modeld_v2: create a compiled pkl -> gpu kernel artifact converter (#2053 )

modeld_v2: compile models to plain gpu memory artifact (#2050 )
Merge commit '35e78a9d9518855ec0dacec919e719624a28131f' into sync-20261016
2026-10-18 03:23:45 +08:00 · 2026-10-17 13:35:54 -04:00 · 2026-10-17 13:31:04 -04:00 · 2026-10-17 12:38:37 -04:00 · 2026-10-16 19:19:47 -07:00 · 2026-10-16 12:56:24 -04:00
502 changed files with 23017 additions and 13651 deletions
@@ -1,8 +1,10 @@
-* text=auto
+* text=auto eol=lf

 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
+openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES
@@ -20,6 +20,11 @@ on:
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'

 jobs:
  setup:
@@ -34,9 +39,9 @@ jobs:
      - name: Checkout sunnypilot repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot
          path: sunnypilot
          submodules: recursive
+          fetch-depth: 1

      - name: Get tinygrad_repo ref
        id: get-tinygrad-ref
@@ -47,13 +52,14 @@ jobs:
          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
          echo "tinygrad_ref is $ref"

-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (gh-pages)
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+          fetch-depth: 1

      - name: Get next JSON version to use (from GitHub docs repo)
        id: get-json
@@ -118,6 +124,7 @@ jobs:
      json_version: ${{ needs.setup.outputs.json_version }}
      target_hardware: ${{ github.event.inputs.target_hardware }}
      hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
      set_min_version: ${{ github.event.inputs.set_min_version }}
      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
@@ -162,6 +169,7 @@ jobs:
      target_hardware: ${{ github.event.inputs.target_hardware }}
      artifact_suffix: -retry
      hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
      set_min_version: ${{ github.event.inputs.set_min_version }}
      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
@@ -46,8 +46,8 @@ jobs:

          if [ "${{ inputs.target }}" = "big" ]; then
            NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
-            ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
            HF_DEFAULTS_PATH="models/defaults/big"
+            ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl"
          elif [ "${{ inputs.target }}" = "dm" ]; then
            ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
            HF_DEFAULTS_PATH="models/defaults/dm"
@@ -57,8 +57,9 @@ jobs:
            ONNX_PATH="openpilot/selfdrive/modeld/models/driving_supercombo.onnx"
            HF_DEFAULTS_PATH="models/defaults/small"
          fi
+          ONNX_REF=""
+          [ -n "$ONNX_PATH" ] && ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")

-          ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
          TINYGRAD_REF=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
          if [ -z "$TINYGRAD_REF" ]; then
            echo "::error::Failed to resolve tinygrad ref"
@@ -78,6 +79,8 @@ jobs:
    if: ${{ inputs.target == 'small' }}
    runs-on: [self-hosted, tici]
    env:
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
      SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
      SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
    steps:
@@ -85,9 +88,10 @@ jobs:
        with:
          submodules: recursive

-      - name: Pull ONNX via LFS
+      - name: Pull small ONNX via LFS
        run: git lfs pull -I "${{ env.SMALL_ONNX }}"

+
      - name: Set environment variables
        run: |
          source /etc/profile
@@ -103,38 +107,15 @@ jobs:
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

-      - name: Compile small model with stock compiler
+      - name: Compile small model from ONNX
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
-
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
-
          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
-            --model-size $MODEL_SIZE \
-            --camera-resolutions $CAMERA_RES \
-            --frame-skip $FRAME_SKIP \
-            --output ${{ github.workspace }}/${{ env.SMALL_PKL }}
-
-      - name: Chunk small pkl
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH=${{ github.workspace }}
-          python3 -c "
-          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
-          import os
-          pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
-          size = os.path.getsize(pkl)
-          targets = get_chunk_targets(pkl, size)
-          chunk_file(pkl, targets)
-          print(f'Chunked into {len(targets)} files')
-          "
+          env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
+            ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
+            ${{ github.workspace }}/${{ env.SMALL_PKL }} \
+            --device-input "*" --out-of-band --benchmark-runs 1

      - name: Prepare output
        env:
@@ -147,14 +128,16 @@ jobs:
          PKL_BASE="driving_tinygrad.pkl"
          mkdir -p "$OUTPUT_DIR"

-          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
-          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
+
+          ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)

          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
            --model-dir "$MODELS_DIR" \
            --output-dir "$OUTPUT_DIR" \
            --custom-name "$MODEL_NAME" \
-            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$ONNX_SHA256"

          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"

@@ -181,15 +164,16 @@ jobs:
    if: ${{ inputs.target == 'big' }}
    runs-on: [self-hosted, chestnut]
    env:
-      BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
      BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive

-      - name: Pull big ONNX via LFS
-        run: git lfs pull -I "${{ env.BIG_ONNX }}"
+      - name: Pull big PKL via LFS
+        run: git lfs pull -I "${{ env.BIG_PKL }}"

      - name: Set environment variables
        run: |
@@ -222,38 +206,33 @@ jobs:
              raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
          "

-      - name: Compile big model with stock compiler
+      - name: Compile big warp
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"

+          CHESTNUT_TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
+          COMPILER="${{ github.workspace }}/tinygrad_repo/examples/openpilot"
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")

-          TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
-
-          env ${TG_FLAGS} python3 \
-            ${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
-            --onnx ${{ github.workspace }}/${{ env.BIG_ONNX }} \
-            --model-size $MODEL_SIZE \
-            --camera-resolutions $CAMERA_RES \
-            --frame-skip $FRAME_SKIP \
-            --output ${{ github.workspace }}/${{ env.BIG_PKL }}
-
-      - name: Chunk big pkl
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH=${{ github.workspace }}
-          python3 -c "
-          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
-          import os
-          pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
-          size = os.path.getsize(pkl)
-          targets = get_chunk_targets(pkl, size)
-          chunk_file(pkl, targets)
-          print(f'Chunked into {len(targets)} files')
-          "
+          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
+            CAM_W=$(echo $res | cut -d x -f1)
+            CAM_H=$(echo $res | cut -d x -f2)
+            STRIDE_INFO=$(python3 -c "
+          import sys
+          from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+          s,y,u,sz = get_nv12_info(int(sys.argv[1]), int(sys.argv[2]))
+          print(f'{s},{y},{u},{sz}')
+          " $CAM_W $CAM_H)
+            WARP_PKL="${MODELS_DIR}/big_driving_warp_${res}_tinygrad.pkl"
+            env ${CHESTNUT_TG_FLAGS} python3 "${COMPILER}/compile_warp.py" \
+              --frame ${CAM_W},${CAM_H},${STRIDE_INFO} \
+              --warp-to ${MODEL_SIZE} \
+              --layout yuv420 \
+              --frames 2 \
+              --output "${WARP_PKL}"
+          done

      - name: Prepare output
        env:
@@ -266,14 +245,18 @@ jobs:
          PKL_BASE="big_driving_tinygrad.pkl"
          mkdir -p "$OUTPUT_DIR"

-          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
-          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}" "$OUTPUT_DIR/"
+
+          PKL_LFS_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.BIG_PKL }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)

          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
            --model-dir "$MODELS_DIR" \
            --output-dir "$OUTPUT_DIR" \
            --custom-name "$MODEL_NAME" \
-            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$PKL_LFS_SHA256"
+
+          cp "$MODELS_DIR"/big_driving_warp_* "$OUTPUT_DIR/" || true

          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"

@@ -311,7 +294,8 @@ jobs:
    steps:
      - uses: actions/checkout@v4

-      - name: Pull ONNX via LFS
+      - name: Pull LFS for resolved ONNX files
+        if: ${{ needs.resolve.outputs.onnx_path != '' }}
        run: git lfs pull -I "${{ needs.resolve.outputs.onnx_path }}"

      - name: Install huggingface_hub
@@ -376,38 +360,28 @@ jobs:
          from datetime import datetime, UTC

          dm_dir = Path('dm_output')
-          manifest = list(dm_dir.glob('*.chunkmanifest'))
-          assert manifest, 'No chunkmanifest found'
-          pkl_name = manifest[0].name.removesuffix('.chunkmanifest')
-          num_chunks = int(manifest[0].read_text().strip())
-
-          chunks = []
-          for i in range(num_chunks):
-              chunk = dm_dir / f'{pkl_name}.chunk{i+1:02d}of{num_chunks:02d}'
-              chunks.append({
-                  'file_name': chunk.name,
-                  'sha256': hashlib.sha256(chunk.read_bytes()).hexdigest()
-              })
+          matches = sorted(dm_dir.glob('dmonitoring_*_tinygrad.pkl'))
+          assert len(matches) == 1, f'expected one DM pkl in {dm_dir}, found {matches}'
+          pkl_name = matches[0].name

          digest = hashlib.sha256()
-          for c in chunks:
-              with open(dm_dir / c['file_name'], 'rb') as f:
-                  while block := f.read(1024*1024):
-                      digest.update(block)
+          with open(dm_dir / pkl_name, 'rb') as f:
+              while block := f.read(1024*1024):
+                  digest.update(block)

          metadata = {
              'bundles': [{
                  'short_name': 'DMMODEL',
                  'display_name': '${{ needs.resolve.outputs.model_name }}',
                  'ref': '${{ needs.resolve.outputs.onnx_ref }}',
+                  'tinygrad_ref': '${{ needs.resolve.outputs.tinygrad_ref }}',
                  'runner': 'tinygrad',
                  'build_time': datetime.now(UTC).strftime('%Y-%m-%dT%H:%M:%SZ'),
                  'models': [{
                      'type': 'chunked',
                      'artifact': {
                          'file_name': pkl_name,
-                          'download_uri': {'url': '', 'sha256': digest.hexdigest()},
-                          'chunks': chunks
+                          'download_uri': {'url': '', 'sha256': digest.hexdigest()}
                      }
                  }]
              }]
@@ -470,42 +444,39 @@ jobs:
            ${{ github.workspace }}/${{ env.DM_ONNX }} \
            ${{ github.workspace }}/${{ env.DM_PKL }}

-      - name: Chunk DM pkl
-        run: |
-          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
-          export PYTHONPATH=${{ github.workspace }}
-          python3 -c "
-          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
-          import os
-          pkl = '${{ github.workspace }}/${{ env.DM_PKL }}'
-          size = os.path.getsize(pkl)
-          targets = get_chunk_targets(pkl, size)
-          chunk_file(pkl, targets)
-          print(f'Chunked {pkl} into {len(targets)} chunks')
-          "
-
      - name: Compile DM warp
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"

          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-          MODEL_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld"
+          COMPILER="${{ github.workspace }}/tinygrad_repo/examples/openpilot"
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")

          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
-            WARP_PKL="${MODEL_DIR}/models/dm_warp_${res}_tinygrad.pkl"
-            taskset -c 7 env ${TG_FLAGS} python3 ${MODEL_DIR}/compile_dm_warp.py \
-              --camera-resolution ${res} \
+            CAM_W=$(echo $res | cut -d x -f1)
+            CAM_H=$(echo $res | cut -d x -f2)
+            STRIDE_INFO=$(python3 -c "
+          import sys
+          from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+          s,y,u,sz = get_nv12_info(int(sys.argv[1]), int(sys.argv[2]))
+          print(f'{s},{y},{u},{sz}')
+          " $CAM_W $CAM_H)
+            WARP_PKL="${MODELS_DIR}/dm_warp_${res}_tinygrad.pkl"
+            taskset -c 7 env ${TG_FLAGS} python3 "${COMPILER}/compile_warp.py" \
+              --frame ${CAM_W},${CAM_H},${STRIDE_INFO} \
              --warp-to ${DM_SIZE} \
-              --output ${WARP_PKL}
+              --layout luma \
+              --border-fill 16 \
+              --transform-device NPY \
+              --output "${WARP_PKL}"
          done

      - name: Prepare DM output
        run: |
          mkdir -p dm_output
-          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
-          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
+          cp ${{ github.workspace }}/${{ env.DM_PKL }} dm_output/
          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/

      - name: Upload DM artifact
@@ -519,4 +490,3 @@ jobs:
        run: |
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
@@ -39,6 +39,11 @@ on:
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
      set_min_version:
        description: 'Minimum selector version'
        required: false
@@ -107,6 +112,11 @@ on:
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
 env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
@@ -124,19 +134,17 @@ jobs:

  publish_model:
    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
-    concurrency:
-      group: hf-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
    needs: build_model
    runs-on: ubuntu-latest
    permissions:
+      actions: read
      id-token: write
      contents: write
    steps:
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
@@ -172,18 +180,21 @@ jobs:
          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

      - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
+        env:
+          GH_TOKEN: ${{ github.token }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          id=$(gh api -X GET "repos/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID/artifacts" -f name="$ARTIFACT_NAME" --jq '.artifacts[0].id')
+          url=$(curl -sf -o /dev/null -w '%{redirect_url}' -H "Authorization: Bearer $GH_TOKEN" "https://api.github.com/repos/$GITHUB_REPOSITORY/actions/artifacts/$id/zip")
+          sudo apt-get install -y -qq aria2 > /dev/null
+          aria2c -q -x16 -s16 -k8M --max-tries=5 --file-allocation=none -o model.zip "$url" && unzip -q model.zip -d output && rm model.zip

      - name: Create models folder
        env:
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
-          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
+          cp output/metadata.json "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"

      - name: Upload to Hugging Face
        env:
@@ -195,13 +206,12 @@ jobs:
            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
            --repo-type=dataset

-      - name: Pull gh-pages
+      - name: Update and push JSON to docs repo
        run: |
          cd docs
-          git pull origin gh-pages
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"

-      - name: Run json_parser.py to update JSON
-        run: |
          FOLDER="${{ inputs.model_folder }}"
          if [ "$FOLDER" = "Other" ]; then
            FOLDER="${{ inputs.custom_model_folder }}"
@@ -214,18 +224,27 @@ jobs:
          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "local_models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS

-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages
+          for attempt in $(seq 1 10); do
+            git fetch origin gh-pages
+            git reset --hard origin/gh-pages
+
+            eval python3 json_parser.py \
+              --json-path "docs/$(basename $JSON_FILE)" \
+              --recompiled-dir "../local_models/$RECOMPILED_DIR" \
+              --sort-by-date \
+              $ARGS
+
+            git add docs/"$(basename $JSON_FILE)"
+            git commit -m "Update $(basename $JSON_FILE) after recompiling model" || { echo "No changes to commit"; exit 0; }
+
+            if git push origin gh-pages; then
+              echo "Push succeeded on attempt $attempt"
+              exit 0
+            fi
+
+            echo "Push failed (attempt $attempt/10), retrying after backoff..."
+            sleep $((RANDOM % 10 + 3))
+          done
+          echo "All 10 push attempts failed"
+          exit 1
@@ -0,0 +1,71 @@
+name: Compile warp for sunnypilot modeld
+
+on:
+  workflow_dispatch:
+
+jobs:
+  compile_warps:
+    runs-on: [self-hosted, chestnut]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile Warp Kernels
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          mkdir -p openpilot/sunnypilot/modeld_v2/models/
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          echo "Model size: $MODEL_SIZE"
+          echo "Camera resolutions: $CAMERA_RES"
+
+          for res in $CAMERA_RES; do
+            FRAME_PARAM=$(python3 -c "from openpilot.system.camerad.cameras.nv12_info import get_nv12_info; w, h = map(int, '${res}'.split('x')); stride, y_h, uv_h, _ = get_nv12_info(w, h); print(f'{w},{h},{stride},{y_h},{uv_h},{stride * (y_h + uv_h)}')")
+
+            WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $WARP_PKL on QCOM"
+            taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${WARP_PKL}"
+
+            BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $BIG_WARP_PKL on AMD"
+            taskset -c 7 env DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 openpilot/sunnypilot/modeld_v2/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --output "${BIG_WARP_PKL}"
+          done
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: "[bot] Update warp pkl for modeld_v2"
+          title: "[bot] Update modeld_v2 Warp"
+          branch: "auto/compile-warp-kernels"
+          base: "master"
+          delete-branch: true
+          labels: bot
+          add-paths: |
+            openpilot/sunnypilot/modeld_v2/models/*.pkl
@@ -18,24 +18,25 @@ concurrency:
 env:
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  docs:
    name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: commaai/timeout@v1
-
    - uses: actions/checkout@v7
-      with:
-        submodules: true
+    - run: ./tools/op.sh setup

    # Build
    - name: Build docs
-      run: |
-        git lfs pull
-        python docs/serve.py --build
+      run: ./tools/op.sh docs --build

    # Push to docs.comma.ai
    - uses: actions/checkout@v7
@@ -1,5 +1,5 @@
-name: Download HF model chunks
-description: Resolve and download model chunks from HuggingFace in parallel
+name: Download HF model
+description: Resolve and download models from HuggingFace in parallel

 inputs:
  hf_repo:
@@ -11,16 +11,21 @@ inputs:
  dest_dir:
    description: Destination directory for downloaded chunks
    required: true
+  tinygrad_ref:
+    description: 'Tinygrad ref to match bundle against'
+    required: false
+    default: ''

 runs:
  using: composite
  steps:
-    - name: Download model chunks
+    - name: Download models
      shell: bash
      env:
        HF_REPO: ${{ inputs.hf_repo }}
        MODELS_JSON: ${{ inputs.models }}
        DEST_DIR: ${{ inputs.dest_dir }}
+        TINYGRAD_REF: ${{ inputs.tinygrad_ref }}
      run: |
        set -eo pipefail
        DOWNLOAD_LIST=$(mktemp)
@@ -28,30 +33,41 @@ runs:
        resolve_chunks() {
          local HF_PATH="$1" ONNX_HASH="$2" CANONICAL="$3" DEST_DIR="$4"
          local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
-          local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
+          local DEFAULTS BUNDLE ARTIFACT FILE_URL BASE_URL
          DEFAULTS=$(curl -fsSL "$JSON_URL")
-          BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)')
+          if [ -n "$TINYGRAD_REF" ]; then
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg tg "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $tg or (.tinygrad_ref == null and $root.tinygrad_ref == $tg)))] | .[0] // empty
+            ')
+          else
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '
+              [.bundles[] | select(.onnx_sha256 == $hash)] | .[0] // empty
+            ')
+          fi
+
+          if [ -z "$BUNDLE" ] || [ "$BUNDLE" = "null" ]; then
+            echo "::error::No model bundle found matching ONNX hash $ONNX_HASH (tinygrad ref: $TINYGRAD_REF) in $HF_PATH"
+            return 1
+          fi
+
          ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
-          BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
-          NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
+          FILE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url')
+          BASE_URL=$(echo "$FILE_URL" | sed 's|/[^/]*$||')

          mkdir -p "$DEST_DIR"
-          while IFS= read -r CHUNK_NAME; do
-            CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+' || true)
-            if [ -z "$CHUNK_IDX" ]; then
-              echo "::error::Failed to parse chunk index from: $CHUNK_NAME"
-              return 1
-            fi
-            ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
-            printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
-          done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
-          echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
+          ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${FILE_URL}', safe=':/'))")
+          printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}" >> "$DOWNLOAD_LIST"

          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
            done
+          elif [ "$CANONICAL" = "big_driving_tinygrad.pkl" ]; then
+            for warp in big_driving_warp_1928x1208_tinygrad.pkl big_driving_warp_1344x760_tinygrad.pkl; do
+              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
+              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
+            done
          fi
        }

@@ -63,7 +79,7 @@ runs:
        done

        TOTAL=$(wc -l < "$DOWNLOAD_LIST")
-        echo "Downloading $TOTAL chunks with 8 parallel connections..."
+        echo "Downloading $TOTAL files with 8 parallel connections..."
        xargs -P8 -d'\n' -I{} bash -c '
          URL="${1%%	*}"
          DEST="${1#*	}"
@@ -1,8 +1,8 @@
 name: Sync comma's LFS

 env:
-  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'
+  LFS_URL: 'https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs'

 on:
  schedule:
@@ -40,14 +40,12 @@ jobs:
          git config --global user.name 'GitHub Action'
          git config --global user.email 'action@github.com'

-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
+      - name: Setup hf
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+          git config --global credential.helper store
+          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials

      - name: Ensure branch
        run: |
@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -7,7 +7,7 @@ on:
 env:
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  build___nightly:
@@ -34,3 +34,7 @@ jobs:
    - run: ./tools/op.sh setup
    - name: Push __nightly
      run: BRANCH=__nightly tools/release/build_stripped.sh
+    - name: Push chestnut nightly
+      run: |
+        git lfs pull --exclude=''
+        INCLUDE_BIG_MODEL=1 BRANCH=__nightly-chestnut tools/release/build_stripped.sh
@@ -11,7 +11,7 @@ env:
  PYTHONPATH: ${{ github.workspace }}
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  package_updates:
@@ -100,24 +100,56 @@ jobs:
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-      - run: |
+
+      - name: Fetch Models
+        run: |
          cd ${{ github.workspace }}/openpilot/openpilot
+          fetch_lfs() {
+            sudo apt-get install -y -qq aria2 > /dev/null # Parallel ranges because gh is flaky
+            LFS_URL=$(git config -f "$(git rev-parse --show-toplevel)/.lfsconfig" lfs.url)
+            for f in "$@"; do
+              grep -qs "^version https://git-lfs" "$f" || continue
+              OID=$(awk -F'sha256:' '/^oid/{print $2}' "$f"); SIZE=$(awk '/^size/{print $2}' "$f")
+              HREF=$(curl -fsSL --retry 3 -X POST -H "Accept: application/vnd.git-lfs+json" -H "Content-Type: application/vnd.git-lfs+json" "$LFS_URL/objects/batch" \
+                -d "{\"operation\":\"download\",\"transfer\":[\"basic\"],\"objects\":[{\"oid\":\"$OID\",\"size\":$SIZE}]}" | jq -r '.objects[0].actions.download.href')
+              aria2c -x 16 -s 16 -k 16M --max-tries=5 --retry-wait=5 --file-allocation=none --summary-interval=30 --allow-overwrite=true \
+                -d "$(dirname "$f")" -o "$(basename "$f")" "$HREF"
+              echo "$OID  $f" | sha256sum -c -
+            done
+          }
+          UPSTREAM_PKL=selfdrive/modeld/models/big_driving_tinygrad.pkl
          if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
-            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
-            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
+            git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
+            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
+          elif compgen -G "selfdrive/modeld/models/big_*.onnx" > /dev/null; then
+            fetch_lfs selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/big_*.pkl
+            find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
+          elif [ -f "$UPSTREAM_PKL" ]; then
+            echo "No big model ONNX tracked: converting commaai's precompiled $UPSTREAM_PKL, with the tinygrad it was built with"
+            fetch_lfs "$UPSTREAM_PKL"
+            find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -path "$UPSTREAM_PKL" -delete
+            GITMODULES="$(git rev-parse --show-toplevel)/.gitmodules"
+            TG_NAME=$(git config -f "$GITMODULES" --get-regexp '^submodule\..*\.path$' | awk '$2 == "tinygrad_repo" {sub(/^submodule\./, "", $1); sub(/\.path$/, "", $1); print $1}')
+            TG_URL=$(git config -f "$GITMODULES" "submodule.$TG_NAME.url" | sed 's|^\.\./\.\./|https://github.com/|')
+            echo "$TG_URL $(git rev-parse HEAD:tinygrad_repo) $(sha256sum "$UPSTREAM_PKL" | cut -d' ' -f1)" > selfdrive/modeld/models/upstream_pkl.txt
          else
-            git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
-            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
+            echo "::error::no big model ONNX or precompiled big_driving_tinygrad.pkl at this ref"
+            exit 1
          fi
-          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
-            echo "::error::the ONNX files above are still LFS pointers, not real models"
+
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx selfdrive/modeld/models/*.pkl 2>/dev/null; then
+            echo "::error::the ONNX or PKL files above are still LFS pointers, not real models"
            exit 1
          fi
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+          compression-level: 0
+          path: |
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/upstream_pkl.txt
          if-no-files-found: error

  build_model:
@@ -132,7 +164,6 @@ jobs:
          fetch-depth: 1
          submodules: recursive

-
      - name: Set environment variables
        id: set-env
        run: |
@@ -144,9 +175,6 @@ jobs:
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          uv sync --frozen
          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi

      - name: Setup build environment
        run: |
@@ -158,10 +186,6 @@ jobs:
          echo "VERSION: ${{ steps.set-env.outputs.version }}"
          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
@@ -184,11 +208,11 @@ jobs:
          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")

-          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 OPENPILOT_HACKS=1"
          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
            echo "CHESTNUT build"
            export CHESTNUT=1
-            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_OCCUPANCY_OPT=1"
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -196,64 +220,77 @@ jobs:
            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
          fi

-          # Generate metadata for all ONNX files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
+          NATIVE_PKL=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*.pkl" -print -quit)

-          # Detect model type and build compile args
-          VISION_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
-            [ -f "$f" ] && VISION_ONNX="$f" && break
-          done
+          if [ -f "${{ env.MODELS_DIR }}/upstream_pkl.txt" ]; then
+            read -r TG_URL TG_SHA _ < "${{ env.MODELS_DIR }}/upstream_pkl.txt"
+            echo "Converting commaai's precompiled model with tinygrad $TG_SHA"
+            UPSTREAM_TG="${{ runner.temp }}/upstream_tinygrad"
+            rm -rf "$UPSTREAM_TG" && git init -q "$UPSTREAM_TG" && git -C "$UPSTREAM_TG" fetch -q --depth 1 "$TG_URL" "$TG_SHA" && git -C "$UPSTREAM_TG" checkout -q FETCH_HEAD
+            CONVERTED="${{ runner.temp }}/big_driving_tinygrad_plain.pkl"
+            env DEV=USB+AMD PYTHONPATH="$UPSTREAM_TG:${{ github.workspace }}" taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/convert_upstream_pkl.py \
+              "${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl" "$CONVERTED"
+            mv "$CONVERTED" "$OUTPUT_PKL"
+          elif NEW_ARCH_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}*driving*.onnx" -print -quit) &&
+               [ -n "$NEW_ARCH_ONNX" ] && grep -qa new_img "$NEW_ARCH_ONNX"; then # the new architecture: one ONNX taking the warped frames as new_img
+            echo "Compiling new architecture ONNX: $NEW_ARCH_ONNX"
+            env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
+              "$NEW_ARCH_ONNX" "$OUTPUT_PKL" --device-input "*" --benchmark-runs 1
+          else
+            echo "Detected onnx architecture. Routing to native compile_modeld.py."
+            # Detect model type and build compile args
+            VISION_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+              [ -f "$f" ] && VISION_ONNX="$f" && break
+            done

-          POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
-            [ -f "$f" ] && POLICY_ONNX="$f" && break
-          done
+            POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+              [ -f "$f" ] && POLICY_ONNX="$f" && break
+            done

-          OFF_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
-            [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
-          done
+            OFF_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+              [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+            done

-          ON_POLICY_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
-            [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
-          done
+            ON_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+              [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+            done

-          SUPERCOMBO_ONNX=""
-          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
-            [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
-          done
+            SUPERCOMBO_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+              [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+            done

-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+            MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+            if [ -f "$VISION_ONNX" ]; then
+              ONNX_ARGS="--vision-onnx $VISION_ONNX"
+              if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+              elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+              elif [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+              fi
+            elif [ -f "$SUPERCOMBO_ONNX" ]; then
+              MODEL_TYPE=supercombo
+              ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi

-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "$OUTPUT_PKL"
+            if [ -n "$MODEL_TYPE" ]; then
+              echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+              env ${TG_FLAGS} taskset -c 7 python3 "$COMPILE_MODELD" \
+                --model-type $MODEL_TYPE \
+                --model-size $MODEL_SIZE \
+                --camera-resolutions $CAMERA_RES \
+                $ONNX_ARGS \
+                --output "$OUTPUT_PKL"
+            fi
          fi

      - name: Prepare Output
@@ -264,8 +301,7 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
+            --include='/${{ inputs.target_hardware == 'chestnut' && 'big_' || '' }}driving_tinygrad.pkl' \
            --exclude='*' \
            --delete-excluded \
            --chown=comma:comma \
@@ -276,6 +312,7 @@ jobs:
            --output-dir "${{ env.OUTPUT_DIR }}" \
            --custom-name "${{ env.MODEL_NAME }}" \
            --upstream-branch "${{ inputs.upstream_branch }}" \
+            $([ -f "${{ env.MODELS_DIR }}/upstream_pkl.txt" ] && echo "--onnx-sha256 $(cut -d' ' -f3 "${{ env.MODELS_DIR }}/upstream_pkl.txt")") \
            ${{ inputs.is_20hz && '--is-20hz' || '' }}

      - name: Write artifact name to file
@@ -287,6 +324,7 @@ jobs:
        with:
          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
          path: ${{ env.OUTPUT_DIR }}
+          compression-level: 0

      - name: Upload artifact name file
        uses: actions/upload-artifact@v4
@@ -170,6 +170,9 @@ jobs:
          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
+          sudo rm -rf /tmp/* || true
+          mkdir -p "$BUILD_DIR/tmp"
+          export TMPDIR="$BUILD_DIR/tmp"
          SKIP_TINYGRAD_COMPILE=1 /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
          touch ${BUILD_DIR}/prebuilt
          if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -221,37 +224,40 @@ jobs:
      cancel-in-progress: false
    outputs:
      onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
    env:
      GH_REPO: ${{ github.repository }}
      HF_REPO: sunnypilot/sunnypilot_models_v1
      HF_DEFAULTS_PATH: models/defaults/big
    steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
        id: resolve
        run: |
          REF="${{ github.head_ref || github.ref_name }}"

-          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.sha')
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl?ref=${REF}" --jq '.sha')
+          [ -n "$BLOB_SHA" ] || { echo "::error::Failed to resolve big_driving_tinygrad.pkl blob SHA"; exit 1; }
          ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
-          echo "ONNX hash: $ONNX_HASH"
-          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract ONNX hash"; exit 1; }
-          echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT
+          echo "big PKL hash: $ONNX_HASH"
+          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract big PKL hash"; exit 1; }
+          echo "onnx_sha256=$ONNX_HASH" >> "$GITHUB_OUTPUT"

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"

          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
-            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
-            [ "$TINYGRAD_MATCH" = "true" ] || return 1
-            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
            [ -n "$BUNDLE" ] && [ "$BUNDLE" != "null" ]
          }

          if check_defaults; then
-            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            echo "HF defaults match repo tinygrad ref"
            exit 0
          fi

@@ -304,12 +310,13 @@ jobs:
      cancel-in-progress: false
    outputs:
      driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
    env:
      GH_REPO: ${{ github.repository }}
      HF_REPO: sunnypilot/sunnypilot_models_v1
      HF_DEFAULTS_PATH: models/defaults/small
    steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
        id: resolve
        run: |
          REF="${{ github.head_ref || github.ref_name }}"
@@ -318,23 +325,24 @@ jobs:
          DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "Driving ONNX hash: $DRIVING_HASH"
          [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
-          echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT
+          echo "driving_onnx_sha256=$DRIVING_HASH" >> "$GITHUB_OUTPUT"

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"

          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
-            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
-            [ "$TINYGRAD_MATCH" = "true" ] || return 1
-            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
-            [ -n "$DRIVING" ] && [ "$DRIVING" != "null" ] || return 1
+            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$DRIVING" ] && [ "$DRIVING" != "null" ]
          }

          if check_defaults; then
-            echo "HF defaults match repo ONNX hash and tinygrad ref"
+            echo "HF defaults match repo tinygrad ref"
            exit 0
          fi

@@ -387,12 +395,13 @@ jobs:
      cancel-in-progress: false
    outputs:
      dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
    env:
      GH_REPO: ${{ github.repository }}
      HF_REPO: sunnypilot/sunnypilot_models_v1
      HF_DEFAULTS_PATH: models/defaults/dm
    steps:
-      - name: Resolve ONNX hash and tinygrad ref via API
+      - name: Resolve tinygrad ref via API
        id: resolve
        run: |
          REF="${{ github.head_ref || github.ref_name }}"
@@ -401,23 +410,24 @@ jobs:
          DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
          echo "DM ONNX hash: $DM_HASH"
          [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
-          echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT
+          echo "dm_onnx_sha256=$DM_HASH" >> "$GITHUB_OUTPUT"

          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"

          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"

          check_defaults() {
            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
-            TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
-            [ "$TINYGRAD_MATCH" = "true" ] || return 1
-            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
-            [ -n "$DM" ] && [ "$DM" != "null" ] || return 1
+            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$DM" ] && [ "$DM" != "null" ]
          }

          if check_defaults; then
-            echo "HF defaults match DM ONNX hash and tinygrad ref"
+            echo "HF defaults match DM tinygrad ref"
            exit 0
          fi

@@ -493,11 +503,12 @@ jobs:
          mkdir -p ${{ env.OUTPUT_DIR }}
          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}

-      - name: Download model chunks from HF
-        uses: ./.github/workflows/download-hf-model-chunks
+      - name: Download models from HF
+        uses: ./.github/workflows/download-hf-model
        with:
          hf_repo: sunnypilot/sunnypilot_models_v1
          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          tinygrad_ref: ${{ needs.prepare_dm_model.outputs.tinygrad_ref }}
          models: |
            [
              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
@@ -562,11 +573,12 @@ jobs:
          mkdir -p ${{ env.OUTPUT_DIR }}
          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}

-      - name: Download model chunks from HF
-        uses: ./.github/workflows/download-hf-model-chunks
+      - name: Download models from HF
+        uses: ./.github/workflows/download-hf-model
        with:
          hf_repo: sunnypilot/sunnypilot_models_v1
          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          tinygrad_ref: ${{ needs.prepare_dm_model.outputs.tinygrad_ref }}
          models: |
            [
              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"
@@ -0,0 +1,69 @@
+name: Test Models Compatibility With Tinygrad Changes
+on:
+  pull_request:
+    paths:
+      - 'tinygrad_repo'
+  workflow_dispatch:
+
+jobs:
+  generate-matrix:
+    runs-on: ubuntu-latest
+    outputs:
+      models: ${{ steps.set-matrix.outputs.models }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch and Parse json
+        id: set-matrix
+        run: |
+          python3 -c '
+          import json, urllib.request, os, re
+
+          with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
+            urls = re.findall(r"MODEL_URL(?:_CHESTNUT)?\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", f.read())
+
+          artifacts = []
+          for url in urls:
+            data = json.loads(urllib.request.urlopen(url).read())
+            for bundle in data.get("bundles", []):
+              for model in bundle.get("models", []):
+                if "artifact" in model:
+                  artifacts.append(model["artifact"])
+
+          with open(os.environ["GITHUB_OUTPUT"], "a") as f:
+            f.write(f"models={json.dumps(artifacts)}\n")
+          '
+
+  test-model:
+    name: Test ${{ matrix.artifact.file_name }}
+    needs: generate-matrix
+    runs-on: ubuntu-latest
+    container: ghcr.io/commaai/openpilot-base:latest
+    strategy:
+      fail-fast: false
+      matrix:
+        artifact: ${{ fromJson(needs.generate-matrix.outputs.models) }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Download model
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          MODEL_URL: ${{ matrix.artifact.download_uri.url }}
+          MODEL_FILE: ${{ matrix.artifact.file_name }}
+        shell: bash
+        run: |
+          mkdir -p /tmp/models
+          AUTH=()
+          if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
+          curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "/tmp/models/$MODEL_FILE" "$MODEL_URL"
+
+      - name: Run Model Compatibility Test
+        env:
+          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
+          MODEL_DIR: "/tmp/models"
+        run: |
+          export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
+          python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
+          python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py
@@ -22,7 +22,7 @@ env:
  PYTHONPATH: ${{ github.workspace }}
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
-  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

 jobs:
  build_release:
@@ -50,6 +50,8 @@ st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
 *.stats
 *.pkl
 *.pkl*
+!openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+!openpilot/sunnypilot/modeld_v2/models/*.pkl
 config.json
 compile_commands.json
 compare_runtime*.html
@@ -19,3 +19,4 @@
 [submodule "sunnypilot/neural_network_data"]
 	path = openpilot/sunnypilot/neural_network_data
  url = https://github.com/sunnypilot/neural-network-data.git
+
@@ -1,4 +1,5 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	url = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+	pushurl = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+
 	locksverify = false
@@ -12,16 +12,17 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
    def ssh_cmd = """
-ssh -o ControlMaster=auto -o ControlPath=/tmp/ssh_control_%C -o ControlPersist=yes -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=no -o ControlPath=none -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=12 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec setpriv --pdeathsig HUP /usr/bin/bash <<'END'

 set -e

 export TERM=xterm-256color

-shopt -s huponexit # kill all child processes when the shell exits
+trap 'kill 0' HUP # stop this process group on SSH disconnect

 export CI=1
 export PYTHONWARNINGS=error
+export PYTHONFAULTHANDLER=1
 export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
@@ -69,7 +70,8 @@ export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/us
 ln -snf ${env.TEST_DIR} /data/pythonpath

 cd ${env.TEST_DIR} || true
-time ${cmd}
+time ( ${cmd} ) &
+wait \$!
 END"""

    sh script: ssh_cmd, label: step_label
@@ -159,6 +161,14 @@ def step(String name, String cmd, Map args = [:]) {
  return [name, cmd, args]
 }

+def chestnutStage(String name = "chestnut") {
+  deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
+    step("build", "./openpilot/selfdrive/test/chestnut.sh"),
+    step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+    step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
+  ])
+}
+
 node {
  env.CI = "1"
  env.PYTHONWARNINGS = "error"
@@ -169,7 +179,37 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
+  if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
+    sh 'git fetch --no-tags origin nightly-chestnut'
+    env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
+    if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
+      error("invalid nightly-chestnut source commit")
+    }
+    def results = []
+    try {
+      timeout(time: 12, unit: 'HOURS') {
+        for (int run = 1; run <= 100; run++) {
+          results << "run ${run}: INCOMPLETE"
+          try {
+            chestnutStage("chestnut ${run}/100")
+            results[run - 1] = "run ${run}: PASS"
+          } catch (hudson.AbortException e) {
+            results[run - 1] = "run ${run}: FAIL"
+            echo e.toString()
+          }
+        }
+      }
+    } finally {
+      writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
+      archiveArtifacts artifacts: 'chestnut_stress_report.txt'
+    }
+    if (results.any { !it.endsWith('PASS') }) {
+      error("chestnut stress test failed")
+    }
+    return
+  }
+
+  def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

@@ -201,6 +241,21 @@ node {
      )
    }

+    if (env.BRANCH_NAME == '__nightly-chestnut') {
+      parallel (
+        'nightly-chestnut': {
+          deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+        'nightly-chestnut-dev': {
+          deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+      )
+    }
+
    if (!env.BRANCH_NAME.matches(excludeRegex)) {
    parallel (
      'onroad tests': {
@@ -252,6 +307,9 @@ node {
          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
        ])
      },
+      'chestnut': {
+        chestnutStage()
+      },

    )
    }
@@ -1,4 +1,14 @@
-Version 0.11.2 (2026-08-12)
+Version 0.11.3 (2026-XX-XX)
+========================
+* Autospeed
+  * On supported cars, openpilot will intelligently decide what speed to drive based on the scene, including:
+    * stopping at red lights, and going at green lights
+    * slowing down for curves
+    * adjusting speed based on surrounding traffic
+  * This behavior was previously available with openpilot's "Experimental mode", but is now out of beta and always enabled
+  * With openpilot deciding which speed to drive, the car's cruise speed is treated as a maximum speed openpilot will not exceed
+
+Version 0.11.2 (2026-10-14)
 =======================
 * New driving model
  * Big model with 880M parameters
@@ -20,7 +20,7 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)

 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
+release = not os.path.exists(File('#.gitmodules').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
          action='store_false',
          dest='extras',
@@ -87,7 +87,6 @@ acados_include_dirs = [
 # vendored in commaai/dependencies.
 allowed_system_libs = {
  "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
  "dl", "drm", "gbm", "m", "pthread",
 }

@@ -121,6 +120,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
+    "TMPDIR": os.environ.get('TMPDIR', '/tmp'),
    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
    "ACADOS_SOURCE_DIR": acados.DIR,
    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
@@ -316,8 +316,6 @@ def count_scons_nodes(nodes):
    if node in seen:
      continue
    seen.add(node)
-    if hasattr(node, 'has_builder') and node.has_builder():
-      build_product_nodes.add(node)
    executor = node.get_executor()
    if executor is not None:
      stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -326,7 +324,6 @@ def count_scons_nodes(nodes):

 progress_interval = 5
 progress_count = 0
-build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))

 def progress_function(node):
@@ -342,11 +339,3 @@ def progress_function(node):

 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-def check_build_product_size(target, source, env):
-  limit = 50 * 1024 * 1024  # GitHub max size
-  for t in target:
-    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
-      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
-if not GetOption('extras'):
-  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))
@@ -34,7 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -99,7 +99,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-27|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-27">Buy Here</a></sub></details>|||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
 |Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
 |Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
@@ -268,8 +268,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
 |Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
 |Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -335,8 +335,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
@@ -363,7 +363,7 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
 <sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
 <sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
 <sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
 <sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
 <sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
@@ -5,10 +5,10 @@ The site is updated on pushes to master by this [workflow](../.github/workflows/

 **1. Build the site**
 ``` bash
-python docs/serve.py --build
+op docs --build
 ```

 **2. Run the site locally** (rebuilds on change)
 ``` bash
-python docs/serve.py
+op docs
 ```
@@ -18,21 +18,21 @@ function agnos_init {
  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0

  # Check if AGNOS update is required
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+  if [ "$(< /VERSION)" != "$AGNOS_VERSION" ]; then
    AGNOS_PY="$DIR/openpilot/common/hardware/comma/agnos.py"
    MANIFEST="$DIR/openpilot/system/hardware/comma/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
+    if "$AGNOS_PY" --verify "$MANIFEST"; then
      sudo reboot
    fi
    while true; do
-      $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+      "$DIR/openpilot/common/hardware/comma/updater" "$AGNOS_PY" "$MANIFEST"
    done
  fi
 }

 function launch {
  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+  [ -f "$DIR/.git/index.lock" ] && rm -f "$DIR/.git/index.lock"

  # Check to see if there's a valid overlay-based update available. Conditions
  # are as follows:
@@ -44,7 +44,7 @@ function launch {
  #    that completed successfully and synced to disk.

  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    find "${DIR}/.git" -newer "${DIR}/.overlay_init" | grep -q '.' 2> /dev/null
    if [ $? -eq 0 ]; then
      echo "${DIR} has been modified, skipping overlay update installation"
    else
@@ -53,9 +53,11 @@ function launch {
          echo "Valid overlay update found, installing"
          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"

-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
+          mv "$DIR" /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" "$DIR"
+          cd "$DIR"
+          # releases before the openpilot/ move can't swap AGNOS on newer AGNOS, use ours
+          [ ! -L system/hardware/tici/agnos.json ] && /data/safe_staging/old_openpilot/openpilot/common/hardware/comma/agnos.py --verify system/hardware/tici/agnos.json && sudo reboot

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset AGNOS_VERSION
@@ -69,7 +71,7 @@ function launch {
  fi

  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
+  ln -sfn "$(pwd)" /data/pythonpath
  export PYTHONPATH="$PWD"

  # submodule package symlinks for PYTHONPATH imports on device.
@@ -90,7 +92,7 @@ function launch {

  # start manager
  cd openpilot/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
+  if [ ! -f "$DIR/prebuilt" ]; then
    ./build.py
  fi
  ./manager.py
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7"
+  export AGNOS_VERSION="19.9"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -196,7 +196,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 }

 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  dec @0 :DynamicExperimentalControl;
  longitudinalPlanSource @1 :LongitudinalPlanSource;
  smartCruiseControl @2 :SmartCruiseControl;
  speedLimit @3 :SpeedLimit;
@@ -205,7 +204,11 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;

-  struct DynamicExperimentalControl {
+  deprecated :group {
+    dec @0 :DynamicExperimentalControlDEPRECATED;
+  }
+
+  struct DynamicExperimentalControlDEPRECATED {
    state @0 :DynamicExperimentalControlState;
    enabled @1 :Bool;
    active @2 :Bool;
@@ -128,6 +128,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    personalityChanged @91;
    aeb @92;
    userBookmark @95;
+    userBookmarkNotPaired @104;
    excessiveActuation @96;
    bigModelLoading @100;
    bigModelFailed @102;
@@ -166,12 +167,7 @@ struct InitData {
  gitSrcCommit @23 :Text;
  gitSrcCommitDate @24 :Text;

-  androidProperties @16 :Map(Text, Text);
-
-  pandaInfo @8 :PandaInfo;
-
  dirty @9 :Bool;
-  passive @12 :Bool;
  params @17 :Map(Text, Data);

  commands @19 :Map(Text, Data);
@@ -189,6 +185,17 @@ struct InitData {
    mici @7;  # comma four
  }

+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    pandaInfo @8 :PandaInfo;
+    passive @12 :Bool;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
+    androidProperties @16 :Map(Text, Text);
+  }
+
  struct PandaInfo {
    hasPanda @0 :Bool;
    dongleId @1 :Text;
@@ -199,14 +206,6 @@ struct InitData {
  struct ChffrAndroidExtra {
    allCameraCharacteristics @0 :Map(Text, Text);
  }
-
-  deprecated :group {
-    gctx @1 :Text;
-    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
-    androidSensors @6 :List(Deprecated.AndroidSensor);
-    chffrAndroidExtra @7 :ChffrAndroidExtra;
-    iosBuildInfo @14 :Deprecated.IosBuildInfo;
-  }
 }

 struct FrameData {
@@ -572,6 +571,9 @@ struct PandaState @0xa7649e2575e4591e {
  controlsAllowedLateral @38 :Bool;
  controlsAllowedLongitudinal @39 :Bool;

+  nmiReset @40 :Bool;
+  hardfaultReset @41 :Bool;
+
  enum FaultStatus {
    none @0;
    faultTemp @1;
@@ -694,6 +696,7 @@ struct PeripheralState {

 struct UsbState {
  devices @0 :List(Device);
+  connected @1 :Bool;

  struct Device {
    busnum @0 :UInt8;
@@ -819,7 +822,6 @@ struct SelfdriveState {
  alertHudVisual @12 :Car.CarControl.HUDControl.VisualAlert;

  # configurable driving settings
-  experimentalMode @10 :Bool;
  personality @11 :LongitudinalPersonality;

  enum AudibleAlert {
@@ -863,6 +865,7 @@ struct SelfdriveState {

  deprecated :group {
    alertSound @8 :Car.CarControl.HUDControl.AudibleAlert;
+    experimentalMode @10 :Bool;
  }
 }

@@ -1237,6 +1240,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  shouldStop @37: Bool;
  allowThrottle @38: Bool;
  allowBrake @39: Bool;
+  accelBoost @40 :Float32;


  solverExecutionTime @35 :Float32;
@@ -2234,6 +2238,7 @@ struct DriverMonitoringState {
      pose @0: Bool;
      eye @1: Bool;
      phone @2: Bool;
+      sleep @3: Bool;
    }

    struct Pose {
@@ -2594,6 +2599,7 @@ struct Event {
    clocks @35 :Clocks;
    deviceState @6 :DeviceState;
    chestnutState @152 :ChestnutState;
+    chestnutGpuState @153 :ChestnutState;
    logMessage @18 :Text;
    errorLogMessage @85 :Text;

@@ -2704,8 +2710,8 @@ struct Event {
    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
    gpsNMEADEPRECATED @3 :GPSNMEAData;
    uploaderStateDEPRECATED @79 :UploaderState;
-    navInstructionDEPRECATED @82 :NavInstruction;
-    navRouteDEPRECATED @83 :NavRoute;
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
    navThumbnailDEPRECATED @84 :Thumbnail;
    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
    mapRenderStateDEPRECATED @105: MapRenderState;
@@ -25,7 +25,8 @@ _services: dict[str, tuple] = {
  "accelerometer": (True, 104., 104),
  "temperatureSensor": (True, 2., 200),
  "deviceState": (True, 2., 1),
-  "chestnutState": (True, 10., 10),
+  "chestnutState": (True, 10., 1),
+  "chestnutGpuState": (False, 10.),
  "touch": (True, 20., 1),
  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -51,6 +52,8 @@ _services: dict[str, tuple] = {
  "procLog": (True, 0.5, 15, QueueSize.BIG),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
  "clocks": (True, 0.1, 1),
@@ -16,6 +16,10 @@ class CV:
  DEG_TO_RAD = np.pi / 180.
  RAD_TO_DEG = 1. / DEG_TO_RAD

+  # Length
+  METER_TO_FOOT = 3.28084
+  METER_TO_MILE = 1. / 1609.344
+
  # Mass
  LB_TO_KG = 0.453592

@@ -1,6 +1,8 @@
 from abc import ABC, abstractmethod
 from dataclasses import dataclass

+WEBBING_ICCID_PREFIX = "8985235"
+

 class LPAError(RuntimeError):
  pass
@@ -19,7 +21,14 @@ class Profile:

  @property
  def is_comma(self) -> bool:
-    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+    return self.provider == 'Webbing' and self.iccid.startswith(WEBBING_ICCID_PREFIX)
+
+  @property
+  def display_name(self) -> str:
+    if self.is_comma:
+      return "comma prime"
+    name = self.nickname or self.provider or "<unnamed>"
+    return f"{name} (...{self.iccid[-4:]})"


 class LPABase(ABC):
@@ -613,7 +613,7 @@ def parse_lpa_activation_code(activation_code: str) -> tuple[str, str]:
  if not activation_code.startswith("LPA:"):
    raise ValueError("Invalid activation code format")
  parts = activation_code[4:].split("$")
-  if len(parts) != 3:
+  if len(parts) != 3 or not all(parts):
    raise ValueError("Invalid activation code format")
  return parts[1], parts[2]

@@ -24,6 +24,7 @@ def chunk_file(path, targets):
  manifest_path, *chunk_paths = targets
  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  Path(manifest_path).unlink(missing_ok=True)
  with open(path, 'rb') as f:
    for chunk_path in chunk_paths:
      with open(chunk_path, 'wb') as out:
@@ -31,14 +32,6 @@ def chunk_file(path, targets):
  Path(manifest_path).write_text(str(len(chunk_paths)))
  os.remove(path)

-def get_existing_chunks(path):
-  if os.path.isfile(path):
-    return [path]
-  if os.path.isfile(manifest := get_manifest_path(path)):
-    num_chunks = int(Path(manifest).read_text().strip())
-    return _chunk_paths(path, num_chunks)
-  raise FileNotFoundError(path)
-
 class ChunkStream(io.RawIOBase):
  def __init__(self, paths):
    self._paths = iter(paths)
@@ -66,11 +59,11 @@ class ChunkStream(io.RawIOBase):

 def open_file_chunked(path):
  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
+  if os.path.isfile(path):
+    paths = [path]
+  elif os.path.isfile(manifest_path):
    num_chunks = int(Path(manifest_path).read_text().strip())
    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-  elif os.path.isfile(path):
-    paths = [path]
  else:
    raise FileNotFoundError(path)
  return io.BufferedReader(ChunkStream(paths))
@@ -27,16 +27,6 @@ def gpio_read(pin: int) -> bool | None:

  return val

-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
@cache
 def get_irq_action(irq: int) -> list[str]:
  try:
@@ -145,6 +145,9 @@ class HardwareBase(ABC):
  def get_modem_temperatures(self):
    return []

+  def get_modem_state(self) -> dict:
+    return {}
+
  def initialize_hardware(self):
    pass

@@ -56,28 +56,28 @@
  },
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d.img.xz",
-    "hash": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "hash_raw": "6ecf6f987cd11968104abcccabbe268485d329cdb73012dfd3c381a6b8deb27d",
-    "size": 46897152,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615.img.xz",
+    "hash": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
+    "hash_raw": "b9c9b9261fca0cef9e6d9b198fa4b563767e6342afc7a61ab137b2b519260615",
+    "size": 46962688,
    "sparse": false,
    "full_check": true,
    "has_ab": true,
-    "ondevice_hash": "d12e1e5b9455b62a1464558716493b33e470d7a7e88da1c4105a3b21d0961808"
+    "ondevice_hash": "3ef4769bb1cc73bfc31f96f073b46af42dcc0bad4ab2dde32d11929745d0cd28"
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img.xz",
-    "hash": "74ffc9c551e1f29cda897ace8a69080fe644f8039977c6885f2b48362e39b744",
-    "hash_raw": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img.xz",
+    "hash": "9aebca09b9d142718e71efbfe44b723010eec6e70067c043c63186067291739d",
+    "hash_raw": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
    "size": 4718592000,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "6a992680183685eea9db99d915219a37935f45989330d9b619e880450257f448",
+    "ondevice_hash": "270b76c5c5568828e3883390b83ea445425a104dd42119d68f06093ce6b6fcef",
    "alt": {
-      "hash": "3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-3c271e2b3d20d2f0a8bf6555a1319f3efb12845490967d6151195174a01e912f.img",
+      "hash": "80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-80d9373348ddff2a5d1f534fab3420383939c96f3eba60baab6b15339fc602c7.img",
      "size": 4718592000
    }
  }
@@ -8,6 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path

 from openpilot.cereal import log
+from openpilot.common.esim.base import WEBBING_ICCID_PREFIX
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
@@ -207,6 +208,8 @@ class HardwareComma(HardwareBase):

  def get_network_metered(self, network_type) -> bool:
    if network_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      if self.get_modem_state().get("iccid", "").startswith(WEBBING_ICCID_PREFIX):
+        return True
      from openpilot.common.params import Params
      return Params().get_bool("GsmMetered")
    try:
@@ -17,6 +17,8 @@ from ipaddress import IPv4Address, AddressValueError

 from enum import Enum

+from openpilot.common.esim.base import WEBBING_ICCID_PREFIX
+
 logging.basicConfig(
  level=logging.INFO,
  format="%(asctime)s.%(msecs)03d %(levelname)-7s modem: %(message)s",
@@ -44,7 +46,6 @@ NETWORK_TYPE = {0: "gsm", 1: "gsm", 3: "gsm", 8: "gsm",
                11: "nr", 12: "nr", 13: "nr"}

 DIAL_CID = 1
-WEBBING_ICCID_PREFIX = "8985235"

 PPPD_CMD = [
  "sudo", "pppd", PPP_PORT, "460800", "noauth", "nodetach", "noipdefault", "usepeerdns",
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3a94ab8395f20d20a9d5a2a2bacca0694f072df8421cf13adca6250d28065bdc
-size 24709205
+oid sha256:f92c0a9b41613e063b6a1cd086729f5555d9df6482249e171ed1e276272cad7d
+size 24709520
@@ -1,7 +1,7 @@
 import os
 from pathlib import Path

-CHESTNUT_FW_VERSION = "ed4e39b7"
+CHESTNUT_FW_VERSION = "8516b768"
 CHESTNUT_USB_IDS = ((0xADD1, 0x0001), (0x3801, 0x0001))
 CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
 CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
@@ -36,6 +36,10 @@ def read_int(path: Path, base: int = 10) -> int:
    return 0


+def cable_connected() -> bool:
+  return read_int(TYPEC_CC_ORIENTATION_PATH) != 0
+
+
 def usb_devices() -> list[Path]:
  try:
    devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
@@ -91,3 +95,4 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
      chestnut_present = True

  device_state.chestnutPresent = chestnut_present
+  device_state.usbState.connected = cable_connected()
@@ -28,6 +28,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"CurrentBootlog", {PERSISTENT, STRING}},
    {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"DisableDriverCameraIR", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -138,7 +139,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
    {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
    {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"ChestnutRetry", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"InitialCruiseSpeedKph", {PERSISTENT, INT, "40"}},
+    {"NavDestination", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"NavigationEnabled", {PERSISTENT, BOOL, "0"}},
+    {"Offroad_ChestnutModelError", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_Pairing", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_UploadsIgnored", {CLEAR_ON_MANAGER_START, JSON}},
+    {"PairingEmail", {PERSISTENT, STRING}},
+    {"PairingProvider", {PERSISTENT, STRING}},
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
@@ -240,7 +249,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},

-    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

    // sunnypilot model params
@@ -1,16 +1,47 @@
-"""Small QR encoder for the UI's byte-mode, error-correction-level-L codes."""
+"""QR code encoding, decoding, and UI textures."""
+
+import functools
+import itertools

 import numpy as np
 import pyray as rl


-# Indexes are QR versions. These are the only two Reed-Solomon parameters needed
-# for error-correction level L.
-_ECC_LEN = (0, 7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28)
-_NUM_BLOCKS = (0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4, 4, 4, 4, 4, 6, 6, 6, 6, 7, 8)
+# (ec codewords per block, block count) for levels L, M, Q, H, versions 1-40
+_EC = [
+  ((7, 1), (10, 1), (13, 1), (17, 1)), ((10, 1), (16, 1), (22, 1), (28, 1)), ((15, 1), (26, 1), (18, 2), (22, 2)),
+  ((20, 1), (18, 2), (26, 2), (16, 4)), ((26, 1), (24, 2), (18, 4), (22, 4)), ((18, 2), (16, 4), (24, 4), (28, 4)),
+  ((20, 2), (18, 4), (18, 6), (26, 5)), ((24, 2), (22, 4), (22, 6), (26, 6)), ((30, 2), (22, 5), (20, 8), (24, 8)),
+  ((18, 4), (26, 5), (24, 8), (28, 8)), ((20, 4), (30, 5), (28, 8), (24, 11)), ((24, 4), (22, 8), (26, 10), (28, 11)),
+  ((26, 4), (22, 9), (24, 12), (22, 16)), ((30, 4), (24, 9), (20, 16), (24, 16)), ((22, 6), (24, 10), (30, 12), (24, 18)),
+  ((24, 6), (28, 10), (24, 17), (30, 16)), ((28, 6), (28, 11), (28, 16), (28, 19)), ((30, 6), (26, 13), (28, 18), (28, 21)),
+  ((28, 7), (26, 14), (26, 21), (26, 25)), ((28, 8), (26, 16), (30, 20), (28, 25)), ((28, 8), (26, 17), (28, 23), (30, 25)),
+  ((28, 9), (28, 17), (30, 23), (24, 34)), ((30, 9), (28, 18), (30, 25), (30, 30)), ((30, 10), (28, 20), (30, 27), (30, 32)),
+  ((26, 12), (28, 21), (30, 29), (30, 35)), ((28, 12), (28, 23), (28, 34), (30, 37)), ((30, 12), (28, 25), (30, 34), (30, 40)),
+  ((30, 13), (28, 26), (30, 35), (30, 42)), ((30, 14), (28, 28), (30, 38), (30, 45)), ((30, 15), (28, 29), (30, 40), (30, 48)),
+  ((30, 16), (28, 31), (30, 43), (30, 51)), ((30, 17), (28, 33), (30, 45), (30, 54)), ((30, 18), (28, 35), (30, 48), (30, 57)),
+  ((30, 19), (28, 37), (30, 51), (30, 60)), ((30, 19), (28, 38), (30, 53), (30, 63)), ((30, 20), (28, 40), (30, 56), (30, 66)),
+  ((30, 21), (28, 43), (30, 59), (30, 70)), ((30, 22), (28, 45), (30, 62), (30, 74)), ((30, 24), (28, 47), (30, 65), (30, 77)),
+  ((30, 25), (28, 49), (30, 68), (30, 81)),
+]

-# 15 format-info bits for level L (01) with mask 0: ((0x08 << 10) | bch_remainder) ^ 0x5412
-_FORMAT_BITS = 0b111011111000100
+# GF(256) with the QR polynomial x^8 + x^4 + x^3 + x^2 + 1: powers of alpha and their logs
+_EXP = [1]
+for _ in range(254):
+  _EXP.append(_EXP[-1] << 1 ^ (0x11D if _EXP[-1] & 0x80 else 0))
+_LOG = {v: i for i, v in enumerate(_EXP)}
+
+
+def _bch_format(data: int) -> int:
+  v = data << 10
+  for shift in range(14, 9, -1):
+    if v >> shift & 1:
+      v ^= 0x537 << (shift - 10)
+  return (data << 10 | v) ^ 0x5412
+
+
+# 15-bit format info indexed by (level bits << 3 | mask). Level bits: L=01, M=00, Q=11, H=10.
+_FORMATS = [_bch_format(d) for d in range(32)]


 def _raw_modules(version: int) -> int:
@@ -21,8 +52,24 @@ def _raw_modules(version: int) -> int:
  return result - (36 if version >= 7 else 0)


+def _block_lengths(version: int, level: int) -> list[int]:
+  """Data codewords per Reed-Solomon block. The last blocks may be one longer."""
+  ec, nblocks = _EC[version - 1][level]
+  total = _raw_modules(version) // 8 - ec * nblocks
+  return [total // nblocks + (i >= nblocks - total % nblocks) for i in range(nblocks)]
+
+
+def _interleaved(version: int, level: int) -> list[tuple[int, int]]:
+  """(block, index within block) of each transmitted codeword: data column-major, then ECC column-major."""
+  ec, nblocks = _EC[version - 1][level]
+  lens = _block_lengths(version, level)
+  data = [(b, i) for i in range(max(lens)) for b in range(nblocks) if i < lens[b]]
+  ecc = [(b, lens[b] + i) for i in range(ec) for b in range(nblocks)]
+  return data + ecc
+
+
 def _capacity(version: int) -> int:
-  return _raw_modules(version) // 8 - _ECC_LEN[version] * _NUM_BLOCKS[version]
+  return sum(_block_lengths(version, 0))


 def _append_bits(bits: list[int], value: int, length: int) -> None:
@@ -49,37 +96,18 @@ def _data_codewords(data: bytes, version: int) -> bytes:
 def _codewords(data: bytes, version: int) -> bytes:
  """Split data codewords into Reed-Solomon blocks and interleave data + ECC."""
  data = _data_codewords(data, version)
-  num_blocks = _NUM_BLOCKS[version]
-  ecc_len = _ECC_LEN[version]
-  raw_codewords = _raw_modules(version) // 8
-  short_len = raw_codewords // num_blocks
-  num_short = num_blocks - raw_codewords % num_blocks
-  divisor = _divisor(ecc_len)
-  blocks: list[tuple[bytes, bytes]] = []
+  divisor = _divisor(_EC[version - 1][0][0])
+  blocks = []
  offset = 0
-  for i in range(num_blocks):
-    length = short_len - ecc_len + (0 if i < num_short else 1)
+  for length in _block_lengths(version, 0):
    block = data[offset:offset + length]
-    blocks.append((block, _remainder(block, divisor)))
+    blocks.append(block + _remainder(block, divisor))
    offset += length
-  result = bytearray()
-  for i in range(short_len - ecc_len + 1):
-    for block, _ in blocks:
-      result.extend(block[i:i + 1])
-  for i in range(ecc_len):
-    for _, ecc in blocks:
-      result.append(ecc[i])
-  return bytes(result)
+  return bytes(blocks[b][i] for b, i in _interleaved(version, 0))


 def _multiply(x: int, y: int) -> int:
-  result = 0
-  for _ in range(8):
-    result = (result << 1) ^ (0x11D if result & 0x80 else 0)
-    if y & 0x80:
-      result ^= x
-    y <<= 1
-  return result
+  return _EXP[(_LOG[x] + _LOG[y]) % 255] if x and y else 0


 def _divisor(degree: int) -> bytes:
@@ -108,7 +136,7 @@ def _alignment_positions(version: int) -> list[int]:
  if version == 1:
    return []
  count = version // 7 + 2
-  step = ((version * 4 + count * 2 + 1) // (count * 2 - 2)) * 2
+  step = (version * 8 + count * 3 + 5) // (count * 4 - 4) * 2
  return [6] + [version * 4 + 10 - step * i for i in range(count - 1)][::-1]


@@ -171,7 +199,7 @@ class _Qr:

  def _format(self) -> None:
    for i in range(15):
-      bit = ((_FORMAT_BITS >> i) & 1) != 0
+      bit = ((_FORMATS[1 << 3 | 0] >> i) & 1) != 0  # level L, mask 0
      y_pos = i if i < 6 else i + 1 if i < 8 else self.size - 15 + i
      self._set_function(8, y_pos, bit)
      x_pos = self.size - 1 - i if i < 8 else 15 - i if i < 9 else 14 - i
@@ -216,3 +244,496 @@ def make_texture(data: str, inverted: bool = False) -> rl.Texture:
  rl_image.mipmaps = 1
  rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
  return rl.load_texture_from_image(rl_image)
+
+
+# ---- Symbol structure for decoding ----
+
+
+class QRError(Exception):
+  pass
+
+
+_LEVELS = (1, 0, 3, 2)  # format info level bits -> column in _EC
+
+_MASKS = [
+  lambda i, j: (i + j) % 2 == 0,
+  lambda i, j: i % 2 == 0,
+  lambda i, j: j % 3 == 0,
+  lambda i, j: (i + j) % 3 == 0,
+  lambda i, j: (i // 2 + j // 3) % 2 == 0,
+  lambda i, j: (i * j) % 2 + (i * j) % 3 == 0,
+  lambda i, j: ((i * j) % 2 + (i * j) % 3) % 2 == 0,
+  lambda i, j: ((i + j) % 2 + (i * j) % 3) % 2 == 0,
+]
+
+_ALIGNMENT = np.ones((5, 5), dtype=bool)
+_ALIGNMENT[1:4, 1:4] = False
+_ALIGNMENT[2, 2] = True
+
+
+def _gf_inv(a: int) -> int:
+  return _EXP[-_LOG[a] % 255]
+
+
+@functools.lru_cache
+def _data_coords(version: int) -> tuple[np.ndarray, np.ndarray]:
+  """(rows, cols) of the data and error correction modules in placement order: two-column zigzag from the right."""
+  dim = version * 4 + 17
+  func = np.zeros((dim, dim), dtype=bool)  # finder, timing, alignment, format, and version modules
+  func[:9, :9] = func[:9, dim - 8:] = func[dim - 8:, :9] = True
+  func[6, :] = func[:, 6] = True
+  positions = _alignment_positions(version)
+  for r, c in itertools.product(positions, positions):
+    if (r, c) not in ((6, 6), (6, dim - 7), (dim - 7, 6)):
+      func[r - 2:r + 3, c - 2:c + 3] = True
+  if version >= 7:
+    func[:6, dim - 11:dim - 8] = func[dim - 11:dim - 8, :6] = True
+  ys = np.arange(dim)
+  rows, cols = [], []
+  # the vertical timing column is skipped, so the pairs left of it start at odd columns
+  for i, right in enumerate(col if col > 6 else col - 1 for col in range(dim - 1, 0, -2)):
+    r = np.repeat(ys[::-1] if i % 2 == 0 else ys, 2)
+    c = np.tile((right, right - 1), dim)
+    keep = ~func[r, c]
+    rows.append(r[keep])
+    cols.append(c[keep])
+  return np.concatenate(rows), np.concatenate(cols)
+
+
+# ---- Matrix decoding ----
+
+
+def _poly_eval(p: list[int], x: int) -> int:
+  # p is highest degree first
+  y = 0
+  for c in p:
+    y = _multiply(y, x) ^ c
+  return y
+
+
+_EXP_TABLE = np.array(_EXP)
+_LOG_TABLE = np.array([_LOG.get(v, 0) for v in range(256)])
+
+
+def _syndromes(msg: list[int], nsym: int) -> list[int]:
+  """syn[i] = msg(alpha^i), msg highest degree first."""
+  m = np.array(msg)
+  exponents = np.arange(nsym)[:, None] * (len(msg) - 1 - np.arange(len(msg)))
+  return np.bitwise_xor.reduce(_EXP_TABLE[(_LOG_TABLE[m] + exponents) % 255] * (m != 0), axis=1).tolist()
+
+
+def _rs_correct(msg: list[int], nsym: int) -> list[int]:
+  """Corrects up to nsym // 2 errors in a Reed-Solomon codeword, in place."""
+  n = len(msg)
+  syn = _syndromes(msg, nsym)
+  if not any(syn):
+    return msg
+
+  # Berlekamp-Massey, sigma is lowest degree first
+  sigma, prev, L, m, b = [1], [1], 0, 1, 1
+  for r in range(nsym):
+    d = syn[r]
+    for i in range(1, L + 1):
+      d ^= _multiply(sigma[i], syn[r - i])
+    if d == 0:
+      m += 1
+      continue
+    coef = _multiply(d, _gf_inv(b))
+    shifted = [0] * m + prev
+    saved = sigma[:]
+    sigma = sigma + [0] * max(0, len(shifted) - len(sigma))
+    for i, c in enumerate(shifted):
+      sigma[i] ^= _multiply(coef, c)
+    if 2 * L <= r:
+      L, prev, b, m = r + 1 - L, saved, d, 1
+    else:
+      m += 1
+  sigma = sigma[:L + 1]
+  if 2 * L > nsym:
+    raise QRError("too many errors")
+
+  # Chien search: codeword position p has locator alpha^(n-1-p)
+  positions = [p for p in range(n) if _poly_eval(sigma[::-1], _EXP[(p - n + 1) % 255]) == 0]
+  if len(positions) != L:
+    raise QRError("error locator mismatch")
+
+  # solve syn[i] = sum_k e_k * X_k^i for the magnitudes e_k
+  xlog = [(n - 1 - p) % 255 for p in positions]
+  A = [[_EXP[(xlog[k] * i) % 255] for k in range(L)] + [syn[i]] for i in range(L)]
+  for col in range(L):
+    piv = next((r for r in range(col, L) if A[r][col]), None)
+    if piv is None:
+      raise QRError("singular")
+    A[col], A[piv] = A[piv], A[col]
+    inv = _gf_inv(A[col][col])
+    A[col] = [_multiply(inv, v) for v in A[col]]
+    for r in range(L):
+      if r != col and A[r][col]:
+        f = A[r][col]
+        A[r] = [a ^ _multiply(f, c) for a, c in zip(A[r], A[col], strict=True)]
+  for k, p in enumerate(positions):
+    msg[p] ^= A[k][L]
+
+  if any(_syndromes(msg, nsym)):
+    raise QRError("uncorrectable")
+  return msg
+
+
+def _read_format(m: np.ndarray) -> int:
+  """Returns the closest format info (level bits << 3 | mask) from either copy."""
+  dim = m.shape[0]
+  copies = ([(8, i) for i in range(6)] + [(8, 7), (8, 8), (7, 8)] + [(5 - i, 8) for i in range(6)],
+            [(dim - 1 - i, 8) for i in range(7)] + [(8, dim - 8 + i) for i in range(8)])  # (row, col), msb first
+  candidates = []
+  for coords in copies:
+    bits = int("".join(str(int(m[r, c])) for r, c in coords), 2)
+    candidates += [((bits ^ f).bit_count(), i) for i, f in enumerate(_FORMATS)]
+  distance, fmt = min(candidates)
+  if distance > 3:
+    raise QRError("bad format info")
+  return fmt
+
+
+_ALNUM = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:"
+
+_ECI_ENCODINGS = {
+  0: "cp437", 2: "cp437", 1: "iso8859-1", 3: "iso8859-1",
+  **{i + 2: f"iso8859-{i}" for i in range(2, 17) if i != 12},
+  20: "shift_jis", 21: "cp1250", 22: "cp1251", 23: "cp1252", 24: "cp1256",
+  25: "utf-16-be", 26: "utf-8", 27: "ascii", 170: "ascii", 28: "big5", 29: "gb18030", 30: "euc_kr",
+}
+
+
+class _Bits:
+  def __init__(self, data: list[int]):
+    self._value = int.from_bytes(bytes(data), "big")
+    self.remaining = len(data) * 8
+
+  def read(self, n: int) -> int:
+    if n > self.remaining:
+      raise QRError("bitstream underflow")
+    self.remaining -= n
+    return self._value >> self.remaining & (1 << n) - 1
+
+  def read_below(self, n: int, limit: int) -> int:
+    v = self.read(n)
+    if v >= limit:
+      raise QRError("value out of range")
+    return v
+
+
+def _parse_data(data: list[int], version: int) -> str:
+  bits = _Bits(data)
+  out: list[str] = []
+  encoding = None
+  band = 0 if version <= 9 else 1 if version <= 26 else 2
+  while bits.remaining >= 4:
+    mode = bits.read(4)
+    if mode == 0:
+      break
+    if mode == 7:  # ECI character set assignment
+      first = bits.read(8)
+      extra = 0 if first < 0x80 else 8 if first < 0xC0 else 16 if first < 0xE0 else -1  # 1, 2, or 3 byte assignment
+      if extra < 0:
+        raise QRError("bad ECI assignment")
+      assignment = (first & 0x7F >> extra // 8) << extra | bits.read(extra)
+      encoding = _ECI_ENCODINGS.get(assignment)
+      if encoding is None:
+        raise QRError(f"unsupported ECI assignment {assignment}")
+    elif mode == 1:
+      n = bits.read((10, 12, 14)[band])
+      while n > 0:
+        k = min(n, 3)  # 3 digits in 10 bits, the last 2 or 1 in 7 or 4
+        out.append(f"{bits.read_below((4, 7, 10)[k - 1], 10 ** k):0{k}d}")
+        n -= k
+    elif mode == 2:
+      n = bits.read((9, 11, 13)[band])
+      while n > 0:
+        k = min(n, 2)  # 2 characters in 11 bits, a last one in 6
+        v = bits.read_below((6, 11)[k - 1], 45 ** k)
+        out.append(_ALNUM[v // 45] * (k - 1) + _ALNUM[v % 45])
+        n -= k
+    elif mode == 4:
+      n = bits.read((8, 16, 16)[band])
+      segment = bytes(bits.read(8) for _ in range(n))
+      try:
+        out.append(segment.decode(encoding or "utf-8"))
+      except UnicodeDecodeError as e:
+        if encoding is not None:
+          raise QRError("invalid ECI byte segment") from e
+        out.append(segment.decode("latin-1"))
+    elif mode == 8:
+      n = bits.read((8, 10, 12)[band])
+      for _ in range(n):
+        v = bits.read(13)
+        c = (v // 0xC0) << 8 | v % 0xC0
+        c += 0x8140 if c < 0x1F00 else 0xC140
+        try:
+          out.append(c.to_bytes(2, "big").decode("shift_jis"))
+        except UnicodeDecodeError as e:
+          raise QRError("invalid Kanji character") from e
+    else:
+      raise QRError(f"unsupported mode {mode}")
+  return "".join(out)
+
+
+def decode_matrix(m: np.ndarray) -> str:
+  """Decodes a square boolean module matrix (True = dark) without a quiet zone."""
+  dim = m.shape[0]
+  if m.shape != (dim, dim) or dim % 4 != 1 or not 21 <= dim <= 177:
+    raise QRError("bad matrix size")
+  version = (dim - 17) // 4
+
+  fmt = _read_format(m)
+  level = _LEVELS[fmt >> 3]
+  rows, cols = _data_coords(version)
+  bits = m[rows, cols] ^ _MASKS[fmt & 7](rows, cols)
+  codewords = np.packbits(bits[:len(bits) // 8 * 8]).tolist()
+
+  ec, _ = _EC[version - 1][level]
+  lens = _block_lengths(version, level)
+  blocks = [[0] * (n + ec) for n in lens]
+  for (b, i), codeword in zip(_interleaved(version, level), codewords, strict=True):
+    blocks[b][i] = codeword
+
+  data: list[int] = []
+  for block, n in zip(blocks, lens, strict=True):
+    data += _rs_correct(block, ec)[:n]
+  return _parse_data(data, version)
+
+
+# ---- Image decoding ----
+
+
+def _box_sums(a: np.ndarray, radii: tuple[int, ...]) -> list[np.ndarray]:
+  """Sums over (2r + 1)^2 neighborhoods of the last two axes, edge padded, from one integral image."""
+  P = max(radii)
+  lead = [(0, 0)] * (a.ndim - 2)
+  cs = np.pad(np.cumsum(np.cumsum(np.pad(a, lead + [(P, P), (P, P)], mode="edge"), -2), -1), lead + [(1, 0), (1, 0)])
+  H, W = a.shape[-2:]
+  out = []
+  for r in radii:
+    lo, hi = P - r, P + r + 1
+    out.append(cs[..., hi:hi + H, hi:hi + W] - cs[..., lo:lo + H, hi:hi + W] - cs[..., hi:hi + H, lo:lo + W] + cs[..., lo:lo + H, lo:lo + W])
+  return out
+
+
+def _binarize(gray: np.ndarray) -> np.ndarray:
+  """Adaptive threshold: each pixel against the mean of the surrounding tiles that have contrast."""
+  h, w = gray.shape
+  if h < 21 or w < 21:
+    raise QRError("image too small")
+  B = max(8, min(h, w) // 128 * 2)
+  H, W = -(-h // B), -(-w // B)
+  padded = np.pad(gray, ((0, H * B - h), (0, W * B - w)), mode="edge")
+  # block statistics from a subsample are plenty
+  sub = np.ascontiguousarray(padded[::2, ::2].reshape(H, B // 2, W, B // 2).transpose(0, 2, 1, 3)).reshape(H, W, -1)
+  blocks = sub.sum(axis=2, dtype=np.uint32) / sub.shape[2]
+  known = sub.max(axis=2) - sub.min(axis=2) >= 32
+  # Flat tiles cannot estimate their own threshold: use the tiles with contrast nearby, then
+  # further out, then the global midrange. A flat tile is then all dark or all light.
+  est = np.full((H, W), (blocks.min() + blocks.max()) / 2)
+  filled = np.zeros((H, W), dtype=bool)
+  for total, count in _box_sums(np.stack((known * blocks, known.astype(float))), (2, 6)):
+    fill = ~filled & (count > 0)
+    est[fill] = total[fill] / count[fill]
+    filled |= fill
+  thr = np.where(known, np.minimum(est, 254) + 1, np.where(blocks <= est, 255, 0)).astype(np.uint8)
+  return (padded.reshape(H, B, W, B) < thr[:, None, :, None]).reshape(H * B, W * B)[:h, :w]
+
+
+class _Runs:
+  """Run-length table of a padded, flattened binary image with a per-pixel run index."""
+
+  def __init__(self, padded: np.ndarray):
+    self.flat = padded.ravel()
+    self.lines, self.stride = padded.shape
+    change = self.flat[1:] != self.flat[:-1]
+    self.starts = np.concatenate(([0], np.flatnonzero(change) + 1))
+    self.lengths = np.diff(np.append(self.starts, self.flat.size)).astype(np.int32)
+
+  def run_at(self, line: np.ndarray, pos: np.ndarray) -> np.ndarray:
+    """Index of the run containing the pixel at `pos` along `line`."""
+    return np.searchsorted(self.starts, line * self.stride + pos + 1, side="right") - 1
+
+  @staticmethod
+  def _match(lengths: list[np.ndarray], ratios: tuple[int, ...]) -> tuple[np.ndarray, np.ndarray]:
+    """Checks windows of runs against the ratios, given the length of each run. Returns (ok, module size)."""
+    S = sum(ratios)
+    total = sum(lengths[1:], start=lengths[0])
+    ok = total >= 2 * S  # modules need to be at least 2 px
+    for L, r in zip(lengths, ratios, strict=True):
+      ok &= np.abs(2 * S * L - 2 * r * total) <= r * total  # integer form of |L - r * total / S| <= r * total / (2 * S)
+    return ok, total / S
+
+  def scan(self, ratios: tuple[int, ...]) -> np.ndarray:
+    """Returns the indices of all dark runs starting a window of runs matching the ratios."""
+    n = len(ratios)
+    N = len(self.lengths) - n + 1
+    if N <= 0:
+      return np.zeros(0, dtype=int)
+    ok, _ = self._match([self.lengths[k:N + k] for k in range(n)], ratios)
+    ok &= self.flat[self.starts[:N]]
+    first = np.flatnonzero(ok)
+    return first[self.starts[first] // self.stride == self.starts[first + n - 1] // self.stride]
+
+  def check(self, first: np.ndarray, ratios: tuple[int, ...]) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+    """Checks the run windows starting at run index `first`. Returns (ok, center position along the line, module size)."""
+    n, half = len(ratios), len(ratios) // 2
+    ok = (first >= 0) & (first + n <= len(self.starts))
+    idx = np.clip(first[:, None] + np.arange(n), 0, len(self.starts) - 1)
+    matched, module = self._match([self.lengths[idx[:, k]] for k in range(n)], ratios)
+    ok &= matched & self.flat[self.starts[idx[:, 0]]]
+    ok &= self.starts[idx[:, 0]] // self.stride == self.starts[idx[:, -1]] // self.stride
+    center = self.starts[idx[:, half]] % self.stride - 1 + self.lengths[idx[:, half]] / 2
+    return ok, center, module
+
+
+def _find_patterns(binary: np.ndarray, ratios: tuple[int, ...]) -> list[tuple[float, float, float]]:
+  """Finds dark/light run patterns with the given module ratios. Returns (x, y, module size)."""
+  half = len(ratios) // 2
+  step = 2  # the center rows of a 2 px finder pattern still get scanned twice
+  rows_t = _Runs(np.pad(binary[::step], ((0, 0), (1, 1))))
+  first = rows_t.scan(ratios)
+  if len(first) == 0:
+    return []
+  _, cx, hmod = rows_t.check(first, ratios)
+  row = rows_t.starts[first] // rows_t.stride * step
+
+  xi = cx.astype(int)
+  xs, col = np.unique(xi, return_inverse=True)
+  cols_t = _Runs(np.pad(binary[:, xs].T, ((0, 0), (1, 1))))
+  ok, cy, vmod = cols_t.check(cols_t.run_at(col, row) - half, ratios)
+  ok &= (0.5 <= vmod / hmod) & (vmod / hmod <= 2)
+  line = np.clip(np.rint(cy / step), 0, rows_t.lines - 1).astype(int)
+  ok2, cx2, hmod2 = rows_t.check(rows_t.run_at(line, xi) - half, ratios)
+  ok &= ok2 & (0.5 <= hmod2 / vmod) & (hmod2 / vmod <= 2)
+
+  found: list[list[float]] = []  # [x, y, module, count]
+  for x, y, module in zip(cx2[ok], cy[ok], (hmod2[ok] + vmod[ok]) / 2, strict=True):
+    for f in found:
+      if abs(f[0] - x) <= f[2] and abs(f[1] - y) <= f[2] and 0.5 <= f[2] / module <= 2:
+        c = f[3]
+        f[0], f[1], f[2], f[3] = (f[0] * c + x) / (c + 1), (f[1] * c + y) / (c + 1), (f[2] * c + module) / (c + 1), c + 1
+        break
+    else:
+      found.append([x, y, module, 1])
+  found.sort(key=lambda f: -f[3])
+  return [(f[0], f[1], f[2]) for f in found if f[3] >= 2]
+
+
+def _pick_finders(patterns: list[tuple[float, float, float]]) -> tuple[np.ndarray, np.ndarray, np.ndarray, float]:
+  """Returns (top-left, top-right, bottom-left) centers and the module size of the most square-looking triple."""
+  best = None
+  for a, b, c in itertools.combinations(patterns[:10], 3):
+    mods = sorted((a[2], b[2], c[2]))
+    if mods[2] / mods[0] > 1.5:
+      continue
+    pts = [np.array(p[:2]) for p in (a, b, c)]
+    d = [np.linalg.norm(pts[(i + 1) % 3] - pts[(i + 2) % 3]) for i in range(3)]
+    tl = int(np.argmax(d))  # opposite the hypotenuse
+    p1, p2 = pts[(tl + 1) % 3], pts[(tl + 2) % 3]
+    v1, v2 = p1 - pts[tl], p2 - pts[tl]
+    n1, n2 = np.linalg.norm(v1), np.linalg.norm(v2)
+    if n1 == 0 or n2 == 0:
+      continue
+    cos = abs(np.dot(v1, v2)) / (n1 * n2)
+    if cos > 0.35 or not 0.6 <= n1 / n2 <= 1.6:
+      continue
+    score = cos + abs(np.log(n1 / n2)) + np.log(mods[2] / mods[0])
+    if best is not None and score >= best[0]:
+      continue
+    if v1[0] * v2[1] - v1[1] * v2[0] < 0:
+      p1, p2 = p2, p1
+    best = (score, pts[tl], p1, p2, float(sum(mods) / 3))
+  if best is None:
+    raise QRError("no finder patterns")
+  return best[1:]
+
+
+def _perspective(src: np.ndarray, dst: np.ndarray) -> np.ndarray:
+  """Homography mapping the four src points onto the four dst points."""
+  A = [row for (x, y), (u, v) in zip(src, dst, strict=True)
+       for row in ([x, y, 1, 0, 0, 0, -u * x, -u * y], [0, 0, 0, x, y, 1, -v * x, -v * y])]
+  try:
+    h = np.linalg.solve(np.array(A, dtype=float), np.asarray(dst, dtype=float).ravel())
+  except np.linalg.LinAlgError as e:
+    raise QRError("degenerate geometry") from e
+  return np.append(h, 1).reshape(3, 3)
+
+
+def _transform(H: np.ndarray, pts: np.ndarray) -> np.ndarray:
+  p = np.column_stack((pts, np.ones(len(pts)))) @ H.T
+  return p[:, :2] / p[:, 2:3]
+
+
+def _match_alignment(binary: np.ndarray, est: np.ndarray, offs: np.ndarray, r: int, module: float) -> np.ndarray | None:
+  h, w = binary.shape
+  dy = np.arange(max(0, int(est[1]) - r), min(h, int(est[1]) + r)) - est[1]
+  dx = np.arange(max(0, int(est[0]) - r), min(w, int(est[0]) + r)) - est[0]
+  if len(dy) == 0 or len(dx) == 0:
+    return None
+  y = np.rint(est[1] + dy[:, None, None] + offs[None, None, :, 1]).astype(int)
+  x = np.rint(est[0] + dx[None, :, None] + offs[None, None, :, 0]).astype(int)
+  valid = ((y >= 0) & (y < h) & (x >= 0) & (x < w)).all(axis=2)
+  samples = binary[np.clip(y, 0, h - 1), np.clip(x, 0, w - 1)]
+  score = np.where(valid, (samples == _ALIGNMENT.ravel()).sum(axis=2), 0)
+  if score.max() < 23:
+    return None
+  hits = np.argwhere(score == score.max())
+  centers = np.column_stack((est[0] + dx[hits[:, 1]], est[1] + dy[hits[:, 0]]))
+  closest = centers[np.argmin(np.linalg.norm(centers - est, axis=1))]
+  return centers[np.linalg.norm(centers - closest, axis=1) <= module / 2].mean(axis=0)
+
+
+def _locate_alignment(binary: np.ndarray, H: np.ndarray, center: float, module: float) -> np.ndarray | None:
+  """Template matches the 5x5 alignment pattern around its position estimated from H."""
+  grid = np.mgrid[-2:3, -2:3].reshape(2, -1).T[:, ::-1] + center  # (25, 2) module coords (x, y)
+  pts = _transform(H, grid)
+  # the affine estimate can be off in both position and local scale under perspective
+  for radius in (2, 4, 8, 16):
+    for scale in (1.0, 0.8, 1.25, 0.65, 1.5):
+      found = _match_alignment(binary, pts[12], (pts - pts[12]) * scale, int(module * radius), module)
+      if found is not None:
+        return found
+  return None
+
+
+def _sample(binary: np.ndarray, tl: np.ndarray, tr: np.ndarray, bl: np.ndarray, module: float, dim: int, use_alignment: bool) -> np.ndarray:
+  src = np.array([(3.5, 3.5), (dim - 3.5, 3.5), (3.5, dim - 3.5), (dim - 3.5, dim - 3.5)])
+  dst = np.array([tl, tr, bl, tr + bl - tl])
+  H = _perspective(src, dst)
+  if use_alignment and dim > 21:
+    align = _locate_alignment(binary, H, dim - 6.5, module)
+    if align is not None:
+      src[3], dst[3] = (dim - 6.5, dim - 6.5), align
+      H = _perspective(src, dst)
+
+  rows, cols = np.mgrid[0:dim, 0:dim]
+  pts = _transform(H, np.column_stack((cols.ravel() + 0.5, rows.ravel() + 0.5)))
+  xy = np.rint(pts).astype(int)
+  h, w = binary.shape
+  if (xy < 0).any() or (xy[:, 0] >= w).any() or (xy[:, 1] >= h).any():
+    raise QRError("code extends outside image")
+  return binary[xy[:, 1], xy[:, 0]].reshape(dim, dim)
+
+
+def decode(gray: np.ndarray) -> str | None:
+  """Decodes the QR code in a 2D uint8 grayscale image. Modules need to be at least 2 px.
+  Returns None if nothing could be decoded."""
+  try:
+    binary = _binarize(gray)
+    tl, tr, bl, module = _pick_finders(_find_patterns(binary, (1, 1, 3, 1, 1)))
+  except QRError:
+    return None
+
+  d = (np.linalg.norm(tr - tl) + np.linalg.norm(bl - tl)) / 2
+  dim = int(round((d / module + 7 - 17) / 4)) * 4 + 17
+  dims = [cand for cand in (dim, dim - 4, dim + 4) if 21 <= cand <= 177]
+  for cand, use_alignment, transpose in itertools.product(dims, (True, False), (False, True)):
+    try:
+      m = _sample(binary, tl, tr, bl, module, cand, use_alignment)
+      return decode_matrix(m.T if transpose else m)
+    except QRError:
+      pass
+  return None
@@ -91,8 +91,13 @@ class Ratekeeper:
    self.avg_dt.add_value(self._last_monitor_time - prev)

    lagged = False
-    remaining = self._next_frame_time - time.monotonic()
-    self._next_frame_time += self._interval
+    now = time.monotonic()
+    remaining = self._next_frame_time - now
+    if remaining < -self._interval:
+      # more than a frame behind (e.g. a stall): resync instead of running catch-up frames back-to-back
+      self._next_frame_time = now + self._interval
+    else:
+      self._next_frame_time += self._interval
    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
      lagged = True
@@ -0,0 +1,178 @@
+import hashlib
+import math
+from pathlib import Path
+
+import numpy as np
+
+from openpilot.common import qrcode as qr
+from openpilot.common.test import OpenpilotTestCase
+
+LPA = "LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5"
+
+
+# Matrices generated with python-qrcode 8.2, covering all versions and EC levels.
+# Packed fixtures keep the decoder tests independent of our encoder.
+FIXTURES = {}
+for path in Path(__file__).with_name("fixtures").glob("qrcode_*.npz"):
+  with np.load(path) as fixtures:
+    FIXTURES.update({key: fixtures[key] for key in fixtures.files})
+
+
+def fixture(key: str) -> np.ndarray:
+  bits = np.unpackbits(FIXTURES[key])
+  size = math.isqrt(len(bits))
+  return bits[:size * size].reshape(size, size).astype(bool)
+
+
+def render(matrix: np.ndarray, box: int = 6, border: int = 4) -> np.ndarray:
+  img = np.repeat(np.repeat(np.pad(matrix, border), box, axis=0), box, axis=1)
+  return np.where(img, 0, 255).astype(np.uint8)
+
+
+def make(data: str, version: int | None = None, level: int = 0, box: int = 6, border: int = 4):
+  matrix = fixture(hashlib.sha256(f"{version}:{level}:{data}".encode()).hexdigest())
+  return matrix, render(matrix, box, border)
+
+
+def warp(img: np.ndarray, H: np.ndarray) -> np.ndarray:
+  """Bilinear resampling through the output -> input homography H, white outside the image."""
+  h, w = img.shape
+  rows, cols = np.mgrid[0:h, 0:w]
+  pts = qr._transform(H, np.column_stack((cols.ravel() + 0.5, rows.ravel() + 0.5))) - 0.5
+  x0, y0 = np.floor(pts[:, 0]).astype(int), np.floor(pts[:, 1]).astype(int)
+  fx, fy = pts[:, 0] - x0, pts[:, 1] - y0
+  padded = np.pad(img.astype(float), 1, constant_values=255)
+
+  def at(y, x):
+    return padded[np.clip(y + 1, 0, h + 1), np.clip(x + 1, 0, w + 1)]
+
+  out = at(y0, x0) * (1 - fx) * (1 - fy) + at(y0, x0 + 1) * fx * (1 - fy) + at(y0 + 1, x0) * (1 - fx) * fy + at(y0 + 1, x0 + 1) * fx * fy
+  return np.clip(out, 0, 255).astype(np.uint8).reshape(h, w)
+
+
+def rotate(img: np.ndarray, angle: float) -> np.ndarray:
+  h, w = img.shape
+  t = np.radians(angle)
+  R = np.array([[np.cos(t), -np.sin(t)], [np.sin(t), np.cos(t)]])
+  center = np.array([w / 2, h / 2])
+  corners = np.array([(0, 0), (w, 0), (w, h), (0, h)], dtype=float)
+  return warp(img, qr._perspective((corners - center) @ R.T + center, corners))
+
+
+class TestQRCode(OpenpilotTestCase):
+  def test_alignment_positions(self):
+    assert qr._alignment_positions(7) == [6, 22, 38]
+    assert qr._alignment_positions(32) == [6, 34, 60, 86, 112, 138]
+    assert qr._alignment_positions(40) == [6, 30, 58, 86, 114, 142, 170]
+
+  def test_all_versions(self):
+    for version in range(1, 41):
+      for level in range(4):
+        with self.subTest(version=version, level=level):
+          data = "".join(chr(ord("a") + i % 26) for i in range(version))
+          matrix, img = make(data, version, level, box=3)
+          assert qr.decode_matrix(matrix) == data
+          assert qr.decode(img) == data
+
+  def test_modes(self):
+    for data in ["0123456789012345", "HELLO WORLD $1.50", LPA, "こんにちは", "ünïcødé", "mixed 123 ABC xyz"]:
+      with self.subTest(data=data):
+        matrix, img = make(data)
+        assert qr.decode_matrix(matrix) == data
+        assert qr.decode(img) == data
+
+  def test_error_correction(self):
+    matrix, _ = make(LPA, level=2)
+    rng = np.random.default_rng(0)
+    flipped = matrix.copy()
+    for r, c in rng.integers(9, matrix.shape[0] - 9, size=(40, 2)):
+      flipped[r, c] ^= True
+    assert qr.decode_matrix(flipped) == LPA
+
+  def test_large_modules(self):
+    for data in ["0123456789012345", "HELLO WORLD $1.50", LPA, "mixed 123 ABC xyz"]:
+      for box in [16, 20, 24, 32]:
+        for dark, light in [(0, 255), (60, 200), (140, 250)]:
+          with self.subTest(data=data, box=box, dark=dark):
+            _, img = make(data, box=box)
+            img = np.where(img == 0, dark, light).astype(np.uint8)
+            assert qr.decode(img) == data
+
+  def test_image_edges(self):
+    # a code touching the image edge must not lose the rows and columns left over from tiling
+    matrix, _ = make(LPA)
+    for size in (200, 203):
+      with self.subTest(size=size):
+        img = np.full((size, size), 255, dtype=np.uint8)
+        code = render(matrix, box=5, border=0)
+        img[size - code.shape[0]:, size - code.shape[1]:] = code
+        assert qr.decode(img) == LPA
+
+  def test_eci(self):
+    # qrcode_eci.npz: packed Segno 1.6.6 matrices, generated with mode='byte',
+    # eci=True, micro=False and the named encoding. Mixed also includes numeric,
+    # alphanumeric, and Kanji segments after changing the byte encoding twice.
+    cases = {
+      "iso8859-5": "Привет", "utf-16-be": "héllo", "utf-8": "こんにちは",
+      "shift_jis": "日本語", "cp1251": "Привет", "iso8859-1": "héllo",
+      "mixed": "hélloПривет日本語123ABC漢字",
+    }
+    for encoding, expected in cases.items():
+      with self.subTest(encoding=encoding):
+        matrix = fixture(encoding)
+        assert qr.decode_matrix(matrix) == expected
+        assert qr.decode(render(matrix)) == expected
+
+  def test_parse_data(self):
+    def parse(stream: str) -> str:
+      stream += '0' * (-len(stream) % 8)
+      return qr._parse_data([int(stream[i:i + 8], 2) for i in range(0, len(stream), 8)], 1)
+
+    def eci(assignment: str, payload: bytes = b'A') -> str:
+      return parse('0111' + assignment + '0100' + f'{len(payload):08b}' + ''.join(f'{b:08b}' for b in payload) + '0000')
+
+    # ASCII assignment 170 uses the two-byte ECI representation.
+    assert eci('1000000010101010') == 'A'
+    for assignment in ['00001110', '1000001111100111', '110000010000000000000000', '11100000']:
+      with self.subTest(assignment=assignment), self.assertRaises(qr.QRError):
+        eci(assignment)
+    with self.assertRaises(qr.QRError):
+      eci('00011010', b'\xff')  # Invalid UTF-8 must not fall back to Latin-1.
+
+    # out-of-range numeric, alphanumeric, and Kanji values are format errors, not crashes
+    for stream in ['0001' + '0000000011' + '1111111111', '0001' + '0000000010' + '1111111',
+                   '0010' + '000000010' + '11111111111', '0010' + '000000001' + '111111',
+                   '1000' + '00000001' + '0000000111111']:
+      with self.subTest(stream=stream), self.assertRaises(qr.QRError):
+        parse(stream)
+
+  def test_rotation(self):
+    for angle in [0, 90, 180, 270, 25, 110]:
+      with self.subTest(angle=angle):
+        _, img = make(LPA, box=8, border=12)
+        assert qr.decode(rotate(img, angle)) == LPA
+
+  def test_mirrored(self):
+    _, img = make(LPA)
+    assert qr.decode(img[:, ::-1]) == LPA
+
+  def test_perspective_and_noise(self):
+    _, img = make(LPA, box=10, border=8)
+    h, w = img.shape
+    corners = np.array([(40, 60), (w - 20, 30), (w - 60, h - 40), (30, h - 90)])
+    arr = warp(img, qr._perspective(corners, np.array([(0, 0), (w, 0), (w, h), (0, h)]))).astype(float)
+    rng = np.random.default_rng(1)
+    arr = arr * 0.6 + 60 + rng.normal(0, 12, arr.shape)  # low contrast + noise
+    # uneven lighting
+    arr += np.linspace(-40, 40, w)[None, :]
+    assert qr.decode(np.clip(arr, 0, 255).astype(np.uint8)) == LPA
+
+  def test_no_code(self):
+    rng = np.random.default_rng(2)
+    assert qr.decode(rng.integers(0, 256, size=(240, 320), dtype=np.uint8)) is None
+    assert qr.decode(np.full((240, 320), 200, dtype=np.uint8)) is None
+
+  def test_encoder_roundtrip(self):
+    for version in range(1, 21):
+      with self.subTest(version=version):
+        assert qr.decode_matrix(np.array(qr._Qr(version, b"hello").modules)) == "hello"
@@ -5,7 +5,6 @@ import contextlib
 import subprocess
 import time
 import functools
-from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd

 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
@@ -157,20 +156,6 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
    return default


-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
 def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
  rows = [list(row) for row in tabular_data]

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.2"
+#define COMMA_VERSION "0.11.3"
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:911f59f248015600da7ecc689398103d47dfc57f6be17ac8c8e543a726a6c64b
-size 3311
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dd5d8d3fce5e30662797f7eeed224f5775b2cabcc055f01f5ebf6e7b2657b616
-size 1801
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1e58deb1778cf2826339f27e9f09eecc79ea137c1436210c14b71c352a649c77
-size 34953
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b7ab989c9fe22e7d2119bac5284cdccfba2889477d69f5f6c6b4470c7ee0aab3
-size 1801
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8f37a02dd914405c6f86f415700dd5985eb976b923e7abd6580d2da76533594e
-size 9466
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:90d441310f8e1833c661d8a4f0546aab2eb50eb21cc21beb0aff0d27b5ee6066
-size 1571
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6b2dad33fead9f064c3a548651d6ef37daf82b6127c329683f538ec6e986ecbc
-size 11204
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:82648254da89edb0cf65ef63fc5e6e0741414051bfea8a40449132fd61b1ed0f
-size 1533
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:01841b602632c66ab14a8e52b874a1623f09641dc2ef0620f4e2d00bb4a913f3
-size 16243
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0936a3d890a3ad68ffe021e4905b9b9e59ffc2ae19ee9c703daa3e7c92e7c78
+size 1793
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c7ba72642b0350ee764c924586fa66ff94915be4aba1813797e67eb4b74376
+size 33215
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71dc069bd3dc5b11ba8e1b52eb3a1025ee0ad8c82834f94b4b2269ec0d401920
+size 237
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a6fe02cf19105c0051a6664a424c1bf2ede364c6cf3791f235c86ffa203f39
+size 10348
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f500f118dca3eedbd86fc6cc943ad8be67fe5d4f7b474d5b452cd757ad805c3
+size 282
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a49996f0ce069a048abe94ba9424de655dcff53745676ab35e045204af88a3c
+size 12103
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8542374779f1908dc52c8a126bc041efea4c4d605afdd34e3bf8e520a7e78bf2
+size 320
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e656b387c1a7e8de54d3e1b1c246f442cffe3c5e0924273d6d6d897c00b568
+size 13868
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fd91685bf656e828648acf035a4737acb2c4709e8514cf0aa0a10fa470a9bb60
-size 11580
+oid sha256:92431d37a844206570d73d48f39dd8d934539a89668fe8d5f4cccae38f7b301b
+size 11530
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efe7d12ae82e0f5a1bd773129cf1eafe3c8c36ff5cba43a6c95f295706062b5
+size 19724
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb645e59636687d61d20283bae65b68ddda6f7b2d4fda01a6e613a842e3b41f
+size 823
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df07383a6ddfe8cd7eeb2f22271cbd13068327ca0978873f8d10368860562e40
+size 111083
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7518f3409e2ff8f7e99fb7f0c06afa8bdf0b0a506147b5cf9d4931b820a1a75
+size 1107
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a18e3de5f455b4089a824da8d5d78d5d532ef71facb05cc75c178b24d5beeb7
+size 920
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710e74b526adb5bbac15cd8915a828dd673dd8ce15b2fd694c64c182eef6f56f
+size 13744
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25db08a9038b5faa3b200ef5625cb216d7f4b31ea3d49fb0395f9b726bfaf8e6
+size 13135
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547f466cc59d29647f3bf131d8444d7f22b63b186bcea55ceb8109c68ca74fe8
+size 2345
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55050096cd98e7f4ea3e843d927c18815e458dfbd5e7d100b503db92075d061b
+size 2373
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c439ed89bc0357e86c005d5dbb6f1ad2b8d72cdc0890e3201d842d8c3928f1
+size 2443
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aeccd3e0d8517f74eb34f7d73632c0b29b0ad5df5b9686c0f509bb6b136561e
+size 1728
@@ -23,8 +23,8 @@ done

 # sudo apt install inkscape

-for svg in $(find $DIR -type f | grep svg$); do
-  bunx svgo $svg --multipass --pretty --indent 2
+for svg in $(find "$DIR" -type f | grep svg$); do
+  bunx svgo "$svg" --multipass --pretty --indent 2

  # convert to PNG
  png="${svg%.svg}.png"
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d02369e21d3c78a3a5ece7e78deedb82343bc3228a28db73da48b5c27860004
+size 52374
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bef898e4e784baf98f3ceca53cbe95b1020da5e01162cdaa14b79b1ce0b1340
+size 52374
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+oid sha256:884e828e5c51d980d41b6e2400fcb4f4a926275018a00674d8239184e1eb96db
 size 73026
@@ -127,9 +127,6 @@ class Car:
    set_alternative_experience(self.CP, self.CP_SP, self.params)
    set_car_specific_params(self.CP, self.CP_SP, self.params)

-    # Dynamic Experimental Control
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
-
    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
    self.CP.passive = not controller_available or self.CP.dashcamOnly
@@ -181,14 +178,11 @@ class Car:
    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)

    self.is_metric = self.params.get_bool("IsMetric")
-    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+    self.initial_cruise_speed = self.params.get("InitialCruiseSpeedKph", return_default=True)

    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)

-    # log fingerprint in sentry
-    sunnypilot_interfaces.log_fingerprint(self.CP)
-
  def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
    """carState update loop, driven by can"""

@@ -217,7 +211,7 @@ class Car:
    self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
    if self.sm['carControl'].enabled and not self.CC_prev.enabled:
      # Use CarState w/ buttons from the step selfdrived enables on
-      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.dynamic_experimental_control)
+      self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.initial_cruise_speed)

    # TODO: mirror the carState.cruiseState struct?
    CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -303,9 +297,9 @@ class Car:
    while not evt.is_set():
      self.is_metric = self.params.get_bool("IsMetric")
      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      self.initial_cruise_speed = self.params.get("InitialCruiseSpeedKph", return_default=True)

      # sunnypilot
-      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
      self.v_cruise_helper.read_custom_set_speed_params()

      time.sleep(0.1)
@@ -13,7 +13,6 @@ V_CRUISE_MIN = 8
 V_CRUISE_MAX = 145
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
-V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
 IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed

 ButtonEvent = car.CarState.ButtonEvent
@@ -138,17 +137,14 @@ class VCruiseHelper(VCruiseHelperSP):
        self.button_timers[b.type.raw] = 1 if b.pressed else 0
        self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}

-  def initialize_v_cruise(self, CS, experimental_mode: bool, dynamic_experimental_control: bool) -> None:
+  def initialize_v_cruise(self, CS, initial_speed: int) -> None:
    # initializing is handled by the PCM
    if self.CP.pcmCruise:
      return

-    initial_experimental_mode = experimental_mode and not dynamic_experimental_control
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
-
    if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
      self.v_cruise_kph = self.v_cruise_kph_last
    else:
-      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(np.clip(max(CS.vEgo * CV.MS_TO_KPH, initial_speed), V_CRUISE_INITIAL, V_CRUISE_MAX)))

    self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -14,7 +14,7 @@ ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type


-def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
+def run_cruise_simulation(cruise, personality, t_end=20.):
  man = Maneuver(
    '',
    duration=t_end,
@@ -24,7 +24,6 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
    cruise_values=[cruise],
    prob_lead_values=[0.0],
    breakpoints=[0.],
-    e2e=e2e,
    personality=personality,
  )
  valid, output = man.evaluate()
@@ -32,8 +31,7 @@ def run_cruise_simulation(cruise, e2e, personality, t_end=20.):
  return output[-1, 3]


-@parameterized_class(("e2e", "personality", "speed"), itertools.product(
-                      [True, False], # e2e
+@parameterized_class(("personality", "speed"), itertools.product(
                      log.LongitudinalPersonality.schema.enumerants, # personality
                      [5,35])) # speed
 class TestCruiseSpeed(OpenpilotTestCase):
@@ -41,7 +39,7 @@ class TestCruiseSpeed(OpenpilotTestCase):
    print(f'Testing {self.speed} m/s')
    cruise_speed = float(self.speed)

-    simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality)
+    simulation_steady_state = run_cruise_simulation(cruise_speed, self.personality)
    self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {self.speed} m/s')


@@ -59,16 +57,16 @@ class TestVCruiseHelper(OpenpilotTestCase):
    for _ in range(2):
      self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)

-  def enable(self, v_ego, experimental_mode, dynamic_experimental_control):
+  def enable(self, v_ego):
    # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, dynamic_experimental_control)
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), V_CRUISE_INITIAL)

  def test_adjust_speed(self):
    """
    Asserts speed changes on falling edges of buttons.
    """

-    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS)

    for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
      for pressed in (True, False):
@@ -92,7 +90,7 @@ class TestVCruiseHelper(OpenpilotTestCase):
      CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
      self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
      if pressed:
-        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS)

      # Expected diff on enabling. Speed should not change on falling edge of pressed
      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
@@ -102,7 +100,7 @@ class TestVCruiseHelper(OpenpilotTestCase):
    Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
    """

-    self.enable(0, False, False)
+    self.enable(0)

    for standstill in (True, False):
      for pressed in (True, False):
@@ -122,7 +120,7 @@ class TestVCruiseHelper(OpenpilotTestCase):

    for v_ego in np.linspace(0, 100, 101):
      self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS)

      # first decrement speed, then perform gas pressed logic
      expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -143,12 +141,10 @@ class TestVCruiseHelper(OpenpilotTestCase):
    Asserts allowed cruise speeds on enabling with SET.
    """

-    for experimental_mode in (True, False):
-      for dynamic_experimental_control in (True, False):
-        for v_ego in np.linspace(0, 100, 101):
-          self.reset_cruise_speed_state()
-          assert not self.v_cruise_helper.v_cruise_initialized
+    for v_ego in np.linspace(0, 100, 101):
+      self.reset_cruise_speed_state()
+      assert not self.v_cruise_helper.v_cruise_initialized

-          self.enable(float(v_ego), experimental_mode, dynamic_experimental_control)
-          assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
-          assert self.v_cruise_helper.v_cruise_initialized
+      self.enable(float(v_ego))
+      assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
+      assert self.v_cruise_helper.v_cruise_initialized
@@ -0,0 +1,38 @@
+import numpy as np
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+
+ACCEL_BOOST_MAX = 0.2
+ACCEL_BOOST_RATE = 0.025
+ACCEL_BOOST_PER_OVERRIDE = 0.05
+ACCEL_BOOST_MIN_SPEED = 10 * CV.MPH_TO_MS
+
+
+class AccelBoost:
+  def __init__(self):
+    self.total_boost = 0.0
+    self.boost_this_override = 0.0
+    self.boost_eligible = False
+
+  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
+    enabled = sm['selfdriveState'].enabled
+    gas_pressed = sm['carState'].gasPressed
+    v_ego = sm['carState'].vEgo
+    speed_scale = np.interp(v_ego, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
+    boost_scale = speed_scale * np.interp(output_a_target_e2e, [-1.0, -0.5, 5.0], [0.0, 1.0, 1.0], right=0.0)
+    model_limited = output_a_target_e2e + self.total_boost * boost_scale < min(output_a_target_mpc, a_cruise) - 0.1
+
+    if not enabled or not gas_pressed:
+      self.boost_this_override = 0.0
+      # Latch eligibility before the override changes the lead plan.
+      self.boost_eligible = enabled and model_limited
+
+    if not enabled:
+      self.total_boost = 0.0
+    elif gas_pressed and self.boost_eligible:
+      increase = min(ACCEL_BOOST_RATE * DT_MDL * speed_scale,
+                     ACCEL_BOOST_PER_OVERRIDE - self.boost_this_override, ACCEL_BOOST_MAX - self.total_boost)
+      self.total_boost += increase
+      self.boost_this_override += increase
+
+    return output_a_target_e2e + self.total_boost * boost_scale
@@ -4,7 +4,6 @@ from openpilot.common.realtime import DT_CTRL, DT_MDL

 MIN_SPEED = 1.0
 CONTROL_N = 17
-CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MIN_STABLE_DELAY = 0.3
@@ -1,11 +1,13 @@
 import math
+import numpy as np
+from collections import deque

 from openpilot.cereal import log
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE

-CURVATURE_SATURATION_THRESHOLD = 1e-3  # 1/m
+LAT_ACCEL_SATURATION_THRESHOLD = 0.5  # m/s^2


 class LatControlCurvature(LatControl):
@@ -20,6 +22,8 @@ class LatControlCurvature(LatControl):
    else:
      self.pid = None
      self.kf = 1.
+    self.desired_curvature_buffer_len = int(1. / self.dt)
+    self.desired_curvature_buffer = deque([0.] * self.desired_curvature_buffer_len, maxlen=self.desired_curvature_buffer_len)

  def reset(self):
    super().reset()
@@ -30,6 +34,9 @@ class LatControlCurvature(LatControl):
    curvature_log = log.ControlsState.LateralCurvatureState.new_message()
    actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
    error = desired_curvature - actual_curvature
+    self.desired_curvature_buffer.append(desired_curvature)
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.desired_curvature_buffer_len))
+    expected_curvature = self.desired_curvature_buffer[-delay_frames]

    if not active:
      output_curvature = 0.0
@@ -53,6 +60,6 @@ class LatControlCurvature(LatControl):
    curvature_log.actualCurvature = float(actual_curvature)
    curvature_log.desiredCurvature = float(desired_curvature)
    curvature_log.output = float(output_curvature)
-    curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
+    curvature_log.saturated = bool(self._check_saturation(abs(expected_curvature - actual_curvature) * CS.vEgo ** 2 > LAT_ACCEL_SATURATION_THRESHOLD, CS,
                                                          False, curvature_limited))
    return 0.0, float(output_curvature), curvature_log
@@ -8,6 +8,7 @@ from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
@@ -25,7 +26,6 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5

-# Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]

@@ -33,7 +33,7 @@ def get_max_accel(v_ego):
  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)

 def get_coast_accel(pitch):
-  return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
+  return np.sin(pitch) * -5.65 - 0.3

 def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt, accel_coast, allow_throttle):
  max_accel = ACCEL_MAX if e2e else get_max_accel(v_ego)
@@ -62,6 +62,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
    self.fcw = False
    self.dt = dt
+    self.accel_boost = AccelBoost()
    self.allow_throttle = True

    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
@@ -89,18 +90,18 @@ class LongitudinalPlanner(LongitudinalPlannerSP):

    long_control_off = sm['controlsState'].longControlState == LongCtrlState.off

-    # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
-    # PCM cruise speed may be updated a few cycles later, check if initialized
-    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
-    reset_state = reset_state or not v_cruise_initialized
-
    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED

    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['vehicleParameters'].angleOffsetDeg

+    # Reset current state when not engaged, or user is controlling the speed
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
+    # PCM cruise speed may be updated a few cycles later, check if initialized
+    v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
+    reset_state = reset_state or not v_cruise_initialized
+
    if reset_state:
      self.v_desired_filter.x = v_ego
      self.output_a_target = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
@@ -116,7 +117,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)

    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
+    if self.CP.openpilotLongitudinalControl:
+      self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
+    else:
+      self.mpc.set_cur_state(v_ego, sm['carState'].aEgo)
    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)

    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -138,16 +142,18 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    is_e2e = self.is_e2e(sm)
+    experimental_mode = sm['selfdriveState'].deprecated.experimentalMode

-    self.a_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego,
+    self.a_cruise = get_cruise_accel(experimental_mode, v_cruise, v_ego,
                                     self.a_cruise, steer_angle_without_offset, self.CP, self.dt,
                                     accel_coast, self.allow_throttle)
    cruise_should_stop = should_stop(v_ego, self.a_cruise)

+    output_a_target_e2e = self.accel_boost.update(sm, output_a_target_e2e, output_a_target_mpc, self.a_cruise)
+
    candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
                  (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
-    if is_e2e:
+    if experimental_mode:
      candidates.append((output_a_target_e2e, LongitudinalPlanSource.e2e, output_should_stop_e2e))

    output_a_target, self.mpc.source, _ = min(candidates, key=lambda c: c[0])
@@ -175,6 +181,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    longitudinalPlan.fcw = self.fcw

    longitudinalPlan.aTarget = float(self.output_a_target)
+    longitudinalPlan.accelBoost = float(self.accel_boost.total_boost)
    longitudinalPlan.shouldStop = bool(self.output_should_stop)
    longitudinalPlan.allowBrake = True
    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
@@ -13,7 +13,7 @@ def desired_follow_distance(v_ego, v_lead, t_follow=None):
    t_follow = get_T_FOLLOW()
  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)

-def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
+def run_following_distance_simulation(v_lead, t_end=100.0, personality=0):
  man = Maneuver(
    '',
    duration=t_end,
@@ -22,7 +22,6 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
    initial_distance_lead=100,
    speed_lead_values=[v_lead],
    breakpoints=[0.],
-    e2e=e2e,
    personality=personality,
  )
  valid, output = man.evaluate()
@@ -30,8 +29,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
  return output[-1,2] - output[-1,1]


-@parameterized_class(("e2e", "personality", "speed"), itertools.product(
-                      [True, False], # e2e
+@parameterized_class(("personality", "speed"), itertools.product(
                      [log.LongitudinalPersonality.relaxed, # personality
                       log.LongitudinalPersonality.standard,
                       log.LongitudinalPersonality.aggressive],
@@ -39,9 +37,8 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
 class TestFollowingDistance(OpenpilotTestCase):
  def test_following_distance(self):
    v_lead = float(self.speed)
-    simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
+    simulation_steady_state = run_following_distance_simulation(v_lead, personality=self.personality)
    correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
-    err_ratio = 0.2 if self.e2e else 0.1
    abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
    self.assertAlmostEqual(simulation_steady_state, correct_steady_state,
-                           delta=err_ratio * correct_steady_state + abs_err_margin)
+                           delta=0.2 * correct_steady_state + abs_err_margin)
@@ -8,12 +8,14 @@ from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.gm.values import CAR as GM
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -22,7 +24,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 class TestLatControl(OpenpilotTestCase):

  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
-                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque),
+                         (VOLKSWAGEN.VOLKSWAGEN_ID4_MK2, LatControlCurvature)])
  def test_saturation(self, car_name, controller):
    CarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
@@ -278,12 +278,12 @@ def main():
  estimator = LocationEstimator(DEBUG)

  filter_initialized = False
-  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
+  critical_services = ["accelerometer", "gyroscope", "cameraOdometry"]
  observation_input_invalid = defaultdict(int)

-  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
-  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}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critical_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critical_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critical_services}

  initial_pose_data = params.get("LocationFilterInitialState")
  if initial_pose_data is not None:
@@ -313,7 +313,7 @@ def main():
        if valid:
          t = log_mono_time * 1e-9
          res = estimator.handle_log(t, which, msg)
-          if which not in critcal_services:
+          if which not in critical_services:
            continue

          if res == HandleLogResult.TIMING_INVALID:
@@ -328,7 +328,7 @@ def main():
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critical_services)
      inputs_valid = sm.all_valid() and critical_service_inputs_valid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

@@ -80,7 +80,6 @@ class CarKalman(KalmanFilter):
  }

  global_vars = [
-    'mass',
    'rotational_inertia',
    'center_to_front',
    'center_to_rear',
@@ -99,7 +98,10 @@ class CarKalman(KalmanFilter):

    # globals
    global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
-    m, j, aF, aR, cF_orig, cR_orig = global_vars
+    j, aF, aR, cF_orig, cR_orig = global_vars
+    # Tire stiffness and rotational inertia are already divided by vehicle mass, which cancels out of the model.
+    # Use unit mass to preserve the standard bicycle-model equations below.
+    m = 1

    # make functions and jacobians with sympy
    # state variables
@@ -166,8 +168,7 @@ class CarKalman(KalmanFilter):
    self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial,
                              dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog)

-  def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
-    self.filter.set_global("mass", mass)
+  def set_globals(self, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
    self.filter.set_global("rotational_inertia", rotational_inertia)
    self.filter.set_global("center_to_front", center_to_front)
    self.filter.set_global("center_to_rear", center_to_rear)
@@ -40,7 +40,7 @@ class PoseKalman(KalmanFilter):
  initial_P = np.diag([0.01**2, 0.01**2, 0.01**2,
                       10**2, 10**2, 10**2,
                       1**2, 1**2, 1**2,
-                       1**2, 1**2, 1**2,
+                       0.1**2, 0.1**2, 0.1**2,
                       100**2, 100**2, 100**2,
                       0.01**2, 0.01**2, 0.01**2])

@@ -36,12 +36,11 @@ class VehicleParamsLearner:
    self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial

    self.kf.set_globals(
-      mass=CP.mass,
-      rotational_inertia=CP.rotationalInertia,
+      rotational_inertia=CP.rotationalInertiaPerMass,
      center_to_front=CP.centerToFront,
      center_to_rear=CP.wheelbase - CP.centerToFront,
-      stiffness_front=CP.tireStiffnessFront,
-      stiffness_rear=CP.tireStiffnessRear
+      stiffness_front=CP.tireStiffnessFrontPerMass,
+      stiffness_rear=CP.tireStiffnessRearPerMass
    )

    self.min_sr, self.max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
--- a/Show More
+++ b/Show More