred from the title.
-
-| <!-- --> | Example                                                                                                      |
-| -------- |--------------------------------------------------------------------------------------------------------------|
-| :material-check:{ style="color: #4DB6AC" } __Clear__ | Speed Limit Control (SLC) stuck in `preActive` when engaged                                                  |
-| :material-close:{ style="color: #EF5350" } __Wordy__ | The Speed Limit Control (SLC) remains in the `preActive` state when longitudinal it's supposed to be engaged |
-| :material-close:{ style="color: #EF5350" } __Unclear__ | SLC does not work                                                                                            |
-| :material-close:{ style="color: #EF5350" } __Useless__ | Help                                                                                                         |
-
-### Context <small>optional</small> { #context }
-
-Before describing the bug, you can provide additional context for us to understand what you were trying to achieve.
-Explain the circumstances in which you're using sunnypilot, and what you _think_ might be relevant. Don't write 
-about the bug here.
-
-!!! note "__Why this might be helpful__"
-    Some errors only manifest in specific settings, environments or edge cases, for example, when the feature is not available
-    to certain cars.
-
-### Bug description
-
-Now, to the bug you want to report. Provide a clear, focused, specific, and concise summary of the bug you encountered. 
-Explain why you think this is a bug that should be reported to sunnypilot, and not to one of its dependencies.[^3]
-Adhere to the following principles:
-
-  [^3]:
-    Sometimes, users report bugs on our [sunnypilot's issue tracker] or [Discord][discord] 
-    that are caused by one of our upstream dependencies, including [comma's openpilot], [comma's panda],
-    or other openpilot forks' dependencies. A good rule of thumb is
-    to reproduce the issue with stock openpilot in the same conditions and
-    check if the problem persists. If it does, the problem is likely not
-    related to sunnypilot and should be reported upstream. When in
-    doubt, use our [Discord][discord] to ask for help.
-
-  [comma's openpilot]: https://github.com/commaai/openpilot
-  [comma's panda]: https://github.com/commaai/panda
-
--   __Explain the <u>what</u>, not the <u>how</u>__ – don't explain
-    [how to reproduce the bug][Steps to reproduce] here, we're getting there.
-    Focus on articulating the problem and its impact as clearly as possible.
-
--   __Keep it short and concise__ – if the bug can be precisely explained in one
-    or two sentences, perfect. Don't inflate it – maintainers and future users
-    will be grateful for having to read less.
-
--   __One bug at a time__ – if you encounter several unrelated bugs, please
-    create separate issues for them. Don't report them in the same issue, as
-    this makes attribution difficult.
-
----
-
-:material-run-fast: __Stretch goal__ – if you found a workaround or a way to fix
-the bug, you can help other users temporarily mitigate the problem before
-we maintainers can fix the bug in our code base.
-
-!!! note "__Why we need this__"
-    In order for us to understand the problem, we need a clear description of it and quantify its impact, which is 
-    essential for triage and prioritization.
-
-### Related links
-
-Of course, prior to reporting a bug, you have read our documentation and
-[could not find a working solution][search for solutions]. Please share links
-to all sections of our documentation that might be relevant to the bug, as it
-helps us gradually improve it.
-
-Additionally, since you have searched [comma's issue tracker], [sunnypilot's issue tracker] or [Discord][discord]
-before reporting an issue, and have possibly found several issues or
-discussions, include those as well. Every link to an issue or discussion creates
-a backlink, guiding us maintainers and other users in the future.
-
----
-
-:material-run-fast: __Stretch goal__ – if you also include the search terms you
-used when [searching for a solution][search for solutions] to your problem, you
-make it easier for us maintainers to improve the documentation.
-
-  [search for solutions]: #search-for-solutions
-
-### Reproduction
-
-A minimal reproduction is at the heart of every well-written bug report, as
-it allows us maintainers to instantly recreate the necessary conditions to
-inspect the bug to quickly find its root cause. It's a proven fact that issues
-with concise and small reproductions can be fixed much faster.
-
-After you have created the reproduction, take note of your <u>__comma Dongle ID__</u>. It will be used during the bug 
-report.
-
-!!! note "__Why we need this__"
-    If an issue contains no minimal reproduction or just a link to a repository with thousands of files, the 
-    maintainers would need to invest a lot of time into trying to recreate the right conditions to even inspect the 
-    bug, let alone fix it.
-
-!!! warning "Don't share links to repositories"
-    While we know that it is a good practice among developers to include a link
-    to a repository with the bug report, we currently don't support those in our
-    process. The reason is that the reproduction, which is automatically
-    produced by the <u>__route ID__</u> contains all the necessary
-    environment information that is often forgotten to be included.
-
-    Additionally, there are many non-technical users of sunnypilot that
-    have trouble creating repositories.
-
-### Steps to reproduce
-
-At this point, you provided us with enough information to understand the bug
-and provided us with a reproduction that we could run and inspect. However, when
-we check your reproduction, it might not be immediately apparent how we can see
-the bug in action.
-
-Thus, please list the specific steps we should follow when running your
-reproduction to observe the bug. Keep the steps short and concise, and make sure
-not to leave anything out. Use simple language as you would explain it to a
-five-year-old, and focus on continuity.
-
-!!! note "__Why we need this__"
-    We must know how to navigate your reproduction in order
-    to observe the bug, as some bugs only occur at certain viewports or in
-    specific conditions.
-
-### Uploading logs and preserving routes
-
-After reproducing the bug, please follow these steps to upload the necessary logs and preserve the routes.
-
-1. Ensure the route is fully uploaded at [comma Connect]. We cannot look 
-  into issues without routes, or at least a comma Dongle ID.
-
-    1. Visit [comma Connect], select the route with the issue reproduced.
-    2. Under the "Files" button, locate "All logs". Click "Upload x files".
-    3. View the upload queue, and confirm that all raw logs are uploaded.
-
-    !!! note
-        Sometimes when the qlogs of the route are still being uploaded, some raw logs may not be available to 
-        request for upload. Refresh the page a few times once you have confirmed all qlogs have been uploaded, 
-        then try to upload all raw logs again if available.
-
-2. Share your Dongle ID with sunnypilot on [comma Connect].
-
-    1. Visit [comma Connect], navigate to the gear icon.
-    2. Select "Share by email", and enter `support@sunnypilot.ai`.
-    3. Confirm the sharing by clicking the share icon again.
-    4. Set the device name to your vehicle's year/make/model and your Discord username, so it can be easily identified.
-
-3. Once all raw logs are uploaded, click "More info" and enable the "Preserved" option to preserve the route.
-4. Attach the route ID in your issue submission.
-
-  [comma Connect]: https://connect.comma.ai
-
-### Checklist
-
-Thanks for following the guide and creating a high-quality and complete bug
-report – you are almost done. The checklist ensures that you have read this guide
-and have worked to your best knowledge to provide us with everything we need to
-know to help you.
-
-- [ ] I have upgraded to the latest release version of sunnypilot.
-- [ ] I have removed or disable any customizations and confirmed the bug persists.
-- [ ] I have searched the documentation, issue trackers, and Discord for similar issues.
-- [ ] I have created a minimal reproduction and noted my comma Dongle ID.
-- [ ] I have shared my Dongle ID with sunnypilot at `support@sunnypilot.ai`.
-- [ ] I have filled out all required sections of the issue template.
-- [ ] I have followed this guide and ensured all necessary information is included.
-
-__We'll take it from here.__

docs_sp/community/reporting-a-docs-issue.md

@@ -1,97 +0,0 @@
-# Documentation issues
-
-Our documentation is composed of many pages and includes extensive
-information on features, configurations, customizations, and much more. If you
-have found an inconsistency or see room for improvement, please follow this
-guide to submit an issue on our [issue tracker].
-
-  [issue tracker]: https://github.com/sunnypilot/sunnypilot/issues
-
-## Issue template
-
-Reporting a documentation issue is usually less involved than reporting a bug.
-Please thoroughly read this guide before creating a new documentation issue,
-and provide the following information as part of the issue:
-
-- [Title]
-- [Description]
-- [Related links]
-- [Proposed change] <small>optional</small>
-- [Checklist]
-
-  [Title]: #title
-  [Description]: #description
-  [Related links]: #related-links
-  [Proposed change]: #proposed-change
-  [Checklist]: #checklist
-
-### Title
-
-A good title should be a short, one-sentence description of the issue, contain
-all relevant information and, in particular, keywords to simplify the search in
-our issue tracker.
-
-| <!-- --> | Example  |
-| -------- | -------- |
-| :material-check:{ style="color: #4DB6AC" } __Clear__ | Clarify Speed Limit Control engagement
-| :material-close:{ style="color: #EF5350" } __Unclear__ | Missing information in the docs
-| :material-close:{ style="color: #EF5350" } __Useless__ | Help
-
-### Description
-
-Provide a clear and concise summary of the inconsistency or issue you
-encountered in the documentation or the documentation section that needs
-improvement. Explain why you think the documentation should be adjusted and
-describe the severity of the issue:
-
--   __Keep it short and concise__ – if the inconsistency or issue can be
-    precisely explained in one or two sentences, perfect. Maintainers and future
-    users will be grateful for having to read less.
-
--   __One issue at a time__ – if you encounter several unrelated inconsistencies,
-    please create separate issues for them. Don't report them in the same issue
-    – it makes attribution difficult.
-
-!!! note "__Why we need this__"
-    Describing the problem clearly and concisely is a prerequisite for improving
-    our documentation – we need to understand what's wrong, so we can fix it.
-
-### Related links
-
-After you described the documentation section that needs to be adjusted above,
-we now ask you to share the link to this specific documentation section and
-other possibly related sections. Make sure to use anchor links (permanent links)
-where possible, as it simplifies discovery.
-
-!!! note "__Why we need this__"
-    Providing the links to the documentation help us understand which sections
-    of our documentation need to be adjusted, extended, or overhauled.
-
-### Proposed change <small>optional</small> { #proposed-change }
-
-Now that you have provided us with the description and links to the
-documentation sections, you can help us, maintainers, and the community by
-proposing an improvement. You can sketch out rough ideas or write a concrete
-proposal. This field is optional but very helpful.
-
-!!! note "__Why we need this__"
-    An improvement proposal can be beneficial for other users who encounter
-    the same issue, as they offer solutions before we maintainers can update
-    the documentation.
-
-### Checklist
-
-Thanks for following the guide and providing valuable feedback for our
-documentation – you are almost done. The checklist ensures that you have read
-this guide and have worked to your best knowledge to provide us with every piece
-of information we need to improve it.
-
-- [ ] I have provided a clear and descriptive title for the documentation issue.
-- [ ] I have summarized the inconsistency or issue concisely in the description.
-- [ ] I have included links to the specific documentation section(s) that need
-      adjustments.
-- [ ] (Optional) I have proposed a change or improvement to the documentation.
-- [ ] I have followed this guide and ensured all necessary information is included.
-
-__We'll take it from here.__
-

docs_sp/features/dynamic-lane-profile.md

@@ -1,31 +0,0 @@
-# Dynamic Lane Profile (DLP)
-
-Dynamic Lane Profile (DLP) aims to provide the best driving experience by confidently keeping the vehicle within a lane. 
-It allows sunnypilot to dynamically switch between lane profiles based on the lane recognition confidence level on the road.
-
-!!! note
-    Due to the removal of lateral planner in newer Driving Models, Dynamic Lane Profile is only available with the 
-    following selected Driving Models:
-
-    - New Delhi (December 21, 2023) - ND
-    - Blue Diamond v2 (December 11, 2023) - BDv2
-    - Blue Diamond (November 18, 2023) - BDv1
-    - Farmville (November 7, 2023) - FV
-    - Night Strike (October 3, 2023) - NS
-
-## Available Modes
-
-- **Auto Lane**: sunnypilot dynamically selects between `Laneline` or `Laneless` model.
-- **Laneline**: uses the Laneline model only.
-- **Laneless**: uses the Laneless model only.
-
-### Feature Location
-
-1. Settings
-![Settings](../assets/features/dlp-1.png)
-
-2. `sunnypilot` Panel
-![sunnypilot Panel](../assets/features/dlp-2.png)
-
-3. Select the desired mode
-![DLP Select](../assets/features/dlp-3.png)

docs_sp/features/hyundai-longitudinal-tuning.md

@@ -1,97 +0,0 @@
-
-# **How custom longitudinal tuning works for Hyundai/Kia/Genesis vehicles in sunnypilot.**
-
-To begin this documentation, I would like to first present the safety guidelines followed to create the tune:
-
-Our main safety guideline considered is [ISO 15622:2018](https://www.iso.org/obp/ui/en/#iso:std:iso:15622:ed-3:v1:en)
-This provides the groundwork of safety limits this tune must adhere too, and therefore, must be followed.
-For example, in our jerk calculations throughout this tune, you will see how maximum jerk is clipped using the equation provided.
-
-In the tuning you will see a set of equations, the first being jerk, **but what exactly is jerk?**
-Jerk is calculated by taking current acceleration (in the form of m/s^2), subtracting that by previous acceleration, and
-dividing that by time. In our tune you will see the following equation:
-
-    planned_accel = CC.actuators.accel
-    current_accel = CS.out.aEgo
-    blended_value = 0.67 * planned_accel + 0.33 * current_accel
-    delta = blended_value - self.state.accel_last_jerk
-
-    self.state.jerk = math.copysign(delta * delta, delta)
-    self.state.accel_last_jerk = blended_value
-
-Instead of using a hardcoded time, we are focused on making jerk parabolic. First we have our planned acceleration from longitudinal_planner.
-Then we have our current carstate acceleration. These are then blended together 67:33 = 100% to form our blended value.
-Following this, we have our delta which subtracts our blended_value from our previous acceleration `self.state.accel_last_jerk`
-Lastly, we have our finalized jerk calculation, which squares the delta to create a parabolic response while retaining the original sign,
-which could be positive or negative (e.g., 5.0 or -5.0). This then goes through our minimum and maximum clipping
-which forces a value between our set min and max, which I discuss later in this readme.
-
-Moving on, the accel_last_jerk, stores current accel after each iteration and uses that in the calculation as previous accel for
-our jerk calculations. Now we see the calculation of jerk max and jerk min. 
-
-### Let's dive into how jerk lower limit max is calculated:
-
-     velocity = CS.out.vEgo
-    if velocity < 5.0:
-      decel_jerk_max = self.car_config.jerk_limits[1]
-    elif velocity > 20.0:
-      decel_jerk_max = 2.5
-    else:
-      decel_jerk_max = 3.64284 - 0.05714 * velocity
-
-This equation above is set by ISO 15622, and dictates that jerk lower limit can only be five when below 5 m/s. In our equation,
-
-    self.car_config.jerk_limits[1] 
-
-Jerk_limits[1] represents a jerk value of 3.3 m/s^3, which is the maximum analyzed lower jerk rate seen on stock SCC CAN.
-Between 5 m/s and 20 m/s jerk is capped using the calculation:
-
-    decel_jerk_max = 3.64284 - 0.05714 * velocity
-
-This equation calculates the linear jerk from 6m/s to 19m/s, scaling down from 3.3 to 2.5 m/s^3.
-This means that if current velocity is say, 15 m/s the final jerk max value would be capped at 2.78 m/s^3.
-Anything above 20 m/s is capped to a lower jerk max of 2.5 m/s^3. This allows for a smoother jerk range, while complying to ISO standards to a tee.
-The current jerk Lower Limit you will see in openpilot before this tune, is 5.0 m/s^3; Which as you can see from using the above calculation,
-the 5.0 m/s^3 technically does not comply with ISO standards at any speed above 5.0 m/s^3.
-Having our jerk max be clipped to these values not only allows for better consistency with ISO standards, 
-but also enables us to have a much smoother braking experience.
-
-### Getting into our next topic, I would like to explain how our minimum jerk was chosen.
-
-Minimum jerk was chosen based off of the following guideline proposed by Handbook of Intellegent Vehicles (2012):
-`Ride comfort may be sacrificed only under emergency conditions when vehicle and occupant safety consideration may preclude comfort.`
-
-### What the value of 0.53 m/s^3 of the jerk lower limit was chosen based off of
-
-[Carlowitz et al. (2024).](https://www.researchgate.net/publication/382274551_User_evaluation_of_comfortable_deceleration_profiles_for_highly_automated_driving_Findings_from_a_test_track_study)
-This research study identified the average lower jerk used in comfortable driving settings, which is 0.53 m/s^3.
-This is then inputted to jerk_limits[0] as 0.53 m/s^3 represents the value used in upper jerk absolute minimum.
-
-     min_lower_jerk = self.car_config.jerk_limits[0]
-
-As shown above, lower jerk minimum of 0.53 is used for our lower_jerk minimum bounds.
-
-### Why our minimum upper jerk is conditional
-
-Our minimum upper band jerk is conditional as well and is denoted below:
-
-    min_upper_jerk = self.car_config.jerk_limits[0] if (velocity > 3.611) else 0.60
-
-This means that for speeds under 3.611 m/s (8.077 mph/ 13 kph) we have a minimum jerk of 0.60. This allows for smooth
-takeoffs while not causing lag. For all other speeds, we use our normal jerk_limit for minimum, which is 0.53.
-
-### Next, we have our acceleration limiting
-
-For acceleration limiting, we use TCS signal brakeLightsDEPRECATED to measure when to enact the standstill delay 
-which stock SCC uses to allow smoother transitions in acceleration.
-
-### Lastly, we have our accel value calculations for hyundaican.py
-
-For our accel value calculations we have the following:
-
-   `self.accel_value = np.clip(self.accel_raw, self.state.accel_last - jerk_number, self.state.accel_last + jerk_number)`
-
-This essentialy means that we have our accel_raw, which is acceleration (m/s^2), followed by our clipping variables. 
-jerk_number in this equation represents exactly `0.1`, which is subtracted or added by self.state.accel_last, which is 
-previous calculated accel_value. Furthermore, we have `self.state.accel_last`, which is caculated as the stored accel from
-the above calculations.

docs_sp/features/index.md

@@ -1,3 +0,0 @@
-# Features
-
-WIP

docs_sp/features/modified-assistive-driving-safety.md

@@ -1,40 +0,0 @@
-# Modified Assistive Driving Safety (M.A.D.S.)
-
-Modified Assistive Driving Safety (MADS) aims to elevate the user's driving experience by modifying the behaviors of 
-driving assist engagements.
-
-!!! note
-    This feature aligns closely with comma.ai's safety rules.
-
-## Independent Engagement
-
-MADS allows users to engage sunnypilot Automatic Lane Centering (ALC) for lateral control and Adaptive Cruise Control 
-(ACC) or Smart Cruise Control (SCC) for longitudinal control independently.
-
-??? note "Why This Feature Exists"
-    While newer car models allow for independent engagement of lateral (steering) and longitudinal (speed) control, 
-    many older models and stock openpilot enforce engaging both controls together. MADS introduces this modern 
-    convenience to older models, effectively backporting a feature found in newer cars and providing users more flexibility.
-
-## Dedicated Buttons
-
-### Toggle for sunnypilot ALC
-
-  - `CRUISE (MAIN)` button: Available on all supported cars on sunnypilot.
-  - `LFA` button: Available on newer HKG cars.
-  - `LKAS` button: Available on Honda, Toyota, and Global Subaru.
-
-### Engagement
-
-  - `SET-` button: Enables ACC/SCC.
-  - `CANCEL` button: Disables ACC/SCC only.
-  - `CRUISE (MAIN)` must be `ON` to use ACC/SCC.
-
-!!! info
-    The `CRUISE (MAIN)` button disables sunnypilot completely when `OFF`. This is strictly enforced in the panda safety code.
-
-## Lateral Control on Brake Pedal
-
-Dedicated toggle to handle Lateral state on brake pedal press and release:
-
-- **ON**: Pressing the `BRAKE pedal` will pause Automatic Lane Centering.

docs_sp/getting-started/develop-sunnypilot.md

@@ -1,10 +0,0 @@
-# To start developing sunnypilot
-
-sunnypilot is a fork of [commaai's openpilot](https://github.com/commaai/openpilot), developed by [sunnypilot](https://sunnypilot.ai) and by users like you. 
-We welcome both pull requests and issues on [GitHub](http://github.com/sunnypilot/sunnypilot).
-
-* Join the [community Discord](https://discord.sunnypilot.ai)
-* Check out [the contributing docs](../community/CONTRIBUTING.md)
-* Check out the [openpilot tools](https://github.com/sunnypilot/sunnypilot/tree/master/tools)
-* Read about the [development workflow](../community/WORKFLOW.md)
-* Information about running sunnypilot and code documentation lives on the [sunnypilot docs](https://docs.sunnypilot.ai)

docs_sp/getting-started/use-sunnypilot-in-a-car.md

@@ -1,16 +0,0 @@
-# To start using sunnypilot in a car
-
-To use sunnypilot in a car, you need four things:
-
-1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-
-2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `release-c3.sunnypilot.ai` to install the release version.
-
-3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md).
-
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
-
-[comma.ai](https://comma.ai) have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
-
-!!! note
-    It's possible to run sunnypilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.

docs_sp/getting-started/what-is-sunnypilot.md

@@ -1,11 +0,0 @@
-# What is sunnypilot?
-
-sunnypilot is a fork of [comma.ai's openpilot](https://github.com/commaai/openpilot), an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 250+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
-
-## How do I use it?
-
-sunnypilot is designed to be used on the comma 3/3X.
-
-## How does it work?
-
-In short, sunnypilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.

docs_sp/how-to/enabling-mapbox-navigation.md

@@ -1,53 +0,0 @@
-# :map: Enabling Mapbox navigation
-
-Enabling Mapbox Navigation on sunnypilot enhances your driving experience by providing accurate maps and directions.
-
-Following the instructions below, you will set up a free Mapbox account, generating your own access token, and 
-configuring on your comma 3/3X. Next:
-
-## 1. Create a free Mapbox account
-
-Sign up for a free Mapbox account. Although a credit card is required for verification, you will not be charged for the
-free tier.
-
-## 2. Generate access token
-
-!!! warning
-    You won't be able to access the secret key after this window.
-
-On the Dashboard, find the **Access Tokens** section and click `Create a Token`. Name it as you like and set 
-the scopes to allow everything for both Public and Secret. Copy both keys.
-
-## 3. Connect comma 3/3X to a network
-
-Once rebooted, connect your comma 3/3X to a network with internet access and note the comma 3/3X’s IP address.
-
-## 4. Configure keys
-
-In a browser, navigate to `C3_IP:8082` (e.g., 192.168.1.69:8082). You should see the comma logo and an input field. 
-Paste your Public token (pk.xx), press enter, paste your Secret key (sk.xx), and press enter again. This page lets 
-you search for destinations.
-
-## 5. Set Home and Work addresses
-
-To set Home and Work addresses, search for a place, select Home/Work from the dropdown, and click Navigate. For 
-other destinations, select Recent Places.
-
-!!! warning
-    Your comma 3/3X requires an active internet connection to download map data, generate directions, and update
-    ETA. Once data is downloaded, offline use is possible, but updates (like new directions after a missed turn)
-    won't occur.
-
-!!! info
-    At this time, it is not possible to search directly on the comma 3/3X.
-
-!!! info
-    Mapbox does not support alphanumeric addresses (e.g., W123N1234 Main St). There is currently no known
-    workaround for this.
-
-!!! tip
-    If your comma 3/3X shows a "Map Loading" screen, a reboot via the UI should fix it.
-    Connect the comma 3/3X to a network (i.e. your phone's hotspot) and use your phone browser to search for places.
-
-    In the Navigation panel on the comma 3/3X, select Home, Work, and Recent Places without needing a browser 
-    (assuming internet connection).

docs_sp/how-to/hyundai/enabling-radar-tracks.md

@@ -1,50 +0,0 @@
-# :satellite: Radar Tracks
-
-Unlock the potential of sunnypilot by enabling radar tracks manually on applicable Hyundai/Kia/Genesis cars. Thanks to
-[@greghogan](https://github.com/greghogan) and [@pd0wm](https://github.com/pd0wm), this feature is now accessible via SSH.
-
-!!! info "How Radar Points Can Be Used Along With Vision"
-    Current openpilot policy is to identify with vision first and match it to a radar point. If vision sees nothing,
-    you get a false negative and no lead car detection. (Source: [Hubblesphere#7894 from comma.ai community Discord](https://discord.com/channels/469524606043160576/872899198738104330/872913890793635872))
-
-!!! caution
-    **USE AT YOUR OWN RISK!** Stock system safety features, such as AEB and FCW, may be affected by these changes.
-
-## 1. Prerequisites
-
-Ensure the car is in the `OFF` ignition position and connect your comma 3/3X to the car.
-
-## 2. SSH connection
-
-Connect to your comma 3/3X via [SSH](https://github.com/commaai/openpilot/wiki/SSH).
-
-## 3. Execute commands
-
-In the SSH terminal, execute the following commands:
-
-```bash
-pkill -f openpilot
-python /data/openpilot/selfdrive/debug/hyundai_enable_radar_points.py
-```
-Follow the script instructions and ensure no faults appear.
-
-## 4. Reboot
-
-Reboot your comma 3/3X. Once rebotoed, start your car and ensure there is no fault caused by enabling the radar tracks.
-
-## 5. Test drive
-
-Go for a quick drive, drive behind a lead car, and allow the drive to upload its raw logs in [comma Connect](https://connect.comma.ai).
-
-## 6. Verify in Cabana
-
-Load the test route in [Cabana](https://github.com/sunnypilot/sunnypilot/tree/master/tools/cabana), load `hyundai_kia_mando_front_radar.dbc`, search `RADAR_TRACK_50x`,
-and check `LONG_DIST`.
-
-## 7. Confirmation
-
-If the radar tracks data is relevant, you've successfully enabled radar tracks.
-
-!!! tip
-    Having issues or need assistance? Reach out to the community in the `hyundai-kia-genesis` channel in
-    [sunnypilot Discord](https://discord.sunnypilot.ai) or [commaai community Discord](https://discord.comma.ai).

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

@@ -1,98 +0,0 @@
-# Turn the speed blue
-*A getting started guide for openpilot development*
-
-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
-
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
-
-## 1. Setup your development environment
-
-Run this to clone openpilot and install all the dependencies:
-```bash
-curl -fsSL openpilot.comma.ai | bash
-```
-
-Navigate to openpilot folder & activate a Python virtual environment
-```bash
-cd openpilot
-source .venv/bin/activate
-```
-
-Then, compile openpilot:
-```bash
-scons -j8
-```
-
-## 2. Run replay
-
-We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
-```bash
-# in terminal 1
-tools/replay/replay --demo
-
-# in terminal 2
-selfdrive/ui/ui
-```
-
-The openpilot UI should launch and show a replay of the demo route.
-
-If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
-
-## 3. Make the speed blue
-
-Search for “mph” with git grep in the `ui` folder.
-```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-```
-
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
-```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
-```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
-![](https://blog.comma.ai/img/blue_speed_ui.png)
-
-## 5. Push your fork to GitHub
-
-Click fork on GitHub. Then, push with:
-```bash
-git remote rm origin
-git remote add origin git@github.com:<your-github-username>/openpilot.git
-git add .
-git commit -m "Make the speed blue."
-git push --set-upstream origin master
-```
-
-## 6. Run your fork on device in your car!
-
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
-```
-installer.comma.ai/<your-github-username>/master
-```
-
-## 7. Admire your work IRL
-
-![](https://blog.comma.ai/img/c3_blue_ui.jpg)

docs_sp/index.md

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

docs_sp/safety-information/prohibited-safety-modifications.md

@@ -1,14 +0,0 @@
-# Prohibited Safety Modifications
-
-All [official sunnypilot branches](https://github.com/sunnyhaibin/sunnypilot/branches) strictly adhere to [comma.ai's safety policy](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Any changes that go against 
-this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels.
-
-The following changes are **VIOLATIONS** of the safety policy and **ARE NOT** supported in any official sunnypilot branches:
-
-!!! danger "Driver Monitoring"
-    - "Nerfing" or reducing monitoring parameters.
-
-!!! danger "Panda Safety"
-    - No preventing disengaging of <ins>**longitudinal control**</ins> (positive/negative acceleration) on brake pedal press.
-    - No auto re-engaging of <ins>**longitudinal control**</ins> (positive/negative acceleration) on brake pedal release.
-    - No disengaging on `CRUISE MAIN` in `OFF` state.

docs_sp/setup/changelogs/index.md

@@ -1 +0,0 @@
-../../CHANGELOGS.md

docs_sp/setup/read-before-installing.md

@@ -1,20 +0,0 @@
-# 🚨 Read Before Installing
-
-It is recommended to read the <u>**entire documentation**</u> before proceeding. This will ensure that you fully understand each added feature in sunnypilot. This also ensures that you are choosing the correct settings and branch for your car to have the best driving experience.
-
-!!! warning
-    By installing this software, you accept all responsibility for anything that might occur while you use it. sunnypilot and all contributors to sunnypilot are not liable.
-
-    **Use at your own risk.**
-
-## Installation
-
-Please refer to the [Recommended Branches](../branches/recommended-branches.md) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
-
-You can install sunnypilot on your comma 3/3X using one of the following methods:
-
-- ### [URL Method (Directly on Device)](url-method.md)
-This method allows you to install sunnypilot directly from your device's screen using a provided URL. It's simple and user-friendly, requiring no additional tools or external devices.
-
-- ### [SSH Method (Command Line)](ssh-method.md)
-This method is for advanced users who prefer to use SSH to clone the sunnypilot repository and install it manually via the command line. It offeres greater control over the installation process.

docs_sp/setup/ssh-method.md

@@ -1,26 +0,0 @@
-# SSH Method
-
-If you are looking to install sunnypilot via SSH, run the following commands in an SSH terminal after connecting to your comma 3/3X:
-
-1. Navigate to `data` directory
-    ```sh 
-    cd /data
-    ```
-
-2. Clone sunnypilot
-
-    !!! example ""
-        `release-c3` branch is used in this step as an example.
-    ```sh
-    git clone release-c3 --recurse-submodules https://github.com/sunnyhaibin/openpilot.git 
-    ```
-
-3. Git LFS
-    ```sh
-    git lfs pull
-    ```
-
-4. Reboot
-    ```sh
-    sudo reboot
-    ```

docs_sp/setup/url-method.md

@@ -1,37 +0,0 @@
-# URL Method
-
-The URL installation method can be done in two ways, depending on your current setup and version of sunnypilot on your device.
-
-=== "sunnypilot not installed, or sunnypilot < 0.8.17"
-
-    1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-    2. After factory reset/uninstall, upon reboot, select `Custom Software` when given the option.
-    3. Input the **Installation URL** per [Recommended Branches](../branches/recommended-branches.md).
-    4. Complete the rest of the installation by following the onscreen instructions.
-
-    !!! info "[Recommended Branches](../branches/recommended-branches.md)"
-        |    Branch    |         Installation URL         |
-        |:------------:|:--------------------------------:|
-        | `release-c3` | release-c3.sunnypilot.ai |
-        | `staging-c3` | staging-c3.sunnypilot.ai |
-        |   `dev-c3`   | dev-c3.sunnypilot.ai     |
-    !!! example "Example of Installation URL"
-        `release-c3.sunnypilot.ai`[^1]
-
-=== "sunnypilot already installed, or sunnypilot ≥ 0.8.17"
-
-    1. On the comma 3/3X, go to `Settings` → `Software`.
-    2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from the sunnypilot repository on GitHub.
-    3. At the `Target Branch` option, press `SELECT` to open the `Target Branch` selector.
-    4. Scroll and select the **Desired Branch** per Recommended Branches.
-
-    !!! info "[Recommended Branches](../branches/recommended-branches.md)"
-        |    Branch    |         Installation URL         |
-        |:------------:|:--------------------------------:|
-        | `release-c3` | release-c3.sunnypilot.ai |
-        | `staging-c3` | staging-c3.sunnypilot.ai |
-        |   `dev-c3`   | dev-c3.sunnypilot.ai     |
-    !!! example "Example of Desired Branch"
-        `release-c3`
-
-[^1]: Shortened URL for convenience. Full URL is `smiskol.com/fork/sunnyhaibin/release-c3`.

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.11"
+  export AGNOS_VERSION="11.13"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

mkdocs-sp.yml

@@ -1,150 +0,0 @@
-site_name: sunnypilot docs
-repo_name: sunnypilot/sunnypilot
-repo_url: https://github.com/sunnypilot/sunnypilot/
-site_description: sunnypilot Documentation
-site_url: https://docs.sunnypilot.ai
-edit_uri: blob/new-docs/docs_sp
-
-exclude_docs: README.md
-
-strict: true
-docs_dir: docs_sp
-site_dir: docs_sp_site/
-
-theme:
-  name: material
-  icon:
-    repo: fontawesome/brands/github
-    edit: material/file-edit-outline
-    view: material/file-eye-outline
-  features:
-    - content.action.edit
-    - content.action.view
-    - content.code.copy
-    - content.code.select
-    #- navigation.expand
-    - navigation.footer
-    - navigation.indexes
-    - navigation.path
-    - navigation.sections
-    - navigation.tabs
-    - navigation.tabs.sticky
-    - navigation.top
-    - search.suggest
-    - search.highlight
-    - search.share
-  font:
-    text: Roboto
-    code: Roboto Mono
-  palette:
-    - media: "(prefers-color-scheme)"
-      toggle:
-        icon: material/link
-        name: Switch to light mode
-    - media: "(prefers-color-scheme: light)"
-      scheme: default
-      primary: indigo
-      accent: indigo
-      toggle:
-        icon: material/toggle-switch
-        name: Switch to dark mode
-    - media: "(prefers-color-scheme: dark)"
-      scheme: slate
-      primary: black
-      accent: indigo
-      toggle:
-        icon: material/toggle-switch-off
-        name: Switch to system preference
-  navigation_depth: 3
-
-markdown_extensions:
-  - admonition
-  - attr_list
-  - def_list
-  - footnotes
-  - md_in_html
-  - pymdownx.details
-  - pymdownx.emoji:
-      emoji_index: !!python/name:material.extensions.emoji.twemoji
-      emoji_generator: !!python/name:material.extensions.emoji.to_svg
-  - pymdownx.highlight:
-      anchor_linenums: true
-      line_spans: __span
-      pygments_lang_class: true
-  - pymdownx.inlinehilite
-  - pymdownx.magiclink:
-      normalize_issue_symbols: true
-      repo_url_shorthand: true
-      user: sunnypilot
-      repo: sunnypilot
-  - pymdownx.snippets
-  - pymdownx.superfences
-  - pymdownx.tabbed:
-      alternate_style: true
-  - pymdownx.tasklist:
-      custom_checkbox: true
-      clickable_checkbox: true
-  - toc:
-      permalink: true
-
-plugins:
-  - git-authors
-  - git-committers:
-      repository: sunnypilot/sunnypilot
-      branch: master
-      enabled: !ENV [CI, false]
-  - git-revision-date-localized:
-      enable_creation_date: true
-  - search
-
-extra:
-  analytics:
-    provider: google
-    property: !ENV GOOGLE_ANALYTICS_KEY
-    feedback:
-      title: Was this page helpful?
-      ratings:
-        - icon: material/emoticon-happy-outline
-          name: This page was helpful
-          data: 1
-          note: >-
-            Thanks for your feedback!
-        - icon: material/emoticon-sad-outline
-          name: This page could be improved
-          data: 0
-          note: >-
-            Thanks for your feedback! Help us improve this page by
-            using our <a href="..." target="_blank" rel="noopener">feedback form</a>.
-
-nav:
-  - Getting Started:
-    - index.md
-    - What is sunnypilot?: getting-started/what-is-sunnypilot.md
-    - Use sunnypilot in a car: getting-started/use-sunnypilot-in-a-car.md
-    - Develop sunnypilot: getting-started/develop-sunnypilot.md
-    - Setup:
-      - 🚨 Read before installing 🚨: setup/read-before-installing.md
-      - Installation:
-        - URL Method: setup/url-method.md
-        - SSH Method: setup/ssh-method.md
-    - Changelogs:
-      - setup/changelogs/index.md
-  - Features:
-    - features/index.md
-  - Community:
-    - Contributing: community/CONTRIBUTING.md
-    - Reporting a bug: community/reporting-a-bug.md
-    - Reporting a docs issue: community/reporting-a-docs-issue.md
-    - Asking a question: https://discord.sunnypilot.ai
-  - Safety Information:
-    - Safety: SAFETY.md
-    - Prohibited safety modifications: safety-information/prohibited-safety-modifications.md
-  - How To:
-    - Enabling Mapbox navigation: how-to/enabling-mapbox-navigation.md
-    - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Hyundai:
-      - Enabling Radar Tracks: how-to/hyundai/enabling-radar-tracks.md
-  - References:
-    - Branches:
-      - Definitions: branches/definitions.md
-      - Recommended Branches: branches/recommended-branches.md

pyproject.toml

@@ -74,11 +74,6 @@ docs = [
   "Jinja2",
   "natsort",
   "mkdocs",
-  "mkdocs-material",
-  "mkdocs-git-revision-date-localized-plugin",
-  "mkdocs-git-committers-plugin-2",
-  "mkdocs-git-authors-plugin",
-  "mkdocs-glightbox",
 ]
 
 testing = [

release/ci/squash_and_merge_prs.py

@@ -7,6 +7,7 @@ import argparse
 import json
 from datetime import datetime
 
+TRUST_FORK_LABEL = "trust-fork-pr"
 
 def setup_argument_parser():
   parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
@@ -37,43 +38,25 @@ def sort_prs_by_creation(pr_data):
   )
 
 
-def add_pr_comment(pr_number, comment):
+def add_pr_comments(pr_number, comments: list[str]):
+  """Adds or updates a comment with multiple comments to a PR using gh cli"""
+  comment = "\n___\n".join(comments)
+  _add_pr_comment(pr_number, comment)
+
+
+def _add_pr_comment(pr_number, comment):
   """Add or update a comment to a PR using gh cli"""
   title = "## Squash and Merge"
 
   try:
-    result = subprocess.run(
-      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+    full_comment = f"{title}\n\n{comment}"
+    subprocess.run(
+      ['gh', 'pr', 'comment', '--edit-last', '--create-if-none', f"#{pr_number}", '--body', full_comment],
       check=True,
       capture_output=True,
       text=True
     )
 
-    comments_data = json.loads(result.stdout)
-    has_existing_comment = False
-
-    for pr_comment in comments_data['comments']:
-      if pr_comment['body'].startswith(title):
-        has_existing_comment = True
-        break
-
-    full_comment = f"{title}\n\n{comment}"
-
-    if has_existing_comment:
-      subprocess.run(
-        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-    else:
-      subprocess.run(
-        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-
   except subprocess.CalledProcessError as e:
     print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
   except json.JSONDecodeError:
@@ -93,9 +76,36 @@ def validate_pr(pr):
   if not commits:
     return False, "no commit data found"
 
+  # First check if we have the rollup status
   status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+
+  # If status is not SUCCESS, we need to check individual check runs
   if not status or status.get('state') != 'SUCCESS':
-    return False, "not all checks have passed"
+    # Get detailed check runs for this PR
+    checks_output = subprocess.run(
+      ['gh', 'pr', 'checks', str(pr_number), '--json', 'name,state'],
+      capture_output=True, text=True
+    )
+
+    try:
+      checks_data = json.loads(checks_output.stdout)
+
+      # Check if all checks are successful except for our reset-and-squash check
+      for check in checks_data:
+        check_name = check.get('name', '')
+        check_state = check.get('state', '')
+
+        # Skip our own check and any skipped checks
+        if check_name == 'reset-and-squash' or check_state == 'SKIPPED':
+          continue
+
+        # If any other check is not successful, the PR is not valid
+        if check_state != 'SUCCESS':
+          return False, f"check '{check_name}' has state '{check_state}'"
+
+    except json.JSONDecodeError:
+      # If we can't parse the JSON, fall back to the original check
+      return False, "unable to verify check status"
 
   # Check for merge conflicts
   merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
@@ -104,9 +114,6 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-    return False, f"branch is `{mergeStateStatus}`"
-
   return True, None
 
 
@@ -122,24 +129,33 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
     subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
     success_count = 0
     for pr in nodes:
-      pr_number = pr.get('number', 'UNKNOWN')
-      branch = pr.get('headRefName', '')
-      title = pr.get('title', '')
-      is_valid, skip_reason = validate_pr(pr)
-
-      if not is_valid:
-        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-        add_pr_comment(pr_number,
-                       f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
-        continue
-
+      pr_comments = []
       try:
+        pr_number = pr.get('number', 'UNKNOWN')
+        branch = pr.get('headRefName', '')
+        title = pr.get('title', '')
+        head_repository = pr.get('headRepository', {})
+        pr_labels = pr.get('labels', {}).get('nodes', [])
+        is_fork = head_repository.get('isFork', False)
+        trust_fork = any(label.get('name') == TRUST_FORK_LABEL for label in pr_labels)
+        is_valid, skip_reason = validate_pr(pr)
+        origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
+
+        if is_fork and trust_fork:
+          print(f"Adding remote {origin} for PR #{pr_number}")
+          subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
+
+        if not is_valid:
+          print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+          pr_comments.append(f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+          continue
+
         # Fetch PR branch
-        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        subprocess.run(['git', 'fetch', origin, branch], check=True)
         # Delete branch if it exists (ignore errors if it doesn't)
         subprocess.run(['git', 'branch', '-D', branch], check=False)
         # Create new branch pointing to origin's branch
-        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+        subprocess.run(['git', 'branch', branch, f'{origin}/{branch}'], check=True)
 
         # Run squash script
         result = subprocess.run([
@@ -160,13 +176,17 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         print(f"Command failed with exit code {result.returncode}")
         output = result.stdout
         print(f"Error output: {output}")
-        add_pr_comment(pr_number, f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
+        pr_comments.append(f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
       except Exception as e:
         print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        pr_comments.append(f"⚠️ Unexpected error during automated `{target_branch}` squash:\n```\n{str(e)}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
+      finally:
+        if pr_comments:
+          add_pr_comments(pr_number, pr_comments)  # This "commits" all the comments generated on this run before leaving loop on continue.
 
     return success_count
 

selfdrive/car/card.py

@@ -96,7 +96,7 @@ class Car:
         if len(can.can) > 0:
           break
 
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
@@ -107,7 +107,7 @@ class Car:
 
       fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
       sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP

selfdrive/car/tests/test_car_interfaces.py

@@ -42,9 +42,9 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         experimental_long=args['experimental_long'], docs=False)
+                                         alpha_long=args['alpha_long'], docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                               experimental_long=args['experimental_long'], docs=False)
+                                               alpha_long=args['alpha_long'], docs=False)
     sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp)

selfdrive/car/tests/test_models.py

@@ -79,7 +79,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.elm_frame = None
     cls.car_safety_mode_frame = None
     cls.fingerprint = gen_empty_fingerprint()
-    experimental_long = False
+    alpha_long = False
     for msg in lr:
       if msg.which() == "can":
         can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
@@ -92,7 +92,7 @@ class TestCarModelBase(unittest.TestCase):
       elif msg.which() == "carParams":
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
-          experimental_long = True
+          alpha_long = True
         if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -114,7 +114,7 @@ class TestCarModelBase(unittest.TestCase):
           cls.car_safety_mode_frame = len(can_msgs)
 
     assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, experimental_long
+    return car_fw, can_msgs, alpha_long
 
   @classmethod
   def get_testing_data(cls):
@@ -147,14 +147,14 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform

selfdrive/controls/lib/desire_helper.py

@@ -1,7 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -48,7 +48,7 @@ class DesireHelper:
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:

selfdrive/controls/lib/drive_helpers.py

@@ -1,7 +1,7 @@
 import numpy as np
 from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
@@ -19,6 +19,9 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
@@ -43,3 +46,19 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
+
+
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+  if len(speeds) == len(t_idxs):
+    v_now = speeds[0]
+    a_now = accels[0]
+    v_target = np.interp(action_t, t_idxs, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
+  return a_target, should_stop

selfdrive/controls/lib/latcontrol_torque.py

@@ -80,7 +80,8 @@ class LatControlTorque(LatControl):
       # Lateral acceleration torque controller extension updates
       # Overrides stock ff and pid_log.error
       ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
 
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,

selfdrive/controls/lib/longitudinal_planner.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -50,27 +50,11 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
-  if len(speeds) == CONTROL_N:
-    v_now = speeds[0]
-    a_now = accels[0]
-
-    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
-  else:
-    v_target = 0.0
-    v_target_1sec = 0.0
-    a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
-  return a_target, should_stop
-
-
 class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    self.mpc.mode = 'acc'
     LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
@@ -110,9 +94,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
   def update(self, sm):
     LongitudinalPlannerSP.update(self, sm)
-    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if dec_mpc_mode := self.get_mpc_mode():
-      self.mpc.mode = dec_mpc_mode
+      self.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -135,7 +119,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mpc.mode == 'acc':
+    if self.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -182,8 +166,17 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
+    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+    if self.mode == 'acc':
+      output_a_target = output_a_target_mpc
+      self.output_should_stop = output_should_stop_mpc
+    else:
+      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)

selfdrive/controls/radard.py

@@ -5,13 +5,17 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log, car, custom
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
+from opendbc.car import structs
+from opendbc.car.hyundai.values import HyundaiFlags
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 1.5
@@ -157,7 +161,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -167,6 +171,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
   elif (track is None) and ready and (lead_msg.prob > .5):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
@@ -182,8 +187,20 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   return lead_dict
 
 
+def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
+                    lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
+  if CP.brand == "hyundai" and (CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC or
+                                CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
+    lead_dict['yRel'] = float(-lead_msg.y[0])
+
+  return lead_dict
+
+
 class RadarD:
-  def __init__(self, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
@@ -239,8 +256,8 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -260,11 +277,15 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
+  cloudlog.info("radard is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(Params().get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("radard got CarParamsSP")
+
   # *** setup messaging
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
-  RD = RadarD(CP.radarDelay)
+  RD = RadarD(CP, CP_SP, CP.radarDelay)
 
   while 1:
     sm.update()

selfdrive/debug/set_car_params.py

@@ -15,7 +15,7 @@ if __name__ == "__main__":
   else:
     CP = car.CarParams.new_message()
     CP.openpilotLongitudinalControl = True
-    CP.experimentalLongitudinalAvailable = False
+    CP.alphaLongitudinalAvailable = False
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):

selfdrive/locationd/calibrationd.py

@@ -11,7 +11,7 @@ import capnp
 import numpy as np
 from typing import NoReturn
 
-from cereal import log
+from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -258,16 +258,18 @@ def main() -> NoReturn:
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveCalibration'])
-  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
+  sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
 
   calibrator = Calibrator(param_put=True)
+  calibrator.not_car = CP.notCar
 
   while 1:
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
-    calibrator.not_car = sm['carParams'].notCar
-
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,

selfdrive/locationd/helpers.py

@@ -1,10 +1,48 @@
 import numpy as np
 from typing import Any
+from functools import cache
 
 from cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
+@cache
+def fft_next_good_size(n: int) -> int:
+    """
+    smallest composite of 2, 3, 5, 7, 11 that is >= n
+    inspired by pocketfft
+    """
+    if n <= 6:
+      return n
+    best, f2 = 2 * n, 1
+    while f2 < best:
+        f23 = f2
+        while f23 < best:
+            f235 = f23
+            while f235 < best:
+                f2357 = f235
+                while f2357 < best:
+                    f235711 = f2357
+                    while f235711 < best:
+                        best = f235711 if f235711 >= n else best
+                        f235711 *= 11
+                    f2357 *= 7
+                f235 *= 5
+            f23 *= 3
+        f2 *= 2
+    return best
+
+
+def parabolic_peak_interp(R, max_index):
+  if max_index == 0 or max_index == len(R) - 1:
+    return max_index
+
+  y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1]
+  offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1)
+
+  return max_index + offset
+
+
 def rotate_cov(rot_matrix, cov_in):
   return rot_matrix @ cov_in @ rot_matrix.T
 

selfdrive/locationd/lagd.py

@@ -0,0 +1,373 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+import capnp
+from collections import deque
+from functools import partial
+
+import cereal.messaging as messaging
+from cereal import car, log
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+
+BLOCK_SIZE = 100
+BLOCK_NUM = 50
+BLOCK_NUM_NEEDED = 5
+MOVING_WINDOW_SEC = 300.0
+MIN_OKAY_WINDOW_SEC = 25.0
+MIN_RECOVERY_BUFFER_SEC = 2.0
+MIN_VEGO = 15.0
+MIN_ABS_YAW_RATE = np.radians(1.0)
+MAX_YAW_RATE_SANITY_CHECK = 1.0
+MIN_NCC = 0.95
+MAX_LAG = 1.0
+MAX_LAG_STD = 0.1
+MAX_LAT_ACCEL = 2.0
+MAX_LAT_ACCEL_DIFF = 0.6
+
+
+def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
+  """
+  References:
+    D. Padfield. "Masked FFT registration". In Proc. Computer Vision and
+    Pattern Recognition, pp. 2918-2925 (2010).
+    :DOI:`10.1109/CVPR.2010.5540032`
+  """
+
+  eps = np.finfo(np.float64).eps
+  expected_sig = np.asarray(expected_sig, dtype=np.float64)
+  actual_sig = np.asarray(actual_sig, dtype=np.float64)
+
+  expected_sig[~mask] = 0.0
+  actual_sig[~mask] = 0.0
+
+  rotated_expected_sig = expected_sig[::-1]
+  rotated_mask = mask[::-1]
+
+  fft = partial(np.fft.fft, n=n)
+
+  actual_sig_fft = fft(actual_sig)
+  rotated_expected_sig_fft = fft(rotated_expected_sig)
+  actual_mask_fft = fft(mask.astype(np.float64))
+  rotated_mask_fft = fft(rotated_mask.astype(np.float64))
+
+  number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real
+  number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples)
+  number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps)
+  masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real
+  masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real
+
+  numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real
+  numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples
+
+  actual_squared_fft = fft(actual_sig ** 2)
+  actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real
+  actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples
+  actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0)
+
+  rotated_expected_squared_fft = fft(rotated_expected_sig ** 2)
+  expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real
+  expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples
+  expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0)
+
+  denom = np.sqrt(actual_sig_denom * expected_sig_denom)
+
+  # zero-out samples with very small denominators
+  tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True)
+  nonzero_indices = denom > tol
+
+  ncc = np.zeros_like(denom, dtype=np.float64)
+  ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices]
+  np.clip(ncc, -1, 1, out=ncc)
+
+  return ncc
+
+
+class Points:
+  def __init__(self, num_points: int):
+    self.times = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.okay = deque[bool]([False] * num_points, maxlen=num_points)
+    self.desired = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.actual = deque[float]([0.0] * num_points, maxlen=num_points)
+
+  @property
+  def num_points(self):
+    return len(self.desired)
+
+  @property
+  def num_okay(self):
+    return np.count_nonzero(self.okay)
+
+  def update(self, t: float, desired: float, actual: float, okay: bool):
+    self.times.append(t)
+    self.okay.append(okay)
+    self.desired.append(desired)
+    self.actual.append(actual)
+
+  def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+    return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay)
+
+
+class BlockAverage:
+  def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float):
+    self.num_blocks = num_blocks
+    self.block_size = block_size
+    self.block_idx = valid_blocks % num_blocks
+    self.idx = 0
+
+    self.values = np.tile(initial_value, (num_blocks, 1))
+    self.valid_blocks = valid_blocks
+
+  def update(self, value: float):
+    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
+    self.idx = (self.idx + 1) % self.block_size
+    if self.idx == 0:
+      self.block_idx = (self.block_idx + 1) % self.num_blocks
+      self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
+
+  def get(self) -> tuple[float, float, float, float]:
+    valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
+    valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
+
+    if len(valid_block_idx) > 0:
+      valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item())
+      valid_std = float(np.std(self.values[valid_block_idx], axis=0).item())
+    else:
+      valid_mean, valid_std = float('nan'), float('nan')
+
+    if len(valid_and_current_idx) > 0:
+      current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item())
+      current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item())
+    else:
+      current_mean, current_std = float('nan'), float('nan')
+
+    return valid_mean, valid_std, current_mean, current_std
+
+
+class LateralLagEstimator:
+  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+
+  def __init__(self, CP: car.CarParams, dt: float,
+               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
+               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
+               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF):
+    self.dt = dt
+    self.window_sec = window_sec
+    self.okay_window_sec = okay_window_sec
+    self.min_recovery_buffer_sec = min_recovery_buffer_sec
+    self.initial_lag = CP.steerActuatorDelay + 0.2
+    self.block_size = block_size
+    self.block_count = block_count
+    self.min_valid_block_count = min_valid_block_count
+    self.min_vego = min_vego
+    self.min_yr = min_yr
+    self.min_ncc = min_ncc
+    self.max_lat_accel = max_lat_accel
+    self.max_lat_accel_diff = max_lat_accel_diff
+
+    self.t = 0.0
+    self.lat_active = False
+    self.steering_pressed = False
+    self.steering_saturated = False
+    self.desired_curvature = 0.0
+    self.v_ego = 0.0
+    self.yaw_rate = 0.0
+    self.yaw_rate_std = 0.0
+    self.pose_valid = False
+
+    self.last_lat_inactive_t = 0.0
+    self.last_steering_pressed_t = 0.0
+    self.last_steering_saturated_t = 0.0
+    self.last_pose_invalid_t = 0.0
+    self.last_estimate_t = 0.0
+
+    self.calibrator = PoseCalibrator()
+
+    self.reset(self.initial_lag, 0)
+
+  def reset(self, initial_lag: float, valid_blocks: int):
+    window_len = int(self.window_sec / self.dt)
+    self.points = Points(window_len)
+    self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
+
+  def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
+    msg = messaging.new_message('liveDelay')
+
+    msg.valid = valid
+
+    liveDelay = msg.liveDelay
+
+    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+      if valid_std > MAX_LAG_STD:
+        liveDelay.status = log.LiveDelayData.Status.invalid
+      else:
+        liveDelay.status = log.LiveDelayData.Status.estimated
+    else:
+      liveDelay.status = log.LiveDelayData.Status.unestimated
+
+    if liveDelay.status == log.LiveDelayData.Status.estimated:
+      liveDelay.lateralDelay = valid_mean_lag
+    else:
+      liveDelay.lateralDelay = self.initial_lag
+
+    if not np.isnan(current_mean_lag) and not np.isnan(current_std):
+      liveDelay.lateralDelayEstimate = current_mean_lag
+      liveDelay.lateralDelayEstimateStd = current_std
+    else:
+      liveDelay.lateralDelayEstimate = self.initial_lag
+      liveDelay.lateralDelayEstimateStd = 0.0
+
+    liveDelay.validBlocks = self.block_avg.valid_blocks
+    if debug:
+      liveDelay.points = self.block_avg.values.flatten().tolist()
+
+    return msg
+
+  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
+    if which == "carControl":
+      self.lat_active = msg.latActive
+    elif which == "carState":
+      self.steering_pressed = msg.steeringPressed
+      self.v_ego = msg.vEgo
+    elif which == "controlsState":
+      self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
+      self.desired_curvature = msg.desiredCurvature
+    elif which == "liveCalibration":
+      self.calibrator.feed_live_calib(msg)
+    elif which == "livePose":
+      device_pose = Pose.from_live_pose(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      self.yaw_rate = calibrated_pose.angular_velocity.yaw
+      self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
+      self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
+    self.t = t
+
+  def points_enough(self):
+    return self.points.num_points >= int(self.okay_window_sec / self.dt)
+
+  def points_valid(self):
+    return self.points.num_okay >= int(self.okay_window_sec / self.dt)
+
+  def update_points(self):
+    la_desired = self.desired_curvature * self.v_ego * self.v_ego
+    la_actual_pose = self.yaw_rate * self.v_ego
+
+    fast = self.v_ego > self.min_vego
+    turning = np.abs(self.yaw_rate) >= self.min_yr
+    sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK
+    la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff
+    calib_valid = self.calibrator.calib_valid
+
+    if not self.lat_active:
+      self.last_lat_inactive_t = self.t
+    if self.steering_pressed:
+      self.last_steering_pressed_t = self.t
+    if self.steering_saturated:
+      self.last_steering_saturated_t = self.t
+    if not sensors_valid or not la_valid:
+      self.last_pose_invalid_t = self.t
+
+    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid
+      self.t - last_t >= self.min_recovery_buffer_sec
+      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t]
+    )
+    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \
+           fast and turning and has_recovered and calib_valid and sensors_valid and la_valid
+
+    self.points.update(self.t, la_desired, la_actual_pose, okay)
+
+  def update_estimate(self):
+    if not self.points_enough():
+      return
+
+    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()
+    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:]))
+
+    delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    if corr < self.min_ncc or not is_valid:
+      return
+
+    self.block_avg.update(delay)
+    self.last_estimate_t = self.t
+
+  def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]:
+    assert len(expected_sig) == len(actual_sig)
+    max_lag_samples = int(max_lag / dt)
+    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+
+    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
+
+    # only consider lags from 0 to max_lag
+    roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
+
+    max_corr_index = np.argmax(roi_ncc)
+    corr = roi_ncc[max_corr_index]
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+
+    return lag, corr
+
+
+def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
+  last_lag_data = params_reader.get("LiveDelay")
+  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+
+  if last_lag_data is not None:
+    try:
+      with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
+        ld = last_lag_msg.liveDelay
+        if last_CP.carFingerprint != CP.carFingerprint:
+          raise Exception("Car model mismatch")
+
+        lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
+        assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
+        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
+        return lag, valid_blocks
+    except Exception as e:
+      cloudlog.error(f"Failed to retrieve initial lag: {e}")
+
+  return None
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+
+  pm = messaging.PubMaster(['liveDelay'])
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
+  if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
+    lag, valid_blocks = initial_lag_params
+    lag_learner.reset(lag, valid_blocks)
+
+  while True:
+    sm.update()
+    if sm.all_checks():
+      for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
+        if sm.updated[which]:
+          t = sm.logMonoTime[which] * 1e-9
+          lag_learner.handle_log(t, which, sm[which])
+      lag_learner.update_points()
+
+    # 4Hz driven by livePose
+    if sm.frame % 5 == 0:
+      lag_learner.update_estimate()
+      lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
+      lag_msg_dat = lag_msg.to_bytes()
+      pm.send('liveDelay', lag_msg_dat)
+
+      if sm.frame % 1200 == 0: # cache every 60 seconds
+        params_reader.put_nonblocking("LiveDelay", lag_msg_dat)

selfdrive/locationd/locationd.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import json
 import time
 import capnp
 import numpy as np
@@ -65,7 +64,7 @@ class LocationEstimator:
     self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
 
   def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
-    self.kf.reset(t, x_initial, P_initial)
+    self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
 
   def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
     # some segments have two IMUs, ignore the second one
@@ -186,8 +185,8 @@ class LocationEstimator:
       rot_device_noise = rot_device_std ** 2
       trans_device_noise = trans_device_std ** 2
 
-      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, rot_device_noise)
-      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, trans_device_noise)
+      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, np.array([np.diag(rot_device_noise)]))
+      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, np.array([np.diag(trans_device_noise)]))
       self.camodo_yawrate_distribution =  np.array([rot_device[2], rot_device_std[2]])
       if cam_odo_rot_res is not None:
         _, new_x, _, new_P, _, _, (cam_odo_rot_err,), _, _ = cam_odo_rot_res
@@ -278,12 +277,13 @@ def main():
   input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
   input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
 
-  initial_pose = params.get("LocationFilterInitialState")
-  if initial_pose is not None:
-    initial_pose = json.loads(initial_pose)
-    x_initial = np.array(initial_pose["x"], dtype=np.float64)
-    P_initial = np.diag(np.array(initial_pose["P"], dtype=np.float64))
-    estimator.reset(None, x_initial, P_initial)
+  initial_pose_data = params.get("LocationFilterInitialState")
+  if initial_pose_data is not None:
+    with log.Event.from_bytes(initial_pose_data) as lp_msg:
+      filter_state = lp_msg.livePose.debugFilterState
+      x_initial = np.array(filter_state.value, dtype=np.float64) if len(filter_state.value) != 0 else PoseKalman.initial_x
+      P_initial = np.diag(np.array(filter_state.std, dtype=np.float64)) if len(filter_state.std) != 0 else PoseKalman.initial_P
+      estimator.reset(None, x_initial, P_initial)
 
   while True:
     sm.update()

selfdrive/locationd/models/pose_kf.py

@@ -5,6 +5,8 @@ import numpy as np
 
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 
+from rednose.helpers.kalmanfilter import KalmanFilter
+
 if __name__=="__main__":
   import sympy as sp
   from rednose.helpers.ekf_sym import gen_code
@@ -24,7 +26,7 @@ class States:
   ACCEL_BIAS = slice(15, 18)  # Acceletometer bias in m/s**2
 
 
-class PoseKalman:
+class PoseKalman(KalmanFilter):
   name = "pose"
 
   # state
@@ -50,10 +52,10 @@ class PoseKalman:
                3**2, 3**2, 3**2,
                0.005**2, 0.005**2, 0.005**2])
 
-  obs_noise = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
-               ObservationKind.CAMERA_ODO_TRANSLATION: np.array([0.5**2, 0.5**2, 0.5**2]),
-               ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**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.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])}
 
   @staticmethod
   def generate_code(generated_dir):
@@ -103,35 +105,6 @@ class PoseKalman:
     self.filter = EKF_sym_pyx(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P,
                               dim_state, dim_state_err, max_rewind_age=max_rewind_age)
 
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  @property
-  def t(self):
-    return self.filter.get_filter_time()
-
-  def predict_and_observe(self, t, kind, data, obs_noise=None):
-    data = np.atleast_2d(data)
-    if obs_noise is None:
-      obs_noise = self.obs_noise[kind]
-    R = self._get_R(len(data), obs_noise)
-    return self.filter.predict_and_update_batch(t, kind, data, R)
-
-  def reset(self, t, x_init, P_init):
-    self.filter.init_state(x_init, P_init, t)
-
-  def _get_R(self, n, obs_noise):
-    dim = obs_noise.shape[0]
-    R = np.zeros((n, dim, dim))
-    for i in range(n):
-      R[i, :, :] = np.diag(obs_noise)
-    return R
-
 
 if __name__ == "__main__":
   generated_dir = sys.argv[2]

selfdrive/locationd/paramsd.py

@@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
 
 
 # TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params_reader: Params):
-  last_parameters_data = params_reader.get("LiveParameters")
-  if last_parameters_data is None:
+def migrate_cached_vehicle_params_if_needed(params: Params):
+  last_parameters_data_old = params.get("LiveParameters")
+  last_parameters_data = params.get("LiveParametersV2")
+  if last_parameters_data_old is None or last_parameters_data is not None:
     return
 
   try:
-    last_parameters_dict = json.loads(last_parameters_data)
+    last_parameters_dict = json.loads(last_parameters_data_old)
     last_parameters_msg = messaging.new_message('liveParameters')
     last_parameters_msg.liveParameters.valid = True
     last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
-    params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
-  except Exception:
-    pass
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+  except Exception as e:
+    cloudlog.error(f"Failed to perform parameter migration: {e}")
+    params.remove("LiveParameters")
 
 
-def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
-  last_parameters_data = params_reader.get("LiveParameters")
-  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
+  last_parameters_data = params.get("LiveParametersV2")
+  last_carparams_data = params.get("CarParamsPrevRoute")
 
   steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
 
@@ -267,12 +269,12 @@ def main():
   pm = messaging.PubMaster(['liveParameters'])
   sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
-  params_reader = Params()
-  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+  params = Params()
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params_reader)
+  migrate_cached_vehicle_params_if_needed(params)
 
-  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
+  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
   while True:
@@ -288,7 +290,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params_reader.put_nonblocking("LiveParameters", msg_dat)
+        params.put_nonblocking("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 

selfdrive/locationd/test/test_lagd.py

@@ -0,0 +1,141 @@
+import random
+import numpy as np
+import time
+import pytest
+
+from cereal import messaging, log
+from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware import PC
+
+MAX_ERR_FRAMES = 1
+DT = 0.05
+
+
+def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
+  class ZeroMock(mocker.Mock):
+    def __getattr__(self, *args):
+      return 0
+
+  for i in range(n_frames):
+    t = i * estimator.dt
+    desired_la = np.cos(t) * 0.1
+    actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1
+
+    # if sample is masked out, set it to desired value (no lag)
+    rejected = random.uniform(0, 1) < rejection_threshold
+    if rejected:
+      actual_la = desired_la
+
+    desired_cuvature = desired_la / (vego ** 2)
+    actual_yr = actual_la / vego
+    msgs = [
+      (t, "carControl", mocker.Mock(latActive=not rejected)),
+      (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature,
+                                        lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))),
+      (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
+                                velocityDevice=ZeroMock(),
+                                accelerationDevice=ZeroMock(),
+                                angularVelocityDevice=ZeroMock(z=actual_yr, valid=True),
+                                posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
+    ]
+    for t, w, m in msgs:
+      estimator.handle_log(t, w, m)
+    estimator.update_points()
+    estimator.update_estimate()
+
+
+class TestLagd:
+  def test_read_saved_params(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = messaging.new_message('liveDelay')
+    msg.liveDelay.lateralDelayEstimate = random.random()
+    msg.liveDelay.validBlocks = random.randint(1, 10)
+    params.put("LiveDelay", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+    saved_lag_params = retrieve_initial_lag(params, CP)
+    assert saved_lag_params is not None
+
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.liveDelay.lateralDelayEstimate
+    assert valid_blocks == msg.liveDelay.validBlocks
+
+  def test_ncc(self):
+    lag_frames = random.randint(1, 19)
+
+    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
+    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
+    mask = np.ones(len(desired_sig), dtype=bool)
+
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) == lag_frames
+
+    # add some noise
+    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+    # mask out 40% of the values, and make them noise
+    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+  def test_empty_estimator(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+    msg = estimator.get_msg(True)
+    assert msg.liveDelay.status == 'unestimated'
+    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.liveDelay.validBlocks == 0
+
+  def test_estimator_basics(self, mocker, subtests):
+    for lag_frames in range(5):
+      with subtests.test(msg=f"lag_frames={lag_frames}"):
+        mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        msg = estimator.get_msg(True)
+        assert msg.liveDelay.status == 'estimated'
+        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+
+  def test_estimator_masking(self, mocker):
+    mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    msg = estimator.get_msg(True)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+
+  @pytest.mark.skipif(PC, reason="only on device")
+  @pytest.mark.timeout(60)
+  def test_estimator_performance(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+
+    ds = []
+    for _ in range(1000):
+      st = time.perf_counter()
+      estimator.update_points()
+      estimator.update_estimate()
+      d = time.perf_counter() - st
+      ds.append(d)
+
+    assert np.mean(ds) < DT

selfdrive/locationd/test/test_paramsd.py

@@ -28,7 +28,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
@@ -49,9 +49,20 @@ class TestParamsd:
     msg = get_random_live_parameters(CP)
     params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
     sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    assert params.get("LiveParametersV2") is not None
+
+  def test_read_saved_params_corrupted_old_format(self):
+    params = Params()
+    params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    assert params.get("LiveParameters") is None
+    assert params.get("LiveParametersV2") is None

selfdrive/modeld/fill_model_msg.py

@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool) -> None:
@@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -105,8 +106,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
-  # lateral planning
-  modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  # action
+  modelV2.action = action
 
   # times at X_IDXS of edges and lines aren't used
   LINE_T_IDXS: list[float] = []

selfdrive/modeld/modeld.py

@@ -21,14 +21,15 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
@@ -40,6 +41,30 @@ 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'
 
+LAT_SMOOTH_SECONDS = 0.1
+LONG_SMOOTH_SECONDS = 0.3
+MIN_LAT_CONTROL_SPEED = 0.3
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                     plan[:,Plan.ACCELERATION][:,0],
+                                                     ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+
+    desired_curvature = model_output['desired_curvature'][0, 0]
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                  desiredAcceleration=float(desired_accel),
+                                  shouldStop=bool(should_stop))
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -147,7 +172,7 @@ class ModelState:
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
@@ -221,7 +246,10 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # TODO Move smooth seconds to action function
+  lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -263,7 +291,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -306,7 +334,10 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
-size 15966721
+oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891
+size 15578328

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
-size 34882971
+oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
+size 46265585

selfdrive/modeld/parse_model_outputs.py

@@ -88,6 +88,12 @@ 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_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_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     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
@@ -95,17 +101,10 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    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_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

selfdrive/monitoring/dmonitoringd.py

@@ -10,7 +10,8 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 

selfdrive/monitoring/helpers.py

@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

selfdrive/selfdrived/events.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
-  StartupAlert, AlertCallbackType
+  StartupAlert, AlertCallbackType, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -170,13 +170,6 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
-def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  text = "Enable Adaptive Cruise to Engage"
-  if CP.brand == "honda":
-    text = "Enable Main Switch to Engage"
-  return NoEntryAlert(text)
-
-
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque

selfdrive/selfdrived/selfdrived.py

@@ -20,6 +20,7 @@ from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
@@ -30,7 +31,6 @@ from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -87,7 +87,7 @@ class SelfdriveD(CruiseHelper):
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
@@ -101,8 +101,8 @@ class SelfdriveD(CruiseHelper):
     car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
+    if not self.CP.alphaLongitudinalAvailable:
+      self.params.remove("AlphaLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
@@ -127,6 +127,12 @@ class SelfdriveD(CruiseHelper):
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'):
+      self.ignored_processes = {'loggerd', }
+
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
     if not car_recognized:
@@ -192,7 +198,7 @@ class SelfdriveD(CruiseHelper):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update().to_msg()
+      car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
@@ -283,7 +289,7 @@ class SelfdriveD(CruiseHelper):
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -107,6 +107,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed

selfdrive/test/process_replay/migration.py

@@ -9,10 +9,11 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
 from opendbc.car.hyundai.values import HyundaiSafetyFlags
+from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -108,7 +109,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []
@@ -274,6 +275,8 @@ def migrate_pandaStates(msgs):
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
     "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "CHEVROLET_VOLT": GMSafetyFlags.EV,
+    "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
   # TODO: get new Ford route
   safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)

selfdrive/test/process_replay/model_replay.py

@@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit):
   ModelV2_Plots = zl([
                      (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
                      (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
+                     (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
                      (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
                      (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
                      (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),

selfdrive/test/process_replay/process_replay.py

@@ -364,7 +364,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
+    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
     if not params.get_bool("DisengageOnAccelerator"):
@@ -465,7 +465,7 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveParameters", "radarState",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
       "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
@@ -519,9 +519,10 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="calibrationd",
-    pubs=["carState", "cameraOdometry", "carParams"],
+    pubs=["carState", "cameraOdometry"],
     subs=["liveCalibration"],
     ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(
@@ -553,6 +554,15 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
+  ProcessConfig(
+    proc_name="lagd",
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
+    subs=["liveDelay"],
+    ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    tolerance=NUMPY_TOLERANCE,
+  ),
   ProcessConfig(
     proc_name="ubloxd",
     pubs=["ubloxRaw"],
@@ -770,7 +780,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params_dict["ExperimentalLongitudinalEnabled"] = True
+      params_dict["AlphaLongitudinalEnabled"] = True
 
     if CP.notCar:
       params_dict["JoystickDebugMode"] = True

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-887623a18d82088dc5ed9ecdced55eb0d3f718b1
+fcc771b9ceb487a61035885acbd84e592fb316bf

selfdrive/test/process_replay/test_processes.py

@@ -24,16 +24,16 @@ source_segments = [
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.TOYOTA_RAV4
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
+  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.HONDA_CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.HONDA_ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
   ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
-  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("GM", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
+  # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
@@ -43,28 +43,27 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
-  ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
-  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
-  ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
-  ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
-  ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
-  ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
-  ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
-  ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
-  ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
-  ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
-  ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
-  ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
-  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
-  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
+  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
+  ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
+  ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
+  ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
+  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
+  ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
+  ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
+  ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
+  ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
+  ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
+  ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
+  ("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
+  ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
+  ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
-  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
+  ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
+  ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla", "rivian"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -252,7 +251,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

selfdrive/test/test_onroad.py

@@ -44,7 +44,6 @@ PROCS = {
   "./camerad": 10.0,
   "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
-  "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
@@ -53,6 +52,8 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
+  "selfdrive.locationd.paramsd": 9.0,
+  "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,
@@ -95,6 +96,7 @@ TIMINGS = {
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
   "livePose": [2.5, 0.35],
+  "liveParameters": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
 

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -31,12 +31,12 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   experimentalLongitudinalToggle = new ParamControl(
-    "ExperimentalLongitudinalEnabled",
-    tr("sunnypilot Longitudinal Control (Alpha)"),
+    "AlphaLongitudinalEnabled",
+    tr("openpilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
-              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
     ""
   );
   experimentalLongitudinalToggle->setConfirmation(true, false);
@@ -99,8 +99,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     auto hyundai = CP.getBrand() == "hyundai";
     auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
 
-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
+    if (!CP.getAlphaLongitudinalAvailable() || is_release) {
+      params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
     }
 
@@ -109,7 +109,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
      * - is not a release branch, and
      * - the car supports experimental longitudinal control (alpha)
      */
-    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
     hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));

selfdrive/ui/qt/offroad/settings.cc

@@ -159,8 +159,8 @@ void TogglesPanel::updateToggles() {
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
-                          tr("sunnypilot longitudinal control may come in a future update.");
-      if (CP.getExperimentalLongitudinalAvailable()) {
+                          tr("openpilot longitudinal control may come in a future update.");
+      if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {

selfdrive/ui/qt/util.cc

@@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getExperimentalLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
+  return car_params.getAlphaLongitudinalAvailable()
+             ? Params().getBool("AlphaLongitudinalEnabled")
              : car_params.getOpenpilotLongitudinalControl();
 }
 

selfdrive/ui/sunnypilot/SConscript

@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc

@@ -31,15 +31,16 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
       continue;
     }
 
-    auto *btn = new PushButtonSP(text, 720, this, param);
+    auto *btn = new PushButtonSP(text, 750, this, param);
     btn->setObjectName(id);
-
-    device_grid_layout->addWidget(btn, row, col);
     buttons[id] = btn;
 
-    col++;
-    if (col > 1) {
-      col = 0;
+    if (col==0) {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignLeft);
+      col++;
+    } else {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignRight);
+      col=0;
       row++;
     }
   }
@@ -74,19 +75,24 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
+  // Max Time Offroad
+  maxTimeOffroad = new MaxTimeOffroad();
+  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
+  addItem(maxTimeOffroad);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();
-  power_layout->setSpacing(5);
+  power_layout->setSpacing(25);
 
-  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 750, this);
   rebootBtn->setStyleSheet(rebootButtonStyle);
   power_layout->addWidget(rebootBtn);
   QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
 
-  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 750, this);
   poweroffBtn->setStyleSheet(powerOffButtonStyle);
   power_layout->addWidget(poweroffBtn);
   QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
@@ -100,7 +106,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
   QVBoxLayout *power_group_layout = new QVBoxLayout();
-  power_group_layout->setSpacing(30);
+  power_group_layout->setSpacing(25);
   power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 

selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -23,6 +24,7 @@ public:
 private:
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
+  MaxTimeOffroad *maxTimeOffroad;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {

selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc

@@ -0,0 +1,53 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+
+// Map of Max Offroad Time Options (Minutes)
+const QMap<QString, QString> MaxTimeOffroad::offroad_time_options = {
+  {"0", "0"}, // Always On
+  {"1", "5"},
+  {"2", "10"},
+  {"3", "15"},
+  {"4", "30"},
+  {"5", "60"},
+  {"6", "120"},
+  {"7", "180"},
+  {"8", "300"},
+  {"9", "600"},
+  {"10", "1440"},
+  {"11", "1800"}
+};
+
+MaxTimeOffroad::MaxTimeOffroad() : OptionControlSP(
+  "MaxTimeOffroad",
+  tr("Max Time Offroad"),
+  tr("Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default)"),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &offroad_time_options) {
+
+  refresh();
+}
+
+void MaxTimeOffroad::refresh() {
+  const int maxOffroadInMinutes = QString::fromStdString(params.get("MaxTimeOffroad")).toInt();
+  const bool useHours = maxOffroadInMinutes >= 60;
+  
+  QString label;
+  if (maxOffroadInMinutes == 0) {
+    label = tr("Always On");
+  } else {
+    const int value = useHours ? maxOffroadInMinutes / 60 : maxOffroadInMinutes;
+    label = QString("%1%2").arg(value).arg(useHours ? tr("h") : tr("m"));
+  }
+  
+  if (maxOffroadInMinutes == 1800) {
+    label += tr(" (default)");
+  }
+  
+  setLabel(label);
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h

@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MaxTimeOffroad : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> offroad_time_options;
+
+  MaxTimeOffroad();
+  void refresh();
+
+private:
+  Params params;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc

@@ -85,7 +85,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Backup Settings
-  backupSettings = new PushButtonSP(tr("Backup Settings"), 730, this);
+  backupSettings = new PushButtonSP(tr("Backup Settings"), 750, this);
   backupSettings->setObjectName("backup_btn");
   connect(backupSettings, &QPushButton::clicked, [=]() {
     backupSettings->setEnabled(false);
@@ -96,7 +96,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Restore Settings
-  restoreSettings = new PushButtonSP(tr("Restore Settings"), 730, this);
+  restoreSettings = new PushButtonSP(tr("Restore Settings"), 750, this);
   restoreSettings->setObjectName("restore_btn");
   connect(restoreSettings, &QPushButton::clicked, [=]() {
     restoreSettings->setEnabled(false);
@@ -108,10 +108,9 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   // Settings Restore and Settings Backup in the same horizontal space
   auto settings_layout = new QHBoxLayout;
   settings_layout->setContentsMargins(0, 0, 0, 30);
-  settings_layout->addWidget(backupSettings);
+  settings_layout->addWidget(backupSettings, 0, Qt::AlignLeft);
   settings_layout->addSpacing(10);
-  settings_layout->addWidget(restoreSettings);
-  settings_layout->setAlignment(Qt::AlignLeft);
+  settings_layout->addWidget(restoreSettings, 0, Qt::AlignRight);
   list->addItem(settings_layout);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);

selfdrive/ui/sunnypilot/qt/widgets/controls.cc

@@ -132,10 +132,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
         if (isVisible && spacingItem) {
           main_layout->removeItem(spacingItem);
-          delete spacingItem;
-          spacingItem = nullptr;
-        } else if (!isVisible && spacingItem == nullptr) {
-          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+        } else if (!isVisible && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
           main_layout->insertItem(main_layout->indexOf(description), spacingItem);
         }
       }
@@ -145,8 +142,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   }
 
   main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (!desc.isEmpty() && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->count(), spacingItem);
   }
 
@@ -166,8 +162,7 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
     description->hide();
   }
 
-  if (spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->indexOf(description), spacingItem);
   }
 }

selfdrive/ui/sunnypilot/qt/widgets/controls.h

@@ -96,11 +96,10 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
   Q_OBJECT
 
 protected:
+  QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
   AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
   void hideEvent(QHideEvent *e) override;
 
-private:
-  QSpacerItem *spacingItem = nullptr;
 };
 
 // widget to display a value
@@ -417,14 +416,29 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
+  bool isInlineLayout;
+  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
 
+  int getParamValue() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
+    return result.toInt();
+  }
+
+  // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
+  void setParamValue(const int new_value) {
+    const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
+    params.put(key, value_str.toStdString());
+  }
+
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -444,14 +458,27 @@ public:
       }
     )";
 
+    if (inline_layout) {
+      optionSelectorLayout->setMargin(0);
+      optionSelectorLayout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     label.setStyleSheet(label_enabled_style);
-    label.setFixedWidth(300);
+    label.setFixedWidth(inline_layout ? 350 : 300);
     label.setAlignment(Qt::AlignCenter);
 
     const std::vector<QString> button_texts{"－", "＋"};
 
     key = param.toStdString();
-    value = atoi(params.get(key).c_str());
+    value = getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -459,19 +486,20 @@ public:
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
                                                 "QPushButton { text-align: right; }"));
-      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      optionSelectorLayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
       if (i == 0) {
-        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+        optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
+      button->setEnabled((i == 0) ? !(value <= range.min_value) : !(value >= range.max_value));
+      button->setFocusPolicy(Qt::NoFocus); // This prevents unintended scroll due to loss of focus when the button gets disabled based on min/max values
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        key = param.toStdString();
-        value = atoi(params.get(key).c_str());
+        value = getParamValue(); // in case it changed externally, we need to get the latest value.
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        params.put(key, QString::number(value).toStdString());
+        setParamValue(value);
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -484,7 +512,13 @@ public:
       });
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    optionSelectorLayout->setAlignment(Qt::AlignLeft);
+    if (isInlineLayout) {
+      QFrame *container = new QFrame;
+      container->setLayout(optionSelectorLayout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
   }
 
   void setUpdateOtherToggles(bool _update) {
@@ -506,6 +540,10 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (isInlineLayout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -513,8 +551,8 @@ protected:
     int w = 0;
     int h = 150;
 
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+    for (int i = 0; i < optionSelectorLayout->count(); ++i) {
+      QWidget *widget = qobject_cast<QWidget *>(optionSelectorLayout->itemAt(i)->widget());
       if (widget) {
         w += widget->width();
       }
@@ -544,6 +582,7 @@ private:
   std::map<QString, QString> option_label = {};
   bool request_update = false;
   QString _title = "";
+  const QMap<QString, QString> *valueMap;
 
   const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";

selfdrive/ui/tests/test_ui/run.py

@@ -66,7 +66,7 @@ def setup_settings_firehose(click, pm: PubMaster, scroll=None):
 
 def setup_settings_developer(click, pm: PubMaster, scroll=None):
   CP = car.CarParams()
-  CP.experimentalLongitudinalAvailable = True
+  CP.alphaLongitudinalAvailable = True
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings_device(click, pm)

selfdrive/ui/translations/main_ja.ts

@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作停止&lt;/span&gt;: 大容量のネットワークに接続してください</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_pt-BR.ts

@@ -508,7 +508,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -149,7 +149,7 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>纵向机动模式</translation>
+        <translation>纵向操控测试模式</translation>
     </message>
     <message>
         <source>sunnypilot Longitudinal Control (Alpha)</source>
@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到不限流量的网络</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -149,7 +149,7 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>縱向機動模式</translation>
+        <translation>縱向操控測試模式</translation>
     </message>
     <message>
         <source>sunnypilot Longitudinal Control (Alpha)</source>
@@ -507,7 +507,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到不按流量計費的網絡</translation>
     </message>
 </context>
 <context>

sunnypilot/mads/mads.py

@@ -5,16 +5,18 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, log, custom
+from cereal import log, custom
 
+from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
-SafetyModel = car.CarParams.SafetyModel
+GearShifter = structs.CarState.GearShifter
+SafetyModel = structs.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -48,7 +50,7 @@ class ModularAssistiveDrivingSystem:
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
-  def update_events(self, CS: car.CarState):
+  def update_events(self, CS: structs.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
       if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
@@ -70,7 +72,7 @@ class ModularAssistiveDrivingSystem:
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear):
+      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
@@ -127,10 +129,13 @@ class ModularAssistiveDrivingSystem:
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      if self.events.has(EventName.wrongCarMode):
+        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
       self.events.remove(EventName.wrongCarMode)
 
-  def update(self, CS: car.CarState):
+  def update(self, CS: structs.CarState):
     if not self.enabled_toggle:
       return