fix(long): frame based staleness for jumpguard and lead-smoother

fix(long): frame-based staleness check for radar lead hold
_LeadHold counted its own step() calls to gauge staleness, but smooth_radarstate() stops calling step() below LOW_SPEED_PASSTHROUGH_V — so the counter froze indefinitely during any low-speed period (measured 60-80s freezes on real routes) and read as "just a few frames old" on resume no matter how much real time passed, letting a long-dead hold resurrect as a phantom lead. Compare against the caller's live frame counter instead.
2026-07-16 06:32:16 +08:00 · 2026-07-14 15:42:50 -07:00 · 2026-07-12 14:55:32 -07:00 · 2026-07-11 12:52:02 -07:00 · 2026-07-10 00:34:07 -07:00 · 2026-07-09 12:47:37 -07:00
89 changed files with 6858 additions and 4585 deletions
@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO
@@ -4,6 +4,7 @@
 [submodule "opendbc"]
  path = opendbc_repo
  url = https://github.com/sunnypilot/opendbc.git
+  branch = tn
 [submodule "msgq"]
  path = msgq_repo
  url = https://github.com/commaai/msgq.git
@@ -21,12 +21,5 @@
        </clean>
      </configuration>
    </target>
-    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
-      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv build tools replay" />
-        </build>
-      </configuration>
-    </target>
  </component>
 </project>
@@ -20,11 +20,4 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
-  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -194,6 +194,7 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  aTarget @5 :Float32;
  events @6 :List(OnroadEventSP.Event);
  e2eAlerts @7 :E2eAlerts;
+  acceleration @8 :Acceleration;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
@@ -296,6 +297,26 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
    greenLightAlert @0 :Bool;
    leadDepartAlert @1 :Bool;
  }
+
+  # Acceleration Personality (Eco / Normal / Sport)
+  struct Acceleration {
+    personality @0 :AccelerationPersonality;
+    enabled @1 :Bool;
+    maxAccel @2 :Float32;     # current speed-indexed accel ceiling
+    brakeNeed @3 :Float32;    # repurposed: follow-gap widen added on top of the stock t_follow (s)
+    decelTarget @4 :Float32;  # repurposed: t_follow handed to the MPC (s)
+    smoothActive @5 :Bool;    # repurposed: follow-gap widen currently active
+    bypassed @6 :Bool;        # unused (input-shaping design has no output post-shaping / bypass)
+    comfortStopActive @7 :Bool;   # low-speed comfort decel-to-stop floor currently governing (behind a near-stopped lead)
+    comfortStopFloor @8 :Float32; # comfort-stop floor commanded (m/s^2, negative; 0 when not engaged)
+    leadUnstable @9 :Bool;        # RadarDistance lead-instability telemetry (bimodal/bouncing radar lead; informational, no control effect yet)
+  }
+
+  enum AccelerationPersonality {
+    eco @0;
+    normal @1;
+    sport @2;
+  }
 }

 struct OnroadEventSP @0xda96579883444c35 {
@@ -342,6 +363,7 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
+    laneChangeRoadEdge @24;
  }
 }

@@ -448,6 +470,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;

  enum TurnDirection {
    none @0;
@@ -4,6 +4,7 @@
 #include <unordered_map>

 #include "cereal/gen/cpp/log.capnp.h"
+#include "cereal/gen/cpp/custom.capnp.h"

 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
@@ -179,12 +180,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},

+    // toyota specific params
+    {"ToyotaAutoHold", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnhancedBsm", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaTSS2Long", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaDriveMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -228,6 +236,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},

+    // Acceleration Personality (Eco / Normal / Sport)
+    {"AccelPersonalityEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AccelPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPlanSP::AccelerationPersonality::NORMAL))}},
+
+    // Radar Distance: de-noise the lead the MPC follows (flicker-hold + churn smoother); never reports a
+    // farther/faster lead than reality, so braking stays >= stock
+    {"RadarDistance", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // sunnypilot model params
    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -4,24 +4,24 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 341 Supported Cars
+# 340 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>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>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -47,8 +47,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
@@ -75,35 +75,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|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|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,7 +126,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -224,14 +223,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
@@ -239,35 +238,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |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>|||
@@ -280,8 +279,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -313,61 +312,60 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||

 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />

 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -226,7 +226,6 @@ exclude = [
  "teleoprtc/",
  "teleoprtc_repo/",
  "third_party/",
-  "**/*.ipynb",
 ]

 [tool.ty.rules]
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*|^third_party.*"

 function run() {
@@ -10,7 +10,7 @@ from cereal import car, log, custom
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
-
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.carlog import carlog
@@ -121,7 +121,13 @@ class Car:
      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
      self.RI = RI

+    # set alternative experiences from parameters
+    sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
    self.CP.alternativeExperience = 0
+    if sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+
+
    # mads
    set_alternative_experience(self.CP, self.CP_SP, self.params)
    set_car_specific_params(self.CP, self.CP_SP, self.params)
@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.honda.values import CAR as HONDA, HondaFlags
+from opendbc.car.honda.values import HondaFlags
 from opendbc.car.structs import car
 from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from opendbc.car.values import Platform, PLATFORMS
@@ -358,13 +358,7 @@ class TestCarModelBase(unittest.TestCase):
        self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())

      if self.safety.get_brake_pressed_prev() != prev_panda_brake:
-        # TODO: remove this exception once this mismatch is resolved
-        brake_pressed = CS.brakePressed
-        if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-          if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
-            brake_pressed = False
-
-        self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
+        self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())

      if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
        self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -448,12 +442,7 @@ class TestCarModelBase(unittest.TestCase):
        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
                                       angle_can < (self.safety.get_angle_meas_min() - 1))

-      # TODO: remove this exception once this mismatch is resolved
-      brake_pressed = CS.brakePressed
-      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
-          brake_pressed = False
-      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
+      checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

@@ -56,7 +56,7 @@ class DesireHelper:
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right

-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
@@ -88,8 +88,8 @@ class DesireHelper:
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))

        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)

@@ -219,6 +219,7 @@ class LongitudinalMpc:
    self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
    self.reset()
    self.source = LongitudinalPlanSource.cruise
+    self.t_follow_fn = None  # sunnypilot: optional (t_follow, v_ego)->t_follow override; None == byte-stock

  def reset(self):
    self.solver.reset()
@@ -267,8 +268,8 @@ class LongitudinalMpc:
    for i in range(N):
      self.solver.cost_set(i, 'Zl', Zl)

-  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
-    jerk_factor = get_jerk_factor(personality)
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard, jerk_scale=1.0):
+    jerk_factor = get_jerk_factor(personality) * jerk_scale
    a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
    constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
@@ -316,6 +317,8 @@ class LongitudinalMpc:
  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
    t_follow = get_T_FOLLOW(personality)
    v_ego = self.x0[1]
+    if self.t_follow_fn is not None:
+      t_follow = self.t_follow_fn(t_follow, v_ego)
    self.status = radarstate.leadOne.status or radarstate.leadTwo.status

    lead_xv_0 = self.process_lead(radarstate.leadOne)
@@ -52,6 +52,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.CP = CP
    self.mpc = LongitudinalMpc(dt=dt)
    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
+    self.mpc.t_follow_fn = self.accel.get_t_follow  # Acceleration Personality: add-only follow-gap widen
    self.fcw = False
    self.dt = dt
    self.allow_throttle = True
@@ -110,7 +111,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

-    accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
+    accel_clip = [ACCEL_MIN, self.accel.get_max_accel(v_ego)]
    steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
    accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)

@@ -118,6 +119,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      self.v_desired_filter.x = v_ego
      # Clip aEgo to cruise limits to prevent large accelerations when becoming active
      self.a_desired = np.clip(sm['carState'].aEgo, accel_clip[0], accel_clip[1])
+      self.accel.reset()  # drop any accumulated follow-gap widen so it re-ramps cleanly on re-engage
+      self._e2e_transition_guard.reset()  # drop the tracked baseline so it doesn't apply a stale limit on re-engage

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -136,9 +139,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    if force_slow_decel:
      v_cruise = 0.0

-    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality, jerk_scale=self.accel.get_jerk_scale(v_ego))
    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
+    self.mpc.update(self.smooth_radarstate(sm['radarState']), v_cruise, personality=sm['selfdriveState'].personality)

    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
    self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -160,7 +163,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.is_e2e(sm):
+    is_e2e = self.is_e2e(sm)
+    if is_e2e:
      output_a_target = min(output_a_target_e2e, output_a_target_mpc)
      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
      if output_a_target < output_a_target_mpc:
@@ -169,8 +173,15 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc

-    for idx in range(2):
-      accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
+    output_a_target = self.smooth_e2e_transition(output_a_target)
+
+    # Acceleration Personality shapes only MPC INPUTS (accel ceiling above + t_follow via mpc.t_follow_fn),
+    # never the output accel -- output_a_target passes through byte-stock so the MPC owns the trajectory.
+
+    # Lower (braking) bound and the ceiling's downward slew stay at the stock rate; only the ceiling's
+    # upward slew is tier-dependent (Acceleration Personality).
+    accel_clip[0] = np.clip(accel_clip[0], self.prev_accel_clip[0] - 0.05, self.prev_accel_clip[0] + 0.05)
+    accel_clip[1] = np.clip(accel_clip[1], self.prev_accel_clip[1] - 0.05, self.prev_accel_clip[1] + self.accel.get_rise_rate(v_ego))
    self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
    self.prev_accel_clip = accel_clip

@@ -0,0 +1,57 @@
+import inspect
+import re
+from pathlib import Path
+
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
+
+
+REPO_ROOT = Path(__file__).resolve().parents[3]
+
+
+def test_smoothing_params_default_off():
+  params_keys = (REPO_ROOT / "common/params_keys.h").read_text()
+
+  assert re.search(r'"AccelPersonalityEnabled", \{PERSISTENT \| BACKUP, BOOL, "0"\}', params_keys)
+  assert re.search(r'"RadarDistance", \{PERSISTENT \| BACKUP, BOOL, "0"\}', params_keys)
+  # the retired dRel-bias sub-toggles must not return (their features were deleted in the input-shaping rewrite)
+  assert '"StopGapBias"' not in params_keys
+  assert '"LeadDecelAnticipate"' not in params_keys
+
+
+def test_output_is_byte_stock_and_inputs_are_shaped():
+  update_src = inspect.getsource(LongitudinalPlanner.update)
+
+  # INPUT shaping only: the accel ceiling and the radar-conditioning seam are present...
+  assert "self.accel.get_max_accel(v_ego)" in update_src
+  assert "self.mpc.update(self.smooth_radarstate(sm['radarState'])" in update_src
+  # ...and the OUTPUT is never post-shaped (byte-stock output; no accel shaping, no should_stop override).
+  assert "smooth_target_accel" not in update_src
+  assert "sng_should_stop" not in update_src   # reverted: the should_stop hysteresis caused a high-speed under-brake
+
+
+def test_t_follow_hook_wired_and_identity_default():
+  init_src = inspect.getsource(LongitudinalPlanner.__init__)
+  assert "self.mpc.t_follow_fn = self.accel.get_t_follow" in init_src   # planner wires the add-only widen
+
+  mpc_init = inspect.getsource(LongitudinalMpc.__init__)
+  assert "self.t_follow_fn = None" in mpc_init                          # default None == byte-stock identity
+
+  mpc_update = inspect.getsource(LongitudinalMpc.update)
+  assert "if self.t_follow_fn is not None:" in mpc_update               # guarded hook, only fires when set
+
+
+# Tokens for the reverted input-side DEC model-stop-target (capped v_target into the MPC pre-solve). It was
+# superseded by DEC blended-mode and chased a source-fixed radar gate; it must not silently return.
+_DEC_MODEL_STOP_TOKENS = ("apply_model_stop_target", "force_stop_requested", "_update_model_stop", "MODEL_STOP_TARGET_TIME")
+
+
+def test_dec_model_stop_target_not_reintroduced():
+  this_file = Path(__file__).resolve()
+  for sub in ("selfdrive/controls", "sunnypilot/selfdrive/controls"):
+    for path in (REPO_ROOT / sub).rglob("*.py"):
+      if path.resolve() == this_file:
+        continue                                      # this guard names the tokens as strings
+      src = path.read_text()
+      for token in _DEC_MODEL_STOP_TOKENS:
+        assert token not in src, f"reverted DEC model-stop-target ({token}) re-introduced in {path}"
@@ -28,6 +28,7 @@ from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path,

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -223,6 +224,7 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -325,7 +327,10 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego, modelv2_send.modelV2.roadEdges)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
@@ -321,9 +321,16 @@ class SelfdriveD(CruiseHelper):
    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+            (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
      else:
        if direction == LaneChangeDirection.left:
          self.events.add(EventName.preLaneChangeLeft)
@@ -15,7 +15,17 @@ class Plant:
  messaging_initialized = False

  def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
-               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False):
+               enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False,
+               lead_dRel_glitch_fn=None, e2e_accel_fn=None):
+    # lead_dRel_glitch_fn(current_time, d_rel, v_rel) -> (d_rel, v_rel): optional per-step override of the
+    # REPORTED radar lead dRel/vRel, independent of the true physics used to advance distance_lead/speed --
+    # models a sensor/fusion glitch (what radard actually reports can diverge from the real world) without
+    # corrupting the closed-loop ego dynamics the rest of the planner reacts to. None -> no override (default).
+    # e2e_accel_fn(current_time, ego_speed, ego_accel) -> float: optional override of the e2e model's
+    # action.desiredAcceleration (default is a mild self.acceleration+0.1 echo, which can't independently
+    # disagree with the MPC enough to exercise is_e2e()-gated behavior). None -> default echo (unchanged).
+    self.lead_dRel_glitch_fn = lead_dRel_glitch_fn
+    self.e2e_accel_fn = e2e_accel_fn
    self.rate = 1. / DT_MDL

    if not Plant.messaging_initialized:
@@ -90,6 +100,9 @@ class Plant:
      prob_lead = 0.0
      status = False

+    if self.lead_dRel_glitch_fn is not None and self.lead_relevancy:
+      d_rel, v_rel = self.lead_dRel_glitch_fn(self.current_time, d_rel, v_rel)
+
    lead = log.RadarState.LeadData.new_message()
    lead.dRel = float(d_rel)
    lead.yRel = 0.0
@@ -112,7 +125,10 @@ class Plant:
    position = log.XYZTData.new_message()
    position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
    model.modelV2.position = position
-    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
+    if self.e2e_accel_fn is not None:
+      model.modelV2.action.desiredAcceleration = float(self.e2e_accel_fn(self.current_time, self.speed, self.acceleration))
+    else:
+      model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
    velocity = log.XYZTData.new_message()
    velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
    velocity.x[0] = float(self.speed) # always start at current speed
@@ -31,6 +31,15 @@ DESCRIPTIONS = {
    "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
    "without a turn signal activated while driving over 31 mph (50 km/h)."
  ),
+  "AccelPersonalityEnabled": tr_noop("Enable Eco/Normal/Sport acceleration profiles, including early soft braking."),
+  "AccelPersonality": tr_noop(
+    "Eco accelerates gently and brakes early and soft; Sport accelerates briskly. " +
+    "Hard-braking authority is always preserved."
+  ),
+  "RadarDistance": tr_noop(
+    "Hold a lead through brief radar flicker/dropout so sunnypilot does not lose and re-grab it, " +
+    "smoothing the hard/late brakes that radar drop-outs cause. Braking is never reduced below stock."
+  ),
  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
  'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
  "IsMetric": tr_noop("Display speed in km/h instead of mph."),
@@ -64,6 +73,12 @@ class TogglesLayout(Widget):
        "disengage_on_accelerator.png",
        False,
      ),
+      "RadarDistance": (
+        lambda: tr("Radar Distance"),
+        DESCRIPTIONS["RadarDistance"],
+        "speed_limit.png",
+        False,
+      ),
      "IsLdwEnabled": (
        lambda: tr("Enable Lane Departure Warnings"),
        DESCRIPTIONS["IsLdwEnabled"],
@@ -106,6 +121,24 @@ class TogglesLayout(Widget):
      icon="speed_limit.png"
    )

+    self._accel_personality_enabled = toggle_item(
+      lambda: tr("Enable Acceleration Profiles"),
+      lambda: tr(DESCRIPTIONS["AccelPersonalityEnabled"]),
+      self._params.get_bool("AccelPersonalityEnabled"),
+      callback=self._set_accel_personality_enabled,
+      icon="speed_limit.png",
+    )
+
+    self._accel_personality_setting = multiple_button_item(
+      lambda: tr("Acceleration Profile"),
+      lambda: tr(DESCRIPTIONS["AccelPersonality"]),
+      buttons=[lambda: tr("Eco"), lambda: tr("Normal"), lambda: tr("Sport")],
+      button_width=300,
+      callback=self._set_accel_personality,
+      selected_index=self._params.get("AccelPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
    self._toggles = {}
    self._locked_toggles = set()
    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
@@ -135,9 +168,11 @@ class TogglesLayout(Widget):

      self._toggles[param] = toggle

-      # insert longitudinal personality after NDOG toggle
+      # insert longitudinal + acceleration personality after NDOG toggle
      if param == "DisengageOnAccelerator":
        self._toggles["LongitudinalPersonality"] = self._long_personality_setting
+        self._toggles["AccelPersonalityEnabled"] = self._accel_personality_enabled
+        self._toggles["AccelPersonality"] = self._accel_personality_setting

    self._update_experimental_mode_icon()
    self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
@@ -176,11 +211,15 @@ class TogglesLayout(Widget):
        self._toggles["ExperimentalMode"].action_item.set_enabled(True)
        self._toggles["ExperimentalMode"].set_description(e2e_description)
        self._long_personality_setting.action_item.set_enabled(True)
+        self._accel_personality_enabled.action_item.set_enabled(True)
+        self._accel_personality_setting.action_item.set_enabled(True)
      else:
        # no long for now
        self._toggles["ExperimentalMode"].action_item.set_enabled(False)
        self._toggles["ExperimentalMode"].action_item.set_state(False)
        self._long_personality_setting.action_item.set_enabled(False)
+        self._accel_personality_enabled.action_item.set_enabled(False)
+        self._accel_personality_setting.action_item.set_enabled(False)
        self._params.remove("ExperimentalMode")

        unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
@@ -247,3 +286,9 @@ class TogglesLayout(Widget):

  def _set_longitudinal_personality(self, button_index: int):
    self._params.put("LongitudinalPersonality", button_index, block=True)
+
+  def _set_accel_personality(self, button_index: int):
+    self._params.put("AccelPersonality", button_index, block=True)
+
+  def _set_accel_personality_enabled(self, state: bool):
+    self._params.put_bool("AccelPersonalityEnabled", state, block=True)
@@ -13,6 +13,7 @@ from openpilot.system.ui.lib.application import gui_app

 if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad import OnroadViewContainerSP as AugmentedRoadView

 ONROAD_DELAY = 2.5  # seconds

@@ -118,13 +119,15 @@ class MiciMainLayout(Scroller):

    # FIXME: these two pops can interrupt user interacting in the settings
    if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
      self._onroad_time_delay = None

    # When car leaves standstill, pop nav stack and scroll to onroad
    CS = ui_state.sm["carState"]
    if not CS.standstill and self._prev_standstill:
-      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      if not gui_app.sunnypilot_ui() or self._should_auto_scroll_to_onroad():
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
    self._prev_standstill = CS.standstill

  def _on_interactive_timeout(self):
@@ -51,11 +51,17 @@ class LaneChangeSettingsLayout(Widget):
      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
    )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )

    items = [
      self._lane_change_timer,
      LineSeparatorSP(40),
      self._bsm_delay,
+      self._road_edge_block,
    ]

    return items
@@ -0,0 +1,13 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+
+class MiciMainLayoutSP(MiciMainLayout):
+  def _should_auto_scroll_to_onroad(self) -> bool:
+    return not self._onroad_layout.is_on_info_panel()
@@ -0,0 +1,63 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroller_sp import ScrollerSP
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.augmented_road_view import AugmentedRoadViewSP
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onroad_info_panel import OnroadInfoPanel
+
+CONFIDENCE_BALL_VISIBLE_RATIO = 0.4
+HORIZONTAL_SETTLE_PX = 5
+HORIZONTAL_RESET_RATIO = 0.5
+
+
+class OnroadViewContainerSP(ScrollerSP):
+  def __init__(self, bookmark_callback=None):
+    super().__init__(horizontal=False, snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
+    self.road_view = AugmentedRoadViewSP(bookmark_callback=bookmark_callback)
+    self.onroad_info_panel = OnroadInfoPanel(bookmark_callback=bookmark_callback)
+
+    self._scroller.add_widgets([
+      self.road_view,
+      self.onroad_info_panel,
+    ])
+    self._scroller.set_reset_scroll_at_show(False)
+    self._scroller.set_scrolling_enabled(lambda: abs(self.rect.x) < HORIZONTAL_SETTLE_PX)
+
+    for child in (self.road_view, self.onroad_info_panel):
+      inner_touch_valid = child._touch_valid_callback
+      child.set_touch_valid_callback(
+        lambda inner=inner_touch_valid: self._touch_valid() and (inner() if inner else True)
+      )
+
+  def set_rect(self, rect: rl.Rectangle):
+    super().set_rect(rect)
+    self.road_view.set_rect(rect)
+    self.onroad_info_panel.set_rect(rect)
+    return self
+
+  def is_swiping_left(self) -> bool:
+    return self.road_view.is_swiping_left() or self.onroad_info_panel.is_swiping_left()
+
+  def set_click_callback(self, callback) -> None:
+    self.road_view.set_click_callback(callback)
+    self.onroad_info_panel.set_click_callback(callback)
+
+  def is_on_info_panel(self) -> bool:
+    """True when scrolled past halfway toward onroad_info_panel (used by main layout
+    to skip auto-pop-back-to-camera while user is reading the info panel)."""
+    return abs(self._scroller.scroll_panel.get_offset()) > self._rect.height / 2
+
+  def _render(self, rect: rl.Rectangle):
+    if abs(self.rect.x) > gui_app.width * HORIZONTAL_RESET_RATIO:
+      self._scroller.scroll_panel.set_offset(0)
+
+    vertical_offset = self._scroller.scroll_panel.get_offset()
+    show_ball = abs(vertical_offset) < rect.height * CONFIDENCE_BALL_VISIBLE_RATIO
+    self.road_view.set_show_confidence_ball(show_ball)
+
+    super()._render(rect)
@@ -0,0 +1,324 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import BookmarkIcon
+
+METER_TO_KM = 0.001
+METER_TO_MILE = 0.000621371
+
+
+@dataclass(frozen=True)
+class OnroadInfoPanelColors:
+  white: rl.Color = rl.WHITE
+  black: rl.Color = rl.BLACK
+  red: rl.Color = rl.Color(255, 0, 0, 255)
+  green: rl.Color = rl.Color(0, 255, 0, 255)
+  grey: rl.Color = rl.Color(190, 195, 190, 255)
+  light_grey: rl.Color = rl.Color(200, 200, 200, 255)
+  dark_grey: rl.Color = rl.Color(100, 100, 100, 255)
+  bg_dark: rl.Color = rl.Color(0, 0, 0, 255)
+  card_bg: rl.Color = rl.Color(50, 50, 50, 200)
+  badge_bg: rl.Color = rl.Color(60, 60, 60, 255)
+
+
+COLORS = OnroadInfoPanelColors()
+
+
+class OnroadInfoPanel(Widget):
+  def __init__(self, bookmark_callback=None):
+    super().__init__()
+    self.speed_limit: float = 0.0
+    self.speed_limit_valid: bool = False
+    self.speed_limit_offset: float = 0.0
+    self.next_speed_limit: float = 0.0
+    self.next_speed_limit_distance: float = 0.0
+    self.road_name: str = ""
+    self.current_speed: float = 0.0
+    self.set_speed: float = 0.0
+    self.cruise_enabled: bool = False
+
+    self._sign_slide: float = 0.0
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+    self._marquee_offset: float = 0.0
+    self._marquee_direction: int = 1
+    self._marquee_pause_timer: float = 0.0
+    self._marquee_speed: float = 40.0
+    self._marquee_pause_duration: float = 1.5
+
+    self._alert_renderer = AlertRenderer()
+    self._alert_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._bookmark_icon = BookmarkIcon(bookmark_callback)
+
+  def is_swiping_left(self) -> bool:
+    return self._bookmark_icon.is_swiping_left()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    # Mirror stock AugmentedRoadView: suppress click while bookmark gesture active
+    if not self._bookmark_icon.interacting():
+      super()._handle_mouse_release(mouse_pos)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+    speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+    if sm.valid["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      self.speed_limit = resolver.speedLimit * speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_offset = resolver.speedLimitOffset * speed_conv
+
+    if sm.valid["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.next_speed_limit = lmd.speedLimitAhead * speed_conv
+      self.next_speed_limit_distance = lmd.speedLimitAheadDistance
+      self.road_name = lmd.roadName
+
+    if sm.updated["carState"]:
+      self.current_speed = sm["carState"].vEgo * speed_conv
+
+    if sm.valid["carState"] and sm.valid["controlsState"]:
+      self.cruise_enabled = sm["carState"].cruiseState.enabled
+      v_cruise_cluster = sm["carState"].vCruiseCluster
+      set_speed_kph = sm["controlsState"].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      self.set_speed = set_speed_kph * (METER_TO_MILE / METER_TO_KM) if not ui_state.is_metric else set_speed_kph
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    self._update_state()
+
+    rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), COLORS.bg_dark)
+    margin = 20
+    mid_y = rect.y + rect.height / 2
+
+    left_x = rect.x + margin
+
+    if self.cruise_enabled:
+      unit = tr("MAX")
+      display_speed = self.set_speed
+    else:
+      unit = tr("km/h") if ui_state.is_metric else tr("MPH")
+      display_speed = self.current_speed
+
+    speed_val = str(round(display_speed))
+    if self.speed_limit_valid and display_speed > self.speed_limit:
+      speed_color = COLORS.red
+    else:
+      speed_color = COLORS.white
+
+    rl.draw_text_ex(self._font_semi_bold, unit, rl.Vector2(left_x, mid_y - 95), 38, 0, COLORS.grey)
+    rl.draw_text_ex(self._font_bold, speed_val, rl.Vector2(left_x, mid_y - 60), 110, 0, speed_color)
+
+    sign_width = 135
+    sign_height = 135 if ui_state.is_metric else 175
+
+    has_next = self.next_speed_limit > 0 and self.next_speed_limit != self.speed_limit
+    target_slide = 1.0 if has_next else 0.0
+    slide_speed = 3.0 * rl.get_frame_time()
+    if self._sign_slide < target_slide:
+      self._sign_slide = min(self._sign_slide + slide_speed, target_slide)
+    elif self._sign_slide > target_slide:
+      self._sign_slide = max(self._sign_slide - slide_speed, target_slide)
+
+    next_w = int(sign_width * 0.7)
+    next_h = int(sign_height * 0.7)
+    next_peek = int(next_w * 0.85) + 5
+    centered_x = rect.x + rect.width - sign_width - margin
+    shifted_x = rect.x + rect.width - sign_width - margin - next_peek
+    sign_x = centered_x + (shifted_x - centered_x) * self._sign_slide
+    sign_y = rect.y + (rect.height - sign_height) / 2
+
+    road_y = mid_y + 55
+    road_width = sign_x - left_x - margin
+    self._draw_road_name(left_x, road_y, road_width)
+
+    if has_next and self._sign_slide > 0.01:
+      next_val = str(round(self.next_speed_limit))
+      dist_str = self._format_distance(self.next_speed_limit_distance)
+      next_x = sign_x + sign_width - int(next_w * 0.15)
+      next_y = sign_y + (sign_height - next_h) / 2
+
+      next_speed_color = COLORS.black
+      if ui_state.is_metric:
+        self._draw_vienna_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
+      else:
+        self._draw_mutcd_sign(next_x, next_y, next_w, next_h, next_val, next_speed_color, is_upcoming=True)
+
+      dist_size = measure_text_cached(self._font_medium, dist_str, 24)
+      rl.draw_text_ex(self._font_medium, dist_str, rl.Vector2(next_x + next_w / 2 - dist_size.x / 2, next_y + next_h + 4), 24, 0, COLORS.grey)
+
+    self._draw_speed_limit_sign(sign_x, sign_y, sign_width, sign_height)
+
+    if self.speed_limit_offset != 0 and self.speed_limit_valid:
+      offset_val = str(abs(round(self.speed_limit_offset)))
+      badge_sz = 42
+      badge_x = sign_x + sign_width - badge_sz * 0.85
+      badge_y = sign_y - badge_sz * 0.25
+
+      if ui_state.is_metric:
+        badge_r = badge_sz / 2
+        badge_cx = badge_x + badge_r
+        badge_cy = badge_y + badge_r
+        rl.draw_circle(int(badge_cx), int(badge_cy), badge_r + 2, COLORS.dark_grey)
+        rl.draw_circle(int(badge_cx), int(badge_cy), badge_r, COLORS.badge_bg)
+        self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(badge_cx, badge_cy), COLORS.white)
+      else:
+        mutcd_badge_x = sign_x + sign_width - badge_sz * 0.65
+        mutcd_badge_y = sign_y - badge_sz * 0.50
+        badge_rect = rl.Rectangle(mutcd_badge_x, mutcd_badge_y, badge_sz, badge_sz)
+        rl.draw_rectangle_rounded(badge_rect, 0.25, 10, COLORS.badge_bg)
+        rl.draw_rectangle_rounded_lines_ex(badge_rect, 0.25, 10, 2, COLORS.dark_grey)
+        self._draw_text_centered(self._font_bold, offset_val, 24, rl.Vector2(mutcd_badge_x + badge_sz / 2, mutcd_badge_y + badge_sz / 2), COLORS.white)
+
+    # SCC
+    speed_size = measure_text_cached(self._font_bold, speed_val, 110)
+    scc_x = left_x + speed_size.x + 30
+    scc_y = mid_y - 50
+    self._draw_scc_icons(scc_x, scc_y)
+
+    self._bookmark_icon.render(rect)
+
+    if ui_state.started:
+      alert_obj, no_alert = self._alert_renderer.will_render()
+      self._alert_alpha_filter.update(0 if no_alert else 1)
+      alpha = self._alert_alpha_filter.x
+      if alpha > 0.01:
+        rl.draw_rectangle(int(rect.x), int(rect.y), int(rect.width), int(rect.height), rl.Color(0, 0, 0, int(150 * alpha)))
+      self._alert_renderer.render(rect)
+
+  def _draw_scc_icons(self, x: float, y: float) -> None:
+    sm = ui_state.sm
+    if not sm.valid["longitudinalPlanSP"]:
+      return
+    scc = sm["longitudinalPlanSP"].smartCruiseControl
+
+    box_w, box_h = 100, 36
+    gap = 6
+    drawn = 0
+
+    for label, active in [("SCC-V", scc.vision.active), ("SCC-M", scc.map.active)]:
+      if not active:
+        continue
+      bx = x
+      by = y + drawn * (box_h + gap)
+      rl.draw_rectangle_rounded(rl.Rectangle(bx, by, box_w, box_h), 0.3, 10, COLORS.green)
+      self._draw_text_centered(self._font_bold, label, 20, rl.Vector2(bx + box_w / 2, by + box_h / 2), COLORS.black)
+      drawn += 1
+
+  def _draw_speed_limit_sign(self, x: float, y: float, sign_width: float, sign_height: float) -> None:
+    speed_str = str(round(self.speed_limit)) if self.speed_limit_valid and self.speed_limit > 0 else "--"
+    speed_color = COLORS.black if not self.speed_limit_valid or self.current_speed <= self.speed_limit else COLORS.red
+
+    if ui_state.is_metric:
+      self._draw_vienna_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+    else:
+      self._draw_mutcd_sign(x, y, sign_width, sign_height, speed_str, speed_color, is_upcoming=False)
+
+  def _draw_road_name(self, x: float, y: float, width: float) -> None:
+    road_display = self.road_name if self.road_name else "--"
+    font_size = 30
+    road_size = measure_text_cached(self._font_semi_bold, road_display, font_size)
+    text_width = road_size.x
+
+    if text_width <= width:
+      self._marquee_offset = 0.0
+      self._marquee_direction = 1
+      self._marquee_pause_timer = 0.0
+      rl.draw_text_ex(self._font_semi_bold, road_display, rl.Vector2(x, y), font_size, 0, COLORS.white)
+    else:
+      overflow = text_width - width
+      dt = rl.get_frame_time()
+
+      if self._marquee_pause_timer > 0:
+        self._marquee_pause_timer -= dt
+      else:
+        self._marquee_offset += self._marquee_direction * self._marquee_speed * dt
+
+        if self._marquee_offset >= overflow:
+          self._marquee_offset = overflow
+          self._marquee_direction = -1
+          self._marquee_pause_timer = self._marquee_pause_duration
+        elif self._marquee_offset <= 0:
+          self._marquee_offset = 0
+          self._marquee_direction = 1
+          self._marquee_pause_timer = self._marquee_pause_duration
+
+      rl.begin_scissor_mode(int(x), int(y), int(width), int(road_size.y + 4))
+      text_pos = rl.Vector2(x - self._marquee_offset, y)
+      rl.draw_text_ex(self._font_semi_bold, road_display, text_pos, font_size, 0, COLORS.white)
+      rl.end_scissor_mode()
+
+  def _draw_vienna_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    center = rl.Vector2(x + width / 2, y + height / 2)
+    outer_radius = min(width, height) / 2
+
+    rl.draw_circle_v(center, outer_radius, COLORS.white)
+    ring_width = outer_radius * 0.18
+    rl.draw_ring(center, outer_radius - ring_width, outer_radius, 0, 360, 36, COLORS.red)
+
+    font_size = outer_radius * (0.7 if len(speed_str) >= 3 else 0.9)
+    text_size = measure_text_cached(self._font_bold, speed_str, int(font_size))
+    text_pos = rl.Vector2(center.x - text_size.x / 2, center.y - text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_str, text_pos, font_size, 0, speed_color)
+
+  def _draw_mutcd_sign(self, x: float, y: float, width: float, height: float, speed_str: str, speed_color: rl.Color, is_upcoming: bool = False) -> None:
+    sign_rect = rl.Rectangle(x, y, width, height)
+    rl.draw_rectangle_rounded(sign_rect, 0.35, 10, COLORS.white)
+
+    inset = max(4, width * 0.05)
+    inner_rect = rl.Rectangle(x + inset, y + inset, width - inset * 2, height - inset * 2)
+    outer_radius = 0.35 * width / 2.0
+    inner_radius = outer_radius - inset
+    inner_roundness = inner_radius / (inner_rect.width / 2.0)
+    rl.draw_rectangle_rounded_lines_ex(inner_rect, inner_roundness, 10, 3, COLORS.black)
+
+    mid_x = x + width / 2
+    label_size = max(18, int(width * 0.26))
+    if is_upcoming:
+      self._draw_text_centered(self._font_bold, tr("AHEAD"), label_size, rl.Vector2(mid_x, y + height * 0.27), COLORS.black)
+    else:
+      self._draw_text_centered(self._font_bold, tr("SPEED"), label_size, rl.Vector2(mid_x, y + height * 0.20), COLORS.black)
+      self._draw_text_centered(self._font_bold, tr("LIMIT"), label_size, rl.Vector2(mid_x, y + height * 0.40), COLORS.black)
+
+    speed_font_size = int(width * 0.52) if len(speed_str) >= 3 else int(width * 0.62)
+    self._draw_text_centered(self._font_bold, speed_str, speed_font_size, rl.Vector2(mid_x, y + height * 0.72), speed_color)
+
+  def _draw_text_centered(self, font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _format_distance(self, distance: float) -> str:
+    if ui_state.is_metric:
+      if distance < 50:
+        return tr("Near")
+      if distance >= 1000:
+        return f"{distance * METER_TO_KM:.1f}" + tr("km")
+      if distance < 200:
+        rounded = max(10, int(distance / 10) * 10)
+      else:
+        rounded = int(distance / 100) * 100
+      return str(rounded) + tr("m")
+    else:
+      distance_mi = distance * METER_TO_MILE
+      if distance_mi < 0.1:
+        return tr("Near")
+      return f"{distance_mi:.1f}" + tr("mi")
@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+
+
+class _SuppressedConfidenceBall:
+  def render(self, *_):
+    pass
+
+
+class AugmentedRoadViewSP(AugmentedRoadView):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    self._show_confidence_ball: bool = True
+    self._real_confidence_ball = self._confidence_ball
+    self._confidence_ball = _SuppressedConfidenceBall()
+
+  def set_show_confidence_ball(self, show: bool) -> None:
+    self._show_confidence_ball = show
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    if self._show_confidence_ball:
+      self._real_confidence_ball.render(self.rect)
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+import pyray as rl
+from openpilot.system.ui.lib.application import MouseEvent
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
+
+
+class GuiScrollPanel2SP(GuiScrollPanel2):
+  """Reject orthogonal-dominant drags so nested scrollers (outer horizontal +
+  inner vertical) don't both engage on a slightly diagonal swipe.
+
+  Implemented as a post-super state rollback rather than reimplementing the
+  PRESSED state machine — keeps stock behaviour authoritative."""
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
+                          content_size: float) -> None:
+    pre_state = self._state
+    super()._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
+
+    if self._state == ScrollState.MANUAL_SCROLL and pre_state == ScrollState.PRESSED and \
+       self._initial_click_event is not None:
+      diff_x = abs(mouse_event.pos.x - self._initial_click_event.pos.x)
+      diff_y = abs(mouse_event.pos.y - self._initial_click_event.pos.y)
+      along = diff_x if self._horizontal else diff_y
+      anti = diff_y if self._horizontal else diff_x
+      if anti > along:
+        self._state = ScrollState.STEADY
+        self._velocity = 0.0
+        self._velocity_buffer.clear()
@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.scroll_panel_sp import GuiScrollPanel2SP
+
+
+class ScrollerSP(Scroller):
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    inner = self._scroller
+    inner.scroll_panel = GuiScrollPanel2SP(inner._horizontal, handle_out_of_bounds=not inner._snap_items)
@@ -10,6 +10,9 @@ from openpilot.selfdrive.ui.layouts.main import MainLayout
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.selfdrive.ui.ui_state import ui_state

+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.main import MiciMainLayoutSP as MiciMainLayout
+
 BIG_UI = gui_app.big_ui()


@@ -188,7 +188,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
  n_frames = img_shape[1] // 6
  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img_shape[2], img_shape[3])

-  numpy_keys = {}
+  npy_keys = {}
  queue_keys = {}

  for key, shape in input_shapes.items():
@@ -196,7 +196,7 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
      continue
    if len(shape) == 3 and shape[1] > 1:
      if key.startswith('desire'):
-        numpy_keys[key] = np.zeros(shape[2], dtype=np.float32)
+        npy_keys[key] = np.zeros(shape[2], dtype=np.float32)
        queue_keys[f'{key}_q'] = Tensor(
          np.zeros((frame_skip * shape[1], shape[0], shape[2]), dtype=np.float32),
          device=device).contiguous().realize()
@@ -205,24 +205,24 @@ def make_supercombo_input_queues(input_shapes, frame_skip, device):
          np.zeros((frame_skip * (shape[1] - 1) + 1, shape[0], shape[2]), dtype=np.float32),
          device=device).contiguous().realize()
      else:
-        numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+        npy_keys[key] = np.zeros(shape, dtype=np.float32)
    elif len(shape) == 2:
-      numpy_keys[key] = np.zeros(shape, dtype=np.float32)
+      npy_keys[key] = np.zeros(shape, dtype=np.float32)

-  if 'traffic_convention' not in numpy_keys:
+  if 'traffic_convention' not in npy_keys:
    tc_shape = input_shapes.get('traffic_convention', (1, 2))
-    numpy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)
+    npy_keys['traffic_convention'] = np.zeros(tc_shape, dtype=np.float32)

-  numpy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
-  numpy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)
+  npy_keys['tfm'] = np.zeros((3, 3), dtype=np.float32)
+  npy_keys['big_tfm'] = np.zeros((3, 3), dtype=np.float32)

  input_queues = {
    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
    **queue_keys,
-    **{k: Tensor(v, device='NPY').realize() for k, v in numpy_keys.items()},
+    **{k: Tensor(v, device='NPY').realize() for k, v in npy_keys.items()},
  }
-  return input_queues, numpy_keys
+  return input_queues, npy_keys


 def make_run_supercombo(model_runner, nv12: NV12Frame, model_w, model_h,
@@ -40,6 +40,7 @@ from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelp
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"

@@ -62,6 +63,11 @@ def _find_driving_pkl(bundle):
  if _pkl_exists(pkl_path):
    return pkl_path

+  fallback = os.path.join(model_root, 'driving_tinygrad.pkl')
+  if _pkl_exists(fallback):
+    return fallback
+  return None
+

 class FrameMeta:
  frame_id: int = 0
@@ -120,7 +126,7 @@ class ModelState(ModelStateBase):
      self._vision_input_names = [k for k in model_metadata['input_shapes'] if 'img' in k]
      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
-      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
+      self.input_queues, self.npy = make_supercombo_input_queues(model_metadata['input_shapes'], frame_skip, device=self.DEV)
    else:
      vision_metadata = metadata['vision']
      policy_keys = [k for k in metadata if k != 'vision']
@@ -138,7 +144,7 @@ class ModelState(ModelStateBase):
      policy_input_shapes = first_policy_metadata['input_shapes']
      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)
+      self.input_queues, self.npy = make_split_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device=self.DEV)

    from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
    from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
@@ -178,7 +184,7 @@ class ModelState(ModelStateBase):

  @property
  def desire_key(self) -> str:
-    return next(k for k in self.numpy_inputs if k.startswith('desire'))
+    return next(k for k in self.npy if k.startswith('desire'))

  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
@@ -194,16 +200,16 @@ class ModelState(ModelStateBase):

    desire_key = self.desire_key
    inputs[desire_key][0] = 0
-    self.numpy_inputs[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
+    self.npy[desire_key][:] = np.where(inputs[desire_key] - self.prev_desire > .99, inputs[desire_key], 0)
    self.prev_desire[:] = inputs[desire_key]
    for key in ('traffic_convention', 'lateral_control_params'):
-      if key in self.numpy_inputs and key in inputs:
-        self.numpy_inputs[key][:] = inputs[key]
+      if key in self.npy and key in inputs:
+        self.npy[key][:] = inputs[key]

    road_key = next(n for n in bufs if 'big' not in n)
    wide_key = next(n for n in bufs if 'big' in n)
-    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
-    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
+    self.npy['tfm'][:, :] = transforms[road_key].reshape(3, 3)
+    self.npy['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)

    if prepare_only:
      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
@@ -231,8 +237,8 @@ class ModelState(ModelStateBase):
      if 'planplus' in outputs and 'plan' in outputs:
        outputs['plan'] = outputs['plan'] + outputs['planplus']

-    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.numpy_inputs:
-      buf = self.numpy_inputs['prev_desired_curv']
+    if 'desired_curvature' in outputs and 'prev_desired_curv' in self.npy:
+      buf = self.npy['prev_desired_curv']
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0

@@ -324,6 +330,7 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
  meta_constants = load_meta_constants()

  while True:
@@ -404,7 +411,7 @@ def main(demo=False):
      'traffic_convention': traffic_convention,
    }

-    if 'lateral_control_params' in model.numpy_inputs:
+    if 'lateral_control_params' in model.npy:
      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)

    mt1 = time.perf_counter()
@@ -428,7 +435,10 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego, modelv2_send.modelV2.roadEdges)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
@@ -0,0 +1,62 @@
+## Neural networks in openpilot
+To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
+
+## Supercombo
+### Supercombo input format (Full size: 799906 x float32)
+* **image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **wide image stream**
+  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
+    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
+      * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
+      * Channel 4 represents the half-res U channel
+      * Channel 5 represents the half-res V channel
+* **desire**
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
+* **traffic convention**
+  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512
+
+
+### Supercombo output format (Full size: XXX x float32)
+Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more.
+
+
+## Driver Monitoring Model
+* .onnx model can be run with onnx runtimes
+* .dlc file is a pre-quantized model and only runs on qualcomm DSPs
+
+### input format
+* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
+* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
+
+### output format
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1
@@ -0,0 +1,101 @@
+// clang++ -O2 repro.cc && ./a.out
+
+#include <sched.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+
+static inline double millis_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
+}
+
+#define MODEL_WIDTH 320
+#define MODEL_HEIGHT 640
+
+// null function still breaks it
+#define input_lambda(x) x
+
+// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
+void inner(uint8_t *resized_buf, float *net_input_buf) {
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  // one shot conversion, O(n) anyway
+  // yuvframe2tensor, normalize
+  for (int r = 0; r < MODEL_HEIGHT/2; r++) {
+    for (int c = 0; c < MODEL_WIDTH/2; c++) {
+      // Y_ul
+      net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
+      // Y_ur
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
+      // Y_dl
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
+      // Y_dr
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
+      // U
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
+      // V
+      net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
+    }
+  }
+}
+
+float trial() {
+  int resized_width = MODEL_WIDTH;
+  int resized_height = MODEL_HEIGHT;
+
+  int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
+
+  // allocate the buffers
+  uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
+  float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
+  printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
+
+  // test for bad buffers
+  static int CNT = 20;
+  float avg = 0.0;
+  for (int i = 0; i < CNT; i++) {
+    double s4 = millis_since_boot();
+    inner(resized_buf, net_input_buf);
+    double s5 = millis_since_boot();
+    avg += s5-s4;
+  }
+  avg /= CNT;
+
+  // once it's bad, it's reliably bad
+  if (avg > 10) {
+    printf("HIT %f\n", avg);
+    printf("BAD\n");
+
+    for (int i = 0; i < 200; i++) {
+      double s4 = millis_since_boot();
+      inner(resized_buf, net_input_buf);
+      double s5 = millis_since_boot();
+      printf("%.2f   ", s5-s4);
+    }
+    printf("\n");
+
+    exit(0);
+  }
+
+  // don't free so we get a different buffer each time
+  //free(resized_buf);
+  //free(net_input_buf);
+
+  return avg;
+}
+
+int main() {
+  while (true) {
+    float ret = trial();
+    printf("got %f\n", ret);
+  }
+}
+
@@ -46,6 +46,16 @@ class TestFindDrivingPkl:
    assert result is not None
    assert 'driving_fof_tinygrad.pkl' in result

+  def test_finds_fallback_driving_tinygrad(self, tmp_path, monkeypatch):
+    (tmp_path / 'driving_tinygrad.pkl').write_bytes(b'fake')
+    from openpilot.system.hardware import hw
+    monkeypatch.setattr(hw.Paths, 'model_root', staticmethod(lambda: str(tmp_path)))
+
+    bundle = DummyBundle(models=[DummyModel('vision', 'nonexistent.pkl')])
+    result = _find_driving_pkl(bundle)
+    assert result is not None
+    assert 'driving_tinygrad.pkl' in result
+

 # Init — assertion guard

@@ -74,8 +84,8 @@ class TestStockEquivalence:
    skip_keys = {'action_t'}
    assert set(state.input_queues.keys()) == set(stock_queues.keys()) - skip_keys, \
      f"Queue keys differ: v2={set(state.input_queues.keys())}, stock={set(stock_queues.keys())}"
-    assert set(state.numpy_inputs.keys()) == set(stock_npy.keys()) - skip_keys, \
-      f"Npy keys differ: v2={set(state.numpy_inputs.keys())}, stock={set(stock_npy.keys())}"
+    assert set(state.npy.keys()) == set(stock_npy.keys()) - skip_keys, \
+      f"Npy keys differ: v2={set(state.npy.keys())}, stock={set(stock_npy.keys())}"

  def test_split_queue_keys_work_with_desire_key(self, model_state_factory):
    from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
@@ -178,16 +188,16 @@ class TestInputQueueCreation:
  def test_npy_contains_transforms(self, archetype_name, model_state_factory):
    arch = ARCHETYPES[archetype_name]
    state = model_state_factory(arch)
-    assert 'tfm' in state.numpy_inputs, f"{arch.name}: 'tfm' missing from npy"
-    assert 'big_tfm' in state.numpy_inputs, f"{arch.name}: 'big_tfm' missing from npy"
-    assert state.numpy_inputs['tfm'].shape == (3, 3)
-    assert state.numpy_inputs['big_tfm'].shape == (3, 3)
+    assert 'tfm' in state.npy, f"{arch.name}: 'tfm' missing from npy"
+    assert 'big_tfm' in state.npy, f"{arch.name}: 'big_tfm' missing from npy"
+    assert state.npy['tfm'].shape == (3, 3)
+    assert state.npy['big_tfm'].shape == (3, 3)

  @pytest.mark.parametrize("archetype_name", ARCHETYPE_NAMES)
  def test_npy_contains_desire(self, archetype_name, model_state_factory):
    arch = ARCHETYPES[archetype_name]
    state = model_state_factory(arch)
-    assert arch.expected_desire_key in state.numpy_inputs, \
+    assert arch.expected_desire_key in state.npy, \
      f"{arch.name}: '{arch.expected_desire_key}' missing from npy"


@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow
@@ -0,0 +1,69 @@
+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+#include "tensorflow/c/c_api.h"
+
+void* read_file(const char* path, size_t* out_len) {
+  FILE* f = fopen(path, "r");
+  if (!f) {
+    return NULL;
+  }
+  fseek(f, 0, SEEK_END);
+  long f_len = ftell(f);
+  rewind(f);
+
+  char* buf = (char*)calloc(f_len, 1);
+  assert(buf);
+
+  size_t num_read = fread(buf, f_len, 1, f);
+  fclose(f);
+
+  if (num_read != 1) {
+    free(buf);
+    return NULL;
+  }
+
+  if (out_len) {
+    *out_len = f_len;
+  }
+
+  return buf;
+}
+
+static void DeallocateBuffer(void* data, size_t) {
+  free(data);
+}
+
+int main(int argc, char* argv[]) {
+  TF_Buffer* buf;
+  TF_Graph* graph;
+  TF_Status* status;
+  char *path = argv[1];
+
+  // load model
+  {
+    size_t model_size;
+    char tmp[1024];
+    snprintf(tmp, sizeof(tmp), "%s.pb", path);
+    printf("loading model %s\n", tmp);
+    uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size);
+    buf = TF_NewBuffer();
+    buf->data = model_data;
+    buf->length = model_size;
+    buf->data_deallocator = DeallocateBuffer;
+    printf("loaded model of size %d\n", model_size);
+  }
+
+  // import graph
+  status = TF_NewStatus();
+  graph = TF_NewGraph();
+  TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions();
+  TF_GraphImportGraphDef(graph, buf, opts, status);
+  TF_DeleteImportGraphDefOptions(opts);
+  TF_DeleteBuffer(buf);
+  if (TF_GetCode(status) != TF_OK) {
+    printf("FAIL: %s\n", TF_Message(status));
+  } else {
+    printf("SUCCESS\n");
+  }
+}
@@ -0,0 +1,8 @@
+#!/usr/bin/env python3
+import sys
+import tensorflow as tf
+
+with open(sys.argv[1], "rb") as f:
+  graph_def = tf.compat.v1.GraphDef()
+  graph_def.ParseFromString(f.read())
+  #tf.io.write_graph(graph_def, '', sys.argv[1]+".try")
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+
+import os
+import time
+import numpy as np
+
+import cereal.messaging as messaging
+from openpilot.system.manager.process_config import managed_processes
+
+
+N = int(os.getenv("N", "5"))
+TIME = int(os.getenv("TIME", "30"))
+
+if __name__ == "__main__":
+  sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000)
+
+  execution_times = []
+
+  for _ in range(N):
+    os.environ['LOGPRINT'] = 'debug'
+    managed_processes['modeld'].start()
+    time.sleep(5)
+
+    t = []
+    start = time.monotonic()
+    while time.monotonic() - start < TIME:
+      msgs = messaging.drain_sock(sock, wait_for_one=True)
+      for m in msgs:
+        t.append(m.modelV2.modelExecutionTime)
+
+    execution_times.append(np.array(t[10:]) * 1000)
+    managed_processes['modeld'].stop()
+
+  print("\n\n")
+  print(f"ran modeld {N} times for {TIME}s each")
+  for _, t in enumerate(execution_times):
+    print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
+  print("\n\n")
@@ -6,138 +6,80 @@ See the LICENSE.md file in the root directory for more details.
 """

 import hashlib
-import os
 import pickle
-from pathlib import Path
 import numpy as np

-from cereal import custom
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRaider
+from cereal import custom
+from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
 from openpilot.system.hardware.hw import Paths
+from pathlib import Path
+
+# see the README.md for more details on the model selector versioning
+CURRENT_SELECTOR_VERSION = 15
+REQUIRED_MIN_SELECTOR_VERSION = 14

-# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 15

 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
 ModelManager = custom.ModelManagerSP
-_LAST_VALIDATED_RAW = None
-
-
-def _compute_hash(file_path: str) -> str | None:
-  from openpilot.common.file_chunker import read_file_chunked
-  try:
-    return hashlib.sha256(read_file_chunked(file_path)).hexdigest().lower()
-  except FileNotFoundError:
-    return None


 async def verify_file(file_path: str, expected_hash: str) -> bool:
-  file_hash = _compute_hash(file_path)
-  return file_hash == expected_hash.lower() if file_hash else False
-
-
-def _verify_file(file_path: str, expected_hash: str) -> bool:
-  file_hash = _compute_hash(file_path)
-  return file_hash == expected_hash.lower() if file_hash else False
+  from openpilot.common.file_chunker import read_file_chunked
+  try:
+    data = read_file_chunked(file_path)
+  except FileNotFoundError:
+    return False
+  return hashlib.sha256(data).hexdigest().lower() == expected_hash.lower()


 def is_bundle_version_compatible(bundle: dict) -> bool:
  """
-  The bundle parsed from the json specifies a `minimum_selector_version`, which defines the minimum selector version
+  Checks whether the model bundle is compatible with the current selector version constraints.
+
+  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
  required to load the model. This function ensures that:
-    the bundle MUST match the `REQUIRED_JSON_VERSION` set here in helpers.
+
+    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
+    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
+
+  This allows the selector to enforce both a minimum and maximum range of supported models,
+  even if a model would otherwise be compatible.
+
+  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
+  :type bundle: Dict
+  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
+  :rtype: Bool
  """
-  return bundle.get("minimumSelectorVersion", 0) == REQUIRED_JSON_VERSION
+  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)


-def _bundle_artifacts(bundle: custom.ModelManagerSP.ModelBundle) -> list[tuple[str, str]]:
-  artifacts = []
-  for model in getattr(bundle, 'models', []) or []:
-    for artifact in (getattr(model, 'artifact', None), getattr(model, 'metadata', None)):
-      if artifact and getattr(artifact, 'fileName', None) and getattr(artifact, 'downloadUri', None):
-        sha256 = getattr(artifact.downloadUri, 'sha256', None)
-        if sha256:
-          artifacts.append((artifact.fileName, sha256))
-  return artifacts
+def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
+  """Gets the active model bundle from cache"""
+  if params is None:
+    params = Params()

-
-def _bundle_is_valid_locally(bundle: custom.ModelManagerSP.ModelBundle) -> bool:
-  model_root = Paths.model_root()
-  return all(_verify_file(os.path.join(model_root, file_name), expected_hash)
-             for file_name, expected_hash in _bundle_artifacts(bundle))
-
-
-def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None) -> bool:
-  if active_bundle is None:
-    return False
-
-  if available_bundles is not None:
-    matching_bundle = None
-    for bundle in available_bundles:
-      if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
-        if active_bundle.ref == bundle.ref:
-          matching_bundle = bundle
-          break
-      elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
-        matching_bundle = bundle
-        break
-
-    if matching_bundle is None:
-      return True
-    if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
-      return True
-
-    active_runner = getattr(active_bundle, 'runner', None)
-    matching_runner = getattr(matching_bundle, 'runner', None)
-    if active_runner is not None and matching_runner is not None:
-      if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
-        return True
-    if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
-      return True
-
-  return not _bundle_is_valid_locally(active_bundle)
-
-
-def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
-  global _LAST_VALIDATED_RAW
-
-  raw_bundle = params.get("ModelManager_ActiveBundle")
-  if not raw_bundle:
-    return
-
-  if raw_bundle == _LAST_VALIDATED_RAW:
-    return
-
-  active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
-  if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
-    cloudlog.warning("Active model bundle invalid; resetting to default")
-    params.remove("ModelManager_ActiveBundle")
-    params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
-    _LAST_VALIDATED_RAW = None
-  else:
-    _LAST_VALIDATED_RAW = raw_bundle
-
-
-def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":
-  params = params or Params()
  try:
-    active_bundle_dict = raw_bundle_dict if raw_bundle_dict is not None else (params.get("ModelManager_ActiveBundle") or {})
-    if active_bundle_dict and is_bundle_version_compatible(active_bundle_dict):
-      return custom.ModelManagerSP.ModelBundle(**active_bundle_dict)
+    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle)
  except Exception:
    pass
+
  return None


-def get_active_model_runner(params: Params | None = None, force_check: bool = False) -> int:
-  params = params or Params()
+def get_active_model_runner(params: Params = None, force_check=False) -> int:
+  if params is None:
+    params = Params()
+
  cached_runner_type = params.get("ModelRunnerTypeCache")
  if cached_runner_type is not None and not force_check:
    return cached_runner_type
+
  runner_type = custom.ModelManagerSP.Runner.stock
+
  if active_bundle := get_active_bundle(params):
    runner_type = active_bundle.runner.raw

@@ -146,40 +88,66 @@ def get_active_model_runner(params: Params | None = None, force_check: bool = Fa

  return runner_type

-
 def _get_model():
  if bundle := get_active_bundle():
    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
    return drive_model
+
  return None

-
 def load_metadata():
-  model = _get_model()
-  metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}" if model else METADATA_PATH
+  metadata_path = METADATA_PATH
+
+  if model := _get_model():
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"

  with open(metadata_path, 'rb') as f:
    return pickle.load(f)


-def prepare_inputs(model_metadata: dict) -> dict[str, np.ndarray]:
-  return {
-    key: np.zeros(shape, dtype=np.float32).flatten()
-    for key, shape in model_metadata['input_shapes'].items()
-    if 'img' not in key
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs = {
+    k: np.zeros(v, dtype=np.float32).flatten()
+    for k, v in model_metadata['input_shapes'].items()
+    if 'img' not in k
  }

+  return inputs

-def load_meta_constants(model_metadata: dict):
-  """ Loads the appropriate meta model class based on key shapes"""
-  if 'sim_pose' in model_metadata['input_shapes']:
-    return MetaSimPose

-  meta_slice = model_metadata['output_slices']['meta']
-  if (meta_slice.start, meta_slice.stop, meta_slice.step) == (5868, 5921, None):
-    return MetaTombRaider
+def load_meta_constants(model_metadata):
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.

-  return Meta
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  meta = Meta  # Default Meta
+
+  if 'sim_pose' in model_metadata['input_shapes'].keys():
+    # Meta for models with sim_pose input
+    meta = MetaSimPose
+  else:
+    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
+    meta_slice = model_metadata['output_slices']['meta']
+    meta_tf_slice = slice(5868, 5921, None)
+
+    if (
+            meta_slice.start == meta_tf_slice.start and
+            meta_slice.stop == meta_tf_slice.stop and
+            meta_slice.step == meta_tf_slice.step
+    ):
+      meta = MetaTombRaider
+
+  return meta


 # The following method(s) are modeld helper methods
@@ -17,7 +17,7 @@ from openpilot.system.hardware.hw import Paths

 from cereal import messaging, custom
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
-from openpilot.sunnypilot.models.helpers import get_active_bundle, validate_active_bundle, verify_file
+from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle


 class ModelManagerSP:
@@ -239,7 +239,6 @@ class ModelManagerSP:
    while True:
      try:
        self.available_models = self.model_fetcher.get_available_bundles()
-        validate_active_bundle(self.params, self.available_models)
        self.active_bundle = get_active_bundle(self.params)

        if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
@@ -253,8 +252,8 @@ class ModelManagerSP:
              self.selected_bundle = None

        if self.params.get("ModelManager_ClearCache"):
-          self.clear_model_cache()
-          self.params.remove("ModelManager_ClearCache")
+            self.clear_model_cache()
+            self.params.remove("ModelManager_ClearCache")

        self._report_status()
        rk.keep_time()
@@ -0,0 +1,215 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Acceleration Personality (ECO / NORMAL / SPORT). Tunes only MPC INPUTS, never the output:
+  * positive-accel ceiling + its per-cycle open-rate -> tier-scaled take-off from a stop;
+  * jerk-cost relaxation -> smooth accel/decel onset near a stop, on a fresh direction change, a
+    hard-braking lead, or a fast-closing gap;
+  * add-only, speed-dependent follow-gap widen on the MPC t_follow.
+Disabled => stock everywhere (byte-stock).
+"""
+
+import numpy as np
+
+from cereal import messaging
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import get_sanitize_int_param
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
+  NORMAL, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, A_CRUISE_MAX_V, STOCK_A_CRUISE_MAX_V, \
+  RISE_RATE_BP, RISE_RATE_V, STOCK_RISE_RATE, RISE_RATE_LEAD_VREL_GATE, JERK_SCALE_BP, JERK_SCALE_V, \
+  ONSET_DEADBAND, ONSET_RAMP_S, ONSET_FLOOR, RELAX_RAMP_S, LEAD_BRAKE_ALEAD_BP, LEAD_BRAKE_FACTOR_V, \
+  CLOSING_VREL_BP, CLOSING_FACTOR_V, TF_WIDEN_V_BP, TF_WIDEN_BASE_V, TF_WIDEN_TIER, TF_WIDEN_MAX, \
+  TF_SLEW_PER_S, TF_DECEL_HOLD_A
+
+
+class _OnsetRelax:
+  # Snaps to a tier-scaled floor on a fresh accel<->decel direction change, eases back to 1.0 over ONSET_RAMP_S.
+  def __init__(self):
+    self._prev_sign = 0
+    self._ramp = 1.0
+
+  def reset(self) -> None:
+    self._prev_sign = 0
+    self._ramp = 1.0
+
+  def update(self, a_ego: float, floor: float) -> float:
+    sign = 0
+    if a_ego > ONSET_DEADBAND:
+      sign = 1
+    elif a_ego < -ONSET_DEADBAND:
+      sign = -1
+
+    if sign != 0 and sign != self._prev_sign:
+      self._ramp = floor
+      self._prev_sign = sign
+    else:
+      self._ramp = min(1.0, self._ramp + (1.0 - floor) * (DT_MDL / ONSET_RAMP_S))
+    return self._ramp
+
+
+class _TransientRelax:
+  # Same shape as _OnsetRelax, but triggered by a level instead of a sign flip: snap to a fresh/escalating
+  # factor, then ease back to 1.0 over ramp_s regardless of whether the raw factor is still low. A pinned
+  # floor destabilizes the MPC's re-solve over a sustained episode, so only the onset gets softened.
+  def __init__(self):
+    self._was_active = False
+    self._episode_floor = 1.0
+    self._ramp = 1.0
+
+  def reset(self) -> None:
+    self._was_active = False
+    self._episode_floor = 1.0
+    self._ramp = 1.0
+
+  def update(self, raw_factor: float, ramp_s: float) -> float:
+    active = raw_factor < 1.0 - 1e-3
+    if active and (not self._was_active or raw_factor < self._episode_floor):
+      self._episode_floor = raw_factor
+      self._ramp = raw_factor
+    else:
+      self._ramp = min(1.0, self._ramp + DT_MDL / ramp_s)
+      if not active:
+        self._episode_floor = 1.0
+    self._was_active = active
+    return self._ramp
+
+
+class AccelController:
+  def __init__(self, CP: structs.CarParams, mpc=None, params=None):
+    # CP/mpc accepted for the planner's constructor signature; unused (shapes MPC inputs only).
+    self._params = params or Params()
+    self._frame = 0
+    self._enabled = False
+    self._personality = NORMAL
+    self._v_ego = 0.0
+    self._a_ego = 0.0
+    self._widen = 0.0                     # current slewed follow-gap widen (s), add-only
+    self._t_follow = 0.0                  # last t_follow handed to the MPC (telemetry)
+    self._onset_relax = _OnsetRelax()
+    self._lead_brake_relax = _TransientRelax()
+    self._closing_relax = _TransientRelax()
+    self._onset_factor = 1.0
+    self._lead_brake_factor = 1.0
+    self._closing_factor = 1.0
+    self._closing_on_lead = False
+    self._read_params()
+
+  def _read_params(self) -> None:
+    self._enabled = self._params.get_bool("AccelPersonalityEnabled")
+    if not self._enabled:
+      self._personality = NORMAL
+      return
+    self._personality = get_sanitize_int_param("AccelPersonality", PERSONALITY_MIN, PERSONALITY_MAX, self._params)
+
+  def update(self, sm: messaging.SubMaster) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._read_params()
+    self._v_ego = float(sm['carState'].vEgo)
+    self._a_ego = float(sm['carState'].aEgo)
+
+    if self._enabled:
+      lead = sm['radarState'].leadOne
+      self._onset_factor = self._onset_relax.update(self._a_ego, ONSET_FLOOR[self._personality])
+      self._lead_brake_factor = self._lead_brake_relax.update(self._get_lead_brake_factor(lead), RELAX_RAMP_S)
+      self._closing_factor = self._closing_relax.update(self._get_closing_factor(lead), RELAX_RAMP_S)
+      self._closing_on_lead = lead.status and lead.vRel < RISE_RATE_LEAD_VREL_GATE
+    else:
+      self._onset_relax.reset()
+      self._lead_brake_relax.reset()
+      self._closing_relax.reset()
+      self._onset_factor = 1.0
+      self._lead_brake_factor = 1.0
+      self._closing_factor = 1.0
+      self._closing_on_lead = False
+
+    self._frame += 1
+
+  def _get_lead_brake_factor(self, lead) -> float:
+    # Raw, uneased tier-scaled factor for THIS cycle -- fed through _TransientRelax in update(), never used
+    # directly as the published factor (see the class docstring for why: a level-pinned floor destabilizes
+    # the MPC's re-solve over a sustained episode).
+    if not lead.status:
+      return 1.0
+    return float(np.interp(lead.aLeadK, LEAD_BRAKE_ALEAD_BP, LEAD_BRAKE_FACTOR_V[self._personality]))
+
+  def _get_closing_factor(self, lead) -> float:
+    # Raw, uneased tier-scaled factor for THIS cycle -- see _get_lead_brake_factor's note.
+    if not lead.status:
+      return 1.0
+    return float(np.interp(lead.vRel, CLOSING_VREL_BP, CLOSING_FACTOR_V[self._personality]))
+
+  def reset(self) -> None:
+    # Drop the accumulated widen (e.g. on disengage / standstill re-init) so it re-ramps cleanly.
+    self._widen = 0.0
+    self._onset_relax.reset()
+    self._lead_brake_relax.reset()
+    self._closing_relax.reset()
+    self._onset_factor = 1.0
+    self._lead_brake_factor = 1.0
+    self._closing_factor = 1.0
+
+  def get_max_accel(self, v_ego: float) -> float:
+    # Disabled -> stock ceiling (off == stock, independent of the NORMAL profile so NORMAL is free to differ).
+    table = A_CRUISE_MAX_V[self._personality] if self._enabled else STOCK_A_CRUISE_MAX_V
+    return float(np.interp(v_ego, A_CRUISE_MAX_BP, table))
+
+  def get_rise_rate(self, v_ego: float) -> float:
+    # Disabled, or still closing on a lead -> stock ceiling open-rate.
+    if not self._enabled or self._closing_on_lead:
+      return STOCK_RISE_RATE
+    return float(np.interp(v_ego, RISE_RATE_BP, RISE_RATE_V[self._personality]))
+
+  def get_jerk_scale(self, v_ego: float) -> float:
+    # Most-relaxed of: near a stop, a fresh onset, a hard-braking lead, a fast-closing gap. Never > 1.0 (stock).
+    if not self._enabled:
+      return 1.0
+    near_stop = float(np.interp(v_ego, JERK_SCALE_BP, JERK_SCALE_V[self._personality]))
+    return min(near_stop, self._onset_factor, self._lead_brake_factor, self._closing_factor)
+
+  def get_t_follow(self, t_follow: float, v_ego: float) -> float:
+    # MPC t_follow hook. Adds a slewed, decel-held, speed-dependent comfort widen on top of the stock
+    # t_follow. Identity when disabled => byte-stock. Add-only => desired distance >= stock => brake >= stock.
+    t_follow = float(t_follow)
+    if not self._enabled:
+      self._widen = 0.0
+      self._t_follow = t_follow
+      return t_follow
+
+    target = float(np.interp(v_ego, TF_WIDEN_V_BP, TF_WIDEN_BASE_V)) * TF_WIDEN_TIER[self._personality]
+    target = min(target, TF_WIDEN_MAX)
+    step = TF_SLEW_PER_S * DT_MDL
+
+    if self._a_ego <= TF_DECEL_HOLD_A and target < self._widen:
+      pass                                              # decel-hold: don't ease the gap in while braking
+    elif target > self._widen:
+      self._widen = min(target, self._widen + step)     # open the gap, slewed
+    else:
+      self._widen = max(target, self._widen - step)     # close the gap, slewed
+
+    self._widen = max(0.0, self._widen)                 # add-only guard
+    self._t_follow = t_follow + self._widen
+    return self._t_follow
+
+  # --- telemetry (published to cereal LongitudinalPlanSP.acceleration; no control effect) ---
+  def enabled(self) -> bool:
+    return self._enabled
+
+  def personality(self):
+    return self._personality
+
+  def max_accel(self) -> float:
+    return self.get_max_accel(self._v_ego)
+
+  def t_follow(self) -> float:
+    return self._t_follow
+
+  def follow_widen(self) -> float:
+    return self._widen
+
+  def widen_active(self) -> bool:
+    return self._enabled and self._widen > 0.005
@@ -0,0 +1,86 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Acceleration Personality tuning tables. The controller shapes only what the longitudinal MPC CONSUMES
+(the positive-accel ceiling + its open-rate, and an add-only follow-gap widen fed to the MPC's t_follow);
+it never post-shapes the MPC's output accel. Disabled => every getter returns the upstream stock value,
+so off == byte-stock.
+"""
+
+from cereal import custom
+
+AccelerationPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
+ECO = AccelerationPersonality.eco
+NORMAL = AccelerationPersonality.normal
+SPORT = AccelerationPersonality.sport
+
+PERSONALITY_MIN = min(AccelerationPersonality.schema.enumerants.values())
+PERSONALITY_MAX = max(AccelerationPersonality.schema.enumerants.values())
+
+# --- Positive-accel ceiling (launch/cruise) + its upward open-rate ---------------------------------------
+# Disabled -> falls back to STOCK_* (byte-stock). ACCEL_MAX (opendbc) hard-caps the ceiling at 2.0 m/s^2.
+A_CRUISE_MAX_BP = [0., 10., 25., 40.]              # m/s (matches upstream A_CRUISE_MAX_BP)
+STOCK_A_CRUISE_MAX_V = [1.6, 1.2, 0.8, 0.6]        # upstream A_CRUISE_MAX_VALS
+STOCK_RISE_RATE = 0.05                             # upstream ceiling open-rate (m/s^2 per cycle)
+A_CRUISE_MAX_V = {
+  ECO:    [1.55, 0.75, 0.35, 0.20],
+  NORMAL: [2.00, 1.40, 0.95, 0.70],
+  SPORT:  [2.00, 1.70, 1.20, 0.90],
+}
+# Ceiling open-rate (m/s^2 per cycle): fast near v=0 so launch isn't delayed, tapers by v=5.
+RISE_RATE_BP = [0., 5.]                            # m/s
+RISE_RATE_V = {
+  ECO:    [0.80, 0.07],
+  NORMAL: [1.00, 0.16],
+  SPORT:  [1.20, 0.24],
+}
+# The fast near-stop rise-rate above only looks at v_ego, so it also fires while still closing on a lead
+# that hasn't cleared yet, letting the ceiling snap open faster than the actual situation calls for. Fall
+# back to the stock rate whenever still closing (vRel this negative or more).
+RISE_RATE_LEAD_VREL_GATE = -0.5                    # m/s
+
+# --- Launch jerk-cost relaxation (MPC INPUT: scales the core MPC's own jerk_factor) -----------------------
+# Bounded near a stop, ramped back to 1.0 (stock) by cruise speed. v=0 knot closed-loop verified; SPORT tied
+# to NORMAL rather than pushed lower (lower destabilizes the solver at this knot).
+JERK_SCALE_BP = [0., 5.]                           # m/s
+JERK_SCALE_V = {
+  ECO:    [0.60, 1.0],
+  NORMAL: [0.45, 1.0],
+  SPORT:  [0.45, 1.0],
+}
+
+# --- Onset jerk-cost relaxation (MPC INPUT: any accel<->decel direction change, not just launch) ----------
+ONSET_DEADBAND = 0.15          # m/s^2: ignore aEgo noise this small around a zero-crossing
+ONSET_RAMP_S = 0.4             # s: ease back to stock over this long
+ONSET_FLOOR = {ECO: 0.75, NORMAL: 0.65, SPORT: 0.50}
+
+# Ramp shared by the two level-triggered factors below (lead-braking, closing-rate): a sustained pinned
+# floor destabilizes the MPC's re-solve, so both ease back to stock over this window instead.
+RELAX_RAMP_S = 0.4
+
+# --- Lead-braking jerk-cost relaxation (MPC INPUT: react faster to a hard-braking lead) --------------------
+LEAD_BRAKE_ALEAD_BP = [-3.0, -0.5]      # m/s^2, lead's own aLeadK
+LEAD_BRAKE_FACTOR_V = {
+  ECO:    [0.75, 1.0],
+  NORMAL: [0.60, 1.0],
+  SPORT:  [0.45, 1.0],
+}
+
+# --- Closing-rate jerk-cost relaxation (MPC INPUT: react faster to a fast-closing gap, any cause) ----------
+CLOSING_VREL_BP = [-6.0, -1.5]          # m/s, closing rate (negative = closing)
+CLOSING_FACTOR_V = {
+  ECO:    [0.75, 1.0],
+  NORMAL: [0.60, 1.0],
+  SPORT:  [0.45, 1.0],
+}
+
+# --- Follow-gap widen (add-only, fed to the MPC t_follow) ------------------------------------------------
+TF_WIDEN_V_BP = [14.0, 28.0]                       # m/s: widen ramps in across this band, flat above
+TF_WIDEN_BASE_V = [0.0, 0.30]                      # s: base follow-time added at the band ends (pre-tier)
+TF_WIDEN_TIER = {ECO: 1.30, NORMAL: 1.00, SPORT: 0.50}
+TF_WIDEN_MAX = 0.45                                # s: absolute cap on the added gap
+TF_SLEW_PER_S = 0.50                               # s per second: max rate the widen may open/close
+TF_DECEL_HOLD_A = -0.20                            # m/s^2: at/below this a_ego the widen won't shrink
@@ -0,0 +1,505 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+AccelController is an INPUT shaper for the longitudinal MPC: a per-tier positive-accel ceiling + open-rate
+(launch), and an ADD-ONLY, slewed, decel-held follow-gap widen fed to the MPC t_follow. It never shapes the
+MPC output, so these tests pin: off == byte-stock; tier ordering; and the t_follow invariants (add-only,
+zero below the gate, slew-bounded, decel-hold, capped).
+"""
+
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
+  ECO, NORMAL, SPORT, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, RISE_RATE_V, \
+  STOCK_A_CRUISE_MAX_V, STOCK_RISE_RATE, JERK_SCALE_BP, JERK_SCALE_V, ONSET_DEADBAND, ONSET_RAMP_S, \
+  ONSET_FLOOR, RELAX_RAMP_S, LEAD_BRAKE_ALEAD_BP, LEAD_BRAKE_FACTOR_V, CLOSING_VREL_BP, CLOSING_FACTOR_V, \
+  TF_WIDEN_V_BP, TF_WIDEN_BASE_V, TF_WIDEN_TIER, TF_WIDEN_MAX, TF_SLEW_PER_S, TF_DECEL_HOLD_A, AccelerationPersonality
+
+_EPS = 1e-6
+_TF_STOCK = 1.45          # a representative stock t_follow (standard personality); the widen is add-only on top
+_SLEW_STEP = TF_SLEW_PER_S * DT_MDL
+
+
+class FakeParams:
+  def __init__(self, store=None):
+    self.store = dict(store or {})
+
+  def get_bool(self, key):
+    return bool(self.store.get(key, False))
+
+  def get(self, key, return_default=False):
+    return int(self.store.get(key, 1))
+
+  def put(self, key, val, block=False):
+    self.store[key] = val
+
+
+def make_lead(status=False, aLeadK=0.0, vRel=0.0):
+  return SimpleNamespace(status=status, aLeadK=aLeadK, vRel=vRel)
+
+
+def make_sm(v_ego=20.0, a_ego=0.0, lead=None):
+  return {'carState': SimpleNamespace(vEgo=v_ego, aEgo=a_ego),
+          'radarState': SimpleNamespace(leadOne=lead or make_lead())}
+
+
+def make_controller(enabled=True, personality=NORMAL):
+  store = {"AccelPersonalityEnabled": enabled, "AccelPersonality": int(personality)}
+  ctrl = AccelController(CP=SimpleNamespace(), mpc=SimpleNamespace(), params=FakeParams(store))
+  ctrl.update(make_sm())
+  return ctrl
+
+
+def settle(ctrl, v_ego, a_ego=0.0, t_follow=_TF_STOCK, n=400):
+  ctrl.update(make_sm(v_ego=v_ego, a_ego=a_ego))
+  out = t_follow
+  for _ in range(n):
+    out = ctrl.get_t_follow(t_follow, v_ego)
+  return out
+
+
+# --- Profiles / off == stock ------------------------------------------------------------------------------
+
+def test_enum_source_parity():
+  assert (ECO, NORMAL, SPORT) == (AccelerationPersonality.eco, AccelerationPersonality.normal, AccelerationPersonality.sport)
+  assert (PERSONALITY_MIN, PERSONALITY_MAX) == (0, 2)
+
+
+def test_disabled_forces_normal_and_stock_ceiling():
+  ctrl = make_controller(enabled=False, personality=SPORT)
+  assert ctrl.personality() == NORMAL
+  assert not ctrl.enabled()
+  for v in (0.0, 10.0, 25.0, 40.0):
+    assert ctrl.get_max_accel(v) == pytest.approx(np.interp(v, A_CRUISE_MAX_BP, STOCK_A_CRUISE_MAX_V))
+  # off == stock, regardless of v_ego (the speed-dependent open-rate table is bypassed entirely when disabled)
+  for v in (0.0, 5.0, 20.0, 40.0):
+    assert ctrl.get_rise_rate(v) == STOCK_RISE_RATE
+
+
+def test_disabled_t_follow_is_identity():
+  ctrl = make_controller(enabled=False, personality=SPORT)
+  for v in (2.0, 10.0, 20.0, 30.0):
+    assert ctrl.get_t_follow(_TF_STOCK, v) == pytest.approx(_TF_STOCK)
+    assert ctrl.follow_widen() == 0.0
+    assert not ctrl.widen_active()
+
+
+def test_stock_ceiling_matches_upstream():
+  # off must equal upstream get_max_accel table so the feature is byte-stock when disabled.
+  assert STOCK_A_CRUISE_MAX_V == [1.6, 1.2, 0.8, 0.6]
+  assert A_CRUISE_MAX_BP == [0., 10., 25., 40.]
+  assert STOCK_RISE_RATE == 0.05
+
+
+def test_ceiling_ordering_eco_le_normal_le_sport():
+  eco = make_controller(personality=ECO)
+  nrm = make_controller(personality=NORMAL)
+  spt = make_controller(personality=SPORT)
+  for v in (0.0, 10.0, 25.0, 40.0):
+    assert eco.get_max_accel(v) <= nrm.get_max_accel(v) + _EPS
+    assert nrm.get_max_accel(v) <= spt.get_max_accel(v) + _EPS
+  # strictly distinct where the tables diverge (mid speed)
+  assert make_controller(personality=ECO).get_max_accel(25.0) < make_controller(personality=SPORT).get_max_accel(25.0)
+
+
+def test_rise_rate_ordering_and_above_stock():
+  # ordering holds at both knots: near a stop (v=0) and at the steady-state speed (v=5)
+  assert RISE_RATE_V[ECO][0] < RISE_RATE_V[NORMAL][0] < RISE_RATE_V[SPORT][0]
+  assert RISE_RATE_V[ECO][1] < RISE_RATE_V[NORMAL][1] < RISE_RATE_V[SPORT][1]
+  # every tier opens the ceiling faster than stock at both knots (fast take-off, never slower than stock)
+  assert RISE_RATE_V[ECO][0] > STOCK_RISE_RATE
+  assert RISE_RATE_V[ECO][1] > STOCK_RISE_RATE
+
+
+def test_rise_rate_fast_near_stop_tapers_to_steady_state():
+  # Near a stop (v=0) the open-rate must be large/non-binding (NOT the old flat 0.07/0.16/0.24) so launch
+  # is never delayed. At/above the v=5 knot it must match the old flat, telemetry-verified steady-state
+  # values exactly, so cruise/resume behavior at speed is unchanged.
+  for personality, steady_state in ((ECO, 0.07), (NORMAL, 0.16), (SPORT, 0.24)):
+    ctrl = make_controller(personality=personality)
+    assert ctrl.get_rise_rate(0.0) >= 0.5
+    assert ctrl.get_rise_rate(0.0) > steady_state
+    assert ctrl.get_rise_rate(5.0) == pytest.approx(steady_state)
+    assert ctrl.get_rise_rate(20.0) == pytest.approx(steady_state)  # flat above the v=5 knot
+
+
+def test_rise_rate_falls_back_to_stock_while_closing_on_a_lead():
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=2.0, lead=make_lead(status=True, vRel=-2.0)))
+  assert ctrl.get_rise_rate(2.0) == STOCK_RISE_RATE
+
+
+def test_rise_rate_unaffected_by_a_departing_or_absent_lead():
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=2.0, lead=make_lead(status=True, vRel=0.5)))
+  assert ctrl.get_rise_rate(2.0) != STOCK_RISE_RATE
+  ctrl.update(make_sm(v_ego=2.0, lead=make_lead(status=False)))
+  assert ctrl.get_rise_rate(2.0) != STOCK_RISE_RATE
+
+
+def test_rise_rate_lead_gate_disabled_is_still_stock():
+  ctrl = make_controller(enabled=False, personality=SPORT)
+  ctrl.update(make_sm(v_ego=2.0, lead=make_lead(status=True, vRel=-2.0)))
+  assert ctrl.get_rise_rate(2.0) == STOCK_RISE_RATE
+
+
+def test_normal_is_distinct_from_stock():
+  nrm = make_controller(personality=NORMAL)
+  # enabled NORMAL differs from stock (so NORMAL is a real profile, not a stock alias)
+  assert nrm.get_max_accel(25.0) != pytest.approx(np.interp(25.0, A_CRUISE_MAX_BP, STOCK_A_CRUISE_MAX_V))
+  assert nrm.get_rise_rate(0.0) != STOCK_RISE_RATE
+  assert nrm.get_rise_rate(5.0) != STOCK_RISE_RATE
+
+
+def test_eco_ceiling_matches_lowered_table():
+  # ECO's cruise/resume-range ceiling was lowered (launch knot at v=0 unchanged at 1.55).
+  eco = make_controller(personality=ECO)
+  for v, expected in zip(A_CRUISE_MAX_BP, (1.55, 0.75, 0.35, 0.20), strict=True):
+    assert eco.get_max_accel(v) == pytest.approx(expected)
+
+
+# --- jerk-scale: launch jerk-cost relaxation (MPC input, feeds long_mpc.set_weights) ----------------------
+
+def test_jerk_scale_disabled_is_stock():
+  ctrl = make_controller(enabled=False, personality=SPORT)
+  for v in (0.0, 2.5, 5.0, 20.0):
+    assert ctrl.get_jerk_scale(v) == pytest.approx(1.0)
+
+
+def test_jerk_scale_relaxed_near_stop_flat_at_speed():
+  for personality, relaxed in ((ECO, 0.60), (NORMAL, 0.45), (SPORT, 0.45)):
+    ctrl = make_controller(personality=personality)
+    assert ctrl.get_jerk_scale(0.0) == pytest.approx(relaxed)
+    assert ctrl.get_jerk_scale(5.0) == pytest.approx(1.0)      # back to stock by the v=5 knot
+    assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)     # flat above the knot
+
+
+def test_jerk_scale_never_exceeds_stock():
+  # relaxation only ever LOWERS the jerk cost (more responsive), never raises it above 1.0 (stock)
+  for personality in (ECO, NORMAL, SPORT):
+    ctrl = make_controller(personality=personality)
+    for v in np.linspace(0.0, 40.0, 20):
+      assert ctrl.get_jerk_scale(float(v)) <= 1.0 + _EPS
+
+
+def test_jerk_scale_tier_ordering_at_stop():
+  # NOT a strict SPORT<NORMAL<ECO ordering here (unlike every other tier table in this file) -- verified via
+  # a closed-loop MPC harness that pushing the v=0 knot lower than ~0.45 is counterproductive (the MPC
+  # back-loads the ramp instead of front-loading it), so SPORT is pinned to NORMAL's value instead of being
+  # pushed lower for tier-consistency. See the JERK_SCALE_V comment in constants.py.
+  eco = make_controller(personality=ECO).get_jerk_scale(0.0)
+  nrm = make_controller(personality=NORMAL).get_jerk_scale(0.0)
+  spt = make_controller(personality=SPORT).get_jerk_scale(0.0)
+  assert spt == pytest.approx(nrm)
+  assert nrm < eco
+
+
+def test_jerk_scale_table_matches_constants():
+  for personality in (ECO, NORMAL, SPORT):
+    ctrl = make_controller(personality=personality)
+    for v in (0.0, 2.0, 5.0, 15.0):
+      assert ctrl.get_jerk_scale(v) == pytest.approx(np.interp(v, JERK_SCALE_BP, JERK_SCALE_V[personality]))
+
+
+def test_jerk_scale_v0_knot_stays_out_of_the_counterproductive_zone():
+  # Regression guard for the verified finding: pushing the v=0 knot below ~0.45 stops helping and starts
+  # hurting (measured via a closed-loop MPC harness -- 0.30 came back slower than stock in every scenario
+  # tested, and below ~0.15 the solver itself destabilizes). No tier's launch floor should regress into that
+  # zone even if someone re-tunes ECO/NORMAL/SPORT independently later.
+  for personality in (ECO, NORMAL, SPORT):
+    assert JERK_SCALE_V[personality][0] >= 0.40
+
+
+# --- onset relax: fresh accel<->decel direction change, any speed ------------------------------------------
+
+def test_onset_disabled_is_stock():
+  ctrl = make_controller(enabled=False, personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=2.0))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+def test_onset_no_effect_at_steady_state():
+  ctrl = make_controller(personality=NORMAL)
+  for _ in range(10):
+    ctrl.update(make_sm(v_ego=20.0, a_ego=0.0))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)   # within the deadband, no direction to flip from
+
+
+def test_onset_drops_to_floor_on_fresh_direction_change():
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=1.0))    # establish "accelerating"
+  ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0))   # fresh flip to decelerating
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(ONSET_FLOOR[NORMAL])
+
+
+def test_onset_eases_back_to_stock_over_ramp_s():
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=1.0))
+  ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(ONSET_FLOOR[NORMAL])
+  n = int(ONSET_RAMP_S / DT_MDL)
+  for _ in range(n):
+    ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0))   # sustained decel, no further flip
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0, abs=1e-3)
+
+
+def test_onset_never_relaxes_below_its_own_floor():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=1.0))
+  for _ in range(50):
+    ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0 if _ % 2 == 0 else -1.2))   # repeated same-direction wiggle
+  assert ctrl.get_jerk_scale(20.0) >= ONSET_FLOOR[SPORT] - _EPS
+
+
+def test_onset_tier_ordering():
+  ordered = []
+  for personality in (ECO, NORMAL, SPORT):
+    ctrl = make_controller(personality=personality)
+    ctrl.update(make_sm(v_ego=20.0, a_ego=1.0))
+    ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0))
+    ordered.append(ctrl.get_jerk_scale(20.0))
+  assert ordered[2] < ordered[1] < ordered[0]   # SPORT relaxes most, ECO least
+
+
+def test_onset_ignores_deadband_noise():
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=0.3))
+  for _ in range(10):
+    ctrl.update(make_sm(v_ego=20.0, a_ego=ONSET_DEADBAND - 0.02))   # tiny wiggle, never crosses -deadband
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0, abs=1e-3)
+
+
+# --- lead-braking relax: hard-braking lead relaxes jerk cost regardless of speed ---------------------------
+
+def test_lead_brake_no_lead_is_stock():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=False, aLeadK=-5.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+def test_lead_brake_relaxes_with_lead_decel():
+  for personality, floor in ((ECO, 0.75), (NORMAL, 0.60), (SPORT, 0.45)):
+    ctrl = make_controller(personality=personality)
+    ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, aLeadK=-3.0)))
+    assert ctrl.get_jerk_scale(20.0) == pytest.approx(floor)
+
+
+def test_lead_brake_gentle_lead_decel_is_stock():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, aLeadK=-0.2)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)   # above the -0.5 gate -> no relax
+
+
+def test_lead_brake_matches_constants_table():
+  for personality in (ECO, NORMAL, SPORT):
+    ctrl = make_controller(personality=personality)
+    for a_lead in (-0.5, -1.5, -3.0):
+      ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, aLeadK=a_lead)))
+      expected = np.interp(a_lead, LEAD_BRAKE_ALEAD_BP, LEAD_BRAKE_FACTOR_V[personality])
+      assert ctrl.get_jerk_scale(20.0) == pytest.approx(expected)
+
+
+# --- closing-rate relax: fast-closing gap relaxes jerk cost proactively, any cause -------------------------
+
+def test_closing_no_lead_is_stock():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=False, vRel=-8.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+def test_closing_relaxes_with_fast_closing_lead():
+  for personality, floor in ((ECO, 0.75), (NORMAL, 0.60), (SPORT, 0.45)):
+    ctrl = make_controller(personality=personality)
+    ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-6.0)))
+    assert ctrl.get_jerk_scale(20.0) == pytest.approx(floor)
+
+
+def test_closing_slow_closing_is_stock():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-0.5)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)   # above the -1.5 gate -> no relax
+
+
+def test_closing_opening_gap_is_stock():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=3.0)))   # lead pulling away
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+def test_closing_matches_constants_table():
+  for personality in (ECO, NORMAL, SPORT):
+    ctrl = make_controller(personality=personality)
+    for v_rel in (-1.5, -3.0, -6.0):
+      ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=v_rel)))
+      expected = np.interp(v_rel, CLOSING_VREL_BP, CLOSING_FACTOR_V[personality])
+      assert ctrl.get_jerk_scale(20.0) == pytest.approx(expected)
+
+
+def test_closing_disabled_is_stock():
+  ctrl = make_controller(enabled=False, personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-6.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+def test_closing_fires_before_a_ego_moves():
+  # The whole point: on the VERY FIRST cycle a fast-closing lead appears, before a_ego has had any chance to
+  # react (still 0.0, so onset-relax is untouched) -- the closing factor alone must already be relaxed.
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=0.0, lead=make_lead(status=True, vRel=-6.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(CLOSING_FACTOR_V[NORMAL][0])
+
+
+# --- transient relax: closing/lead-brake factors dip then ease back, never hold a sustained low floor ------
+# Closed-loop-verified (selfdrive/test/longitudinal_maneuvers-based): holding jerk_scale at a fixed low value
+# for the duration of a sustained closing/braking episode destabilizes the MPC's real-time-iteration re-solve
+# into an oscillation (30+ m/s^3 jerk vs 0 with the factor disabled, for an identical scenario). These pin
+# the fix -- a sustained, UNCHANGING severe closing rate must ease back toward stock, not stay pinned.
+
+def test_closing_factor_eases_back_despite_sustained_severe_vrel():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-6.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(CLOSING_FACTOR_V[SPORT][0])
+  for _ in range(int(RELAX_RAMP_S / DT_MDL)):
+    ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-6.0)))   # same severity, every cycle
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0, abs=1e-3)             # eased back despite no improvement
+
+
+def test_lead_brake_factor_eases_back_despite_sustained_hard_braking_lead():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, aLeadK=-3.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(LEAD_BRAKE_FACTOR_V[SPORT][0])
+  for _ in range(int(RELAX_RAMP_S / DT_MDL)):
+    ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, aLeadK=-3.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0, abs=1e-3)
+
+
+def test_closing_factor_resnaps_on_escalation_not_just_first_onset():
+  # A worsening (not just sustained) closing rate must not be ignored because we're mid-ramp-back --
+  # re-snap to the newly-lower floor.
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-2.0)))     # mild, partial relax
+  partial = ctrl.get_jerk_scale(20.0)
+  assert 1.0 - _EPS > partial > CLOSING_FACTOR_V[SPORT][0] + _EPS
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-6.0)))     # escalates to the full floor
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(CLOSING_FACTOR_V[SPORT][0])
+
+
+def test_closing_factor_reset_clears_transient_state():
+  ctrl = make_controller(personality=SPORT)
+  for _ in range(5):
+    ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=True, vRel=-6.0)))
+  assert ctrl.get_jerk_scale(20.0) < 1.0 - _EPS
+  ctrl.reset()
+  ctrl.update(make_sm(v_ego=20.0, lead=make_lead(status=False)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+# --- combined: get_jerk_scale takes the most-relaxed of all three factors ----------------------------------
+
+def test_combined_takes_most_relaxed_factor():
+  ctrl = make_controller(personality=NORMAL)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=1.0))
+  # onset flip (floor=0.65) + hard-braking lead (floor=0.60 at aLeadK=-3.0) -> min of the two, near-stop is 1.0 at v=20
+  ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0, lead=make_lead(status=True, aLeadK=-3.0)))
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(min(ONSET_FLOOR[NORMAL], LEAD_BRAKE_FACTOR_V[NORMAL][0]))
+
+
+def test_reset_clears_onset_and_lead_brake_state():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=20.0, a_ego=1.0))
+  ctrl.update(make_sm(v_ego=20.0, a_ego=-1.0, lead=make_lead(status=True, aLeadK=-3.0, vRel=-6.0)))
+  assert ctrl.get_jerk_scale(20.0) < 1.0 - _EPS
+  ctrl.reset()
+  assert ctrl.get_jerk_scale(20.0) == pytest.approx(1.0)
+
+
+# --- t_follow: add-only speed widen -----------------------------------------------------------------------
+
+def test_t_follow_zero_below_gate():
+  ctrl = make_controller(personality=NORMAL)
+  out = settle(ctrl, v_ego=TF_WIDEN_V_BP[0] - 1.0)     # below the widen onset
+  assert out == pytest.approx(_TF_STOCK)
+  assert ctrl.follow_widen() == pytest.approx(0.0, abs=1e-6)
+
+
+def test_t_follow_widens_at_speed():
+  ctrl = make_controller(personality=NORMAL)
+  out = settle(ctrl, v_ego=TF_WIDEN_V_BP[1] + 5.0)     # flat-widen region, above the band
+  expected = _TF_STOCK + TF_WIDEN_BASE_V[1] * TF_WIDEN_TIER[NORMAL]
+  assert out == pytest.approx(expected, abs=1e-3)
+  assert ctrl.widen_active()
+
+
+def test_t_follow_add_only_random_walk():
+  rng = np.random.default_rng(0)
+  for personality in (ECO, NORMAL, SPORT):
+    ctrl = make_controller(personality=personality)
+    for _ in range(500):
+      v = float(rng.uniform(0.0, 40.0))
+      a = float(rng.uniform(-3.0, 1.5))
+      ctrl.update(make_sm(v_ego=v, a_ego=a))
+      out = ctrl.get_t_follow(_TF_STOCK, v)
+      assert out >= _TF_STOCK - _EPS                    # never tighter than the stock gap => brake >= stock
+      assert ctrl.follow_widen() <= TF_WIDEN_MAX + _EPS  # widen capped
+
+
+def test_t_follow_tier_ordering_at_speed():
+  v = TF_WIDEN_V_BP[1] + 5.0
+  eco = settle(make_controller(personality=ECO), v_ego=v)
+  nrm = settle(make_controller(personality=NORMAL), v_ego=v)
+  spt = settle(make_controller(personality=SPORT), v_ego=v)
+  assert eco > nrm > spt                                # ECO roomiest, SPORT tightest
+
+
+def test_t_follow_slew_bounded():
+  ctrl = make_controller(personality=ECO)
+  ctrl.update(make_sm(v_ego=35.0, a_ego=0.0))           # big target widen, start from 0
+  prev = 0.0
+  for _ in range(50):
+    ctrl.get_t_follow(_TF_STOCK, 35.0)
+    assert ctrl.follow_widen() - prev <= _SLEW_STEP + _EPS   # opens no faster than the slew cap
+    prev = ctrl.follow_widen()
+
+
+def test_t_follow_decel_hold_does_not_shrink_gap():
+  ctrl = make_controller(personality=NORMAL)
+  settle(ctrl, v_ego=35.0, a_ego=0.0)                   # open the gap fully
+  held = ctrl.follow_widen()
+  assert held > 0.1
+  # now braking (a_ego below the hold threshold) while speed drops into the zero-widen region
+  for _ in range(50):
+    ctrl.update(make_sm(v_ego=8.0, a_ego=TF_DECEL_HOLD_A - 1.0))
+    ctrl.get_t_follow(_TF_STOCK, 8.0)
+    assert ctrl.follow_widen() >= held - _EPS           # gap does not ease in while braking
+  # once no longer braking, the gap eases back toward the (zero) target
+  for _ in range(200):
+    ctrl.update(make_sm(v_ego=8.0, a_ego=0.0))
+    ctrl.get_t_follow(_TF_STOCK, 8.0)
+  assert ctrl.follow_widen() == pytest.approx(0.0, abs=1e-3)
+
+
+def test_reset_clears_widen():
+  ctrl = make_controller(personality=SPORT)
+  settle(ctrl, v_ego=35.0)
+  assert ctrl.follow_widen() > 0.0
+  ctrl.reset()
+  assert ctrl.follow_widen() == 0.0
+
+
+def test_out_of_range_personality_clamps():
+  ctrl = make_controller(personality=99)
+  assert ctrl.personality() == PERSONALITY_MAX
+
+
+def test_max_accel_uses_stored_v_ego():
+  ctrl = make_controller(personality=SPORT)
+  ctrl.update(make_sm(v_ego=0.0))
+  assert ctrl.max_accel() == pytest.approx(ctrl.get_max_accel(0.0))
@@ -1,17 +1,47 @@
+from openpilot.common.realtime import DT_MDL
+
+
 class WMACConstants:
-  # Lead detection parameters
-  LEAD_WINDOW_SIZE = 6  # Stable detection window
-  LEAD_PROB = 0.45  # Balanced threshold for lead detection
+  TRAJECTORY_SIZE = 33
+  PARAM_READ_FRAMES = max(1, int(round(1.0 / DT_MDL)))

-  # Slow down detection parameters
-  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
-  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
+  EMERGENCY_HOLD_FRAMES = max(1, int(round(0.75 / DT_MDL)))
+  MIN_MODE_DURATION = {'acc': max(1, int(round(0.6 / DT_MDL))), 'blended': max(1, int(round(0.5 / DT_MDL)))}
+  ENTER_BLENDED_FRAMES = max(1, int(round(0.4 / DT_MDL)))
+  EXIT_BLENDED_FRAMES = max(1, int(round(0.35 / DT_MDL)))
+  STANDSTILL_FRAMES = max(1, int(round(0.2 / DT_MDL)))
+  TRANSITION_SMOOTH_FRAMES = max(1, int(round(0.5 / DT_MDL)))

-  # Optimized slow down distance curve - smooth and progressive
+  LEAD_PROB = 0.45
+  LEAD_EXIT_PROB = 0.25
+  LEAD_RISE_RATE = 1.0
+  LEAD_FALL_RATE = 0.35
+  RADAR_LEAD_ACC_PROB = 0.5
+  RADAR_LEAD_ACC_EXIT_PROB = 0.4
+  RADAR_LEAD_ACC_RISE_RATE = 1.0
+  RADAR_LEAD_ACC_FALL_RATE = 0.25
+  RADAR_LEAD_ACC_MAX_DREL = 80.0
+  RADAR_LEAD_ACC_MAX_TTC = 6.0
+  RADAR_LEAD_ACC_MIN_CLOSING_SPEED = -0.5
+
+  SLOW_DOWN_PROB = 0.5
+  SLOW_DOWN_EXIT_PROB = 0.4
+  SLOW_DOWN_RISE_RATE = 0.65
+  SLOW_DOWN_FALL_RATE = 0.15
  SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
  SLOW_DOWN_DIST = [32., 46., 64., 86., 108., 130., 145., 165.]
+  URGENT_SLOW_DOWN_PROB = 0.85

-  # Slowness detection parameters
-  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
-  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
-  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset
+  MODEL_DECEL_START = -0.5
+  MODEL_DECEL_RANGE = 2.0
+  ENDPOINT_URGENCY_GAIN = 1.3
+  CRITICAL_ENDPOINT_FACTOR = 0.3
+  CRITICAL_URGENCY_GAIN = 1.5
+  SPEED_URGENCY_MIN = 25.0
+  SPEED_URGENCY_RANGE = 80.0
+
+  SLOWNESS_PROB = 0.55
+  SLOWNESS_EXIT_PROB = 0.45
+  SLOWNESS_RISE_RATE = 0.35
+  SLOWNESS_FALL_RATE = 0.5
+  SLOWNESS_CRUISE_OFFSET = 1.025
@@ -6,129 +6,121 @@ See the LICENSE.md file in the root directory for more details.
 """
 # Version = 2025-6-30

-from cereal import messaging
-from opendbc.car import structs
-from numpy import interp
-from openpilot.common.params import Params
-from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
 from typing import Literal

-# d-e2e, from modeldata.h
-TRAJECTORY_SIZE = 33
-SET_MODE_TIMEOUT = 15
+from cereal import messaging
+from numpy import interp
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants

-# Define the valid mode types
 ModeType = Literal['acc', 'blended']


-class SmoothKalmanFilter:
-  """Enhanced Kalman filter with smoothing for stable decision making."""
+def clip01(value: float) -> float:
+  return max(0.0, min(1.0, float(value)))

-  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
-               alpha=1.0, smoothing_factor=0.85):
-    self.x = initial_value
-    self.P = 1.0
-    self.R = measurement_noise
-    self.Q = process_noise
-    self.alpha = alpha
-    self.smoothing_factor = smoothing_factor
-    self.initialized = False
-    self.history = []
-    self.max_history = 10
-    self.confidence = 0.0

-  def add_data(self, measurement):
-    if len(self.history) >= self.max_history:
-      self.history.pop(0)
-    self.history.append(measurement)
+class SmoothedSignal:
+  def __init__(self, rise_rate: float, fall_rate: float, initial_value: float = 0.0):
+    self.rise_rate = clip01(rise_rate)
+    self.fall_rate = clip01(fall_rate)
+    self.value = clip01(initial_value)

-    if not self.initialized:
-      self.x = measurement
-      self.initialized = True
-      self.confidence = 0.1
-      return
+  def update(self, measurement: float) -> float:
+    measurement = clip01(measurement)
+    rate = self.rise_rate if measurement > self.value else self.fall_rate
+    self.value += (measurement - self.value) * rate
+    return self.value

-    self.P = self.alpha * self.P + self.Q
+  def reset(self, value: float = 0.0) -> None:
+    self.value = clip01(value)

-    K = self.P / (self.P + self.R)
-    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1

-    innovation = measurement - self.x
-    self.x = self.x + effective_K * innovation
-    self.P = (1 - effective_K) * self.P
+class HysteresisSignal:
+  def __init__(self, enter_threshold: float, exit_threshold: float, rise_rate: float, fall_rate: float):
+    self.enter_threshold = clip01(enter_threshold)
+    self.exit_threshold = clip01(exit_threshold)
+    self.filter = SmoothedSignal(rise_rate, fall_rate)
+    self.active = False

-    if abs(innovation) < 0.1:
-      self.confidence = min(1.0, self.confidence + 0.05)
-    else:
-      self.confidence = max(0.1, self.confidence - 0.02)
+  def update(self, measurement: float) -> bool:
+    value = self.filter.update(measurement)
+    threshold = self.exit_threshold if self.active else self.enter_threshold
+    self.active = value > threshold
+    return self.active

-  def get_value(self):
-    return self.x if self.initialized else None
+  def reset(self) -> None:
+    self.filter.reset()
+    self.active = False

-  def get_confidence(self):
-    return self.confidence
-
-  def reset_data(self):
-    self.initialized = False
-    self.history = []
-    self.confidence = 0.0
+  @property
+  def value(self) -> float:
+    return self.filter.value


 class ModeTransitionManager:
-  """Manages smooth transitions between driving modes with hysteresis."""
-
  def __init__(self):
    self.current_mode: ModeType = 'acc'
-    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
-    self.transition_timeout = 0
-    self.min_mode_duration = 10
    self.mode_duration = 0
-    self.emergency_override = False
+    self._pending_mode: ModeType = 'acc'
+    self._pending_count = 0
+    self._blended_hold_frames = 0
+    self.frames_since_switch = WMACConstants.TRANSITION_SMOOTH_FRAMES
+    self.last_switch_was_immediate = False

-  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
-    # Emergency override for critical situations (stops, collisions)
-    if emergency:
-      self.emergency_override = True
-      self.current_mode = mode
-      self.transition_timeout = SET_MODE_TIMEOUT
-      self.mode_duration = 0
+  def request_mode(self, mode: ModeType, immediate: bool = False, hold_frames: int = 0, cancel_hold: bool = False) -> None:
+    if immediate:
+      self._blended_hold_frames = max(self._blended_hold_frames, hold_frames)
+      self._pending_mode = mode
+      self._pending_count = 0
+      self._switch_mode(mode, immediate=True)
      return

-    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
-    for m in self.mode_confidence:
-      if m != mode:
-        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+    if cancel_hold and mode == 'acc':
+      self._blended_hold_frames = 0

-    # Require minimum duration in current mode (unless emergency)
-    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+    if self._blended_hold_frames > 0:
+      mode = 'blended'
+
+    if mode == self.current_mode:
+      self._pending_mode = mode
+      self._pending_count = 0
      return

-    # Hysteresis: higher threshold for mode changes
-    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+    if mode != self._pending_mode:
+      self._pending_mode = mode
+      self._pending_count = 1
+    else:
+      self._pending_count += 1

-    if self.mode_confidence[mode] > confidence_threshold:
-      if mode != self.current_mode and self.transition_timeout == 0:
-        self.transition_timeout = SET_MODE_TIMEOUT
-        self.current_mode = mode
-        self.mode_duration = 0
+    if self.mode_duration < WMACConstants.MIN_MODE_DURATION[self.current_mode]:
+      return

-  def update(self):
-    if self.transition_timeout > 0:
-      self.transition_timeout -= 1
+    required_count = WMACConstants.ENTER_BLENDED_FRAMES if mode == 'blended' else WMACConstants.EXIT_BLENDED_FRAMES
+    if self._pending_count >= required_count:
+      self._switch_mode(mode, immediate=False)
+
+  def update(self) -> None:
+    if self._blended_hold_frames > 0:
+      self._blended_hold_frames -= 1
    self.mode_duration += 1
-
-    # Reset emergency override after some time
-    if self.emergency_override and self.mode_duration > 20:
-      self.emergency_override = False
-
-    # Gradual confidence decay
-    for mode in self.mode_confidence:
-      self.mode_confidence[mode] *= 0.98
+    self.frames_since_switch += 1

  def get_mode(self) -> ModeType:
    return self.current_mode

+  def _switch_mode(self, mode: ModeType, immediate: bool) -> None:
+    if mode == self.current_mode:
+      return
+
+    self.current_mode = mode
+    self.mode_duration = 0
+    self._pending_mode = mode
+    self._pending_count = 0
+    self.frames_since_switch = 0
+    self.last_switch_was_immediate = immediate
+

 class DynamicExperimentalController:
  def __init__(self, CP: structs.CarParams, mpc, params=None):
@@ -142,35 +134,33 @@ class DynamicExperimentalController:

    self._mode_manager = ModeTransitionManager()

-    # Smooth filters for stable decision making with faster response for critical scenarios
-    self._lead_filter = SmoothKalmanFilter(
-      measurement_noise=0.15,
-      process_noise=0.05,
-      alpha=1.02,
-      smoothing_factor=0.8
+    self._lead_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.LEAD_PROB,
+      exit_threshold=WMACConstants.LEAD_EXIT_PROB,
+      rise_rate=WMACConstants.LEAD_RISE_RATE,
+      fall_rate=WMACConstants.LEAD_FALL_RATE,
+    )
+    self._radar_acc_lead_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.RADAR_LEAD_ACC_PROB,
+      exit_threshold=WMACConstants.RADAR_LEAD_ACC_EXIT_PROB,
+      rise_rate=WMACConstants.RADAR_LEAD_ACC_RISE_RATE,
+      fall_rate=WMACConstants.RADAR_LEAD_ACC_FALL_RATE,
+    )
+    self._slow_down_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.SLOW_DOWN_PROB,
+      exit_threshold=WMACConstants.SLOW_DOWN_EXIT_PROB,
+      rise_rate=WMACConstants.SLOW_DOWN_RISE_RATE,
+      fall_rate=WMACConstants.SLOW_DOWN_FALL_RATE,
+    )
+    self._slowness_tracker = HysteresisSignal(
+      enter_threshold=WMACConstants.SLOWNESS_PROB,
+      exit_threshold=WMACConstants.SLOWNESS_EXIT_PROB,
+      rise_rate=WMACConstants.SLOWNESS_RISE_RATE,
+      fall_rate=WMACConstants.SLOWNESS_FALL_RATE,
    )

-    self._slow_down_filter = SmoothKalmanFilter(
-      measurement_noise=0.1,
-      process_noise=0.1,
-      alpha=1.05,
-      smoothing_factor=0.7
-    )
-
-    self._slowness_filter = SmoothKalmanFilter(
-      measurement_noise=0.1,
-      process_noise=0.06,
-      alpha=1.015,
-      smoothing_factor=0.92
-    )
-
-    self._mpc_fcw_filter = SmoothKalmanFilter(
-      measurement_noise=0.2,
-      process_noise=0.1,
-      alpha=1.1,
-      smoothing_factor=0.5
-    )
    self._has_lead_filtered = False
+    self._has_radar_acc_lead = False
    self._has_slow_down = False
    self._has_slowness = False
    self._has_mpc_fcw = False
@@ -179,13 +169,14 @@ class DynamicExperimentalController:
    self._has_standstill = False
    self._mpc_fcw_crash_cnt = 0
    self._standstill_count = 0
-    # debug
+
    self._endpoint_x = float('inf')
    self._expected_distance = 0.0
    self._trajectory_valid = False
+    self._raw_urgency = 0.0

  def _read_params(self) -> None:
-    if self._frame % int(1. / DT_MDL) == 0:
+    if self._frame % WMACConstants.PARAM_READ_FRAMES == 0:
      self._enabled = self._params.get_bool("DynamicExperimentalControl")

  def mode(self) -> str:
@@ -197,8 +188,32 @@ class DynamicExperimentalController:
  def active(self) -> bool:
    return self._active

+  def has_radar_acc_lead(self) -> bool:
+    # Same criterion _desired_mode() uses to force 'acc' mode: a near or fast-closing radar lead is trusted
+    # enough that the e2e model's own opinion should never blend in over pure MPC. Computed every cycle
+    # regardless of the DEC param/active() state (see _update_calculations, called unconditionally from
+    # update()), so callers can use this as a lead-safety baseline independent of whether DEC itself is on.
+    return not self._CP.radarUnavailable and self._has_radar_acc_lead
+
+  def is_urgent(self) -> bool:
+    # Same "immediate" criterion _desired_mode() uses to decide a mode switch can't wait: an FCW-flagged MPC,
+    # or a model slow-down whose smoothed hysteresis has latched AND whose raw severity clears the urgent
+    # threshold. Public so callers outside the mode-switch decision (e.g. smoothing_transition) can reuse the
+    # identical, already-tuned definition of "this is not a routine moment" instead of inventing a second one.
+    return self._has_mpc_fcw or (self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB)
+
+  def smoothing_transition(self) -> bool:
+    # True continuously while blended and NOT currently urgent -- not just for a short window right after the
+    # switch. The e2e model's own action.desiredAcceleration can otherwise drop sharply frame-to-frame at any
+    # point while steady-state in blended (not only at the switch instant), with zero jerk shaping from
+    # either this fork's MPC-side relax (jerk_scale never touches the e2e path) or the old switch-scoped-only
+    # version of this guard. Checking is_urgent() every cycle (not just "was the switch immediate") also
+    # covers a new emergency that appears AFTER a routine switch, which the old snapshot-at-switch-time
+    # check couldn't. Never true during a genuine emergency at any point, so it never delays/softens a real
+    # stop the model or FCW is trying to make happen sooner.
+    return self._mode_manager.current_mode == 'blended' and not self.is_urgent()
+
  def set_mpc_fcw_crash_cnt(self) -> None:
-    """Set MPC FCW crash count"""
    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt

  def _update_calculations(self, sm: messaging.SubMaster) -> None:
@@ -210,179 +225,109 @@ class DynamicExperimentalController:
    self._v_cruise_kph = car_state.vCruise
    self._has_standstill = car_state.standstill

-    # standstill detection
    if self._has_standstill:
-      self._standstill_count = min(20, self._standstill_count + 1)
+      self._standstill_count = min(WMACConstants.STANDSTILL_FRAMES * 3, self._standstill_count + 1)
    else:
      self._standstill_count = max(0, self._standstill_count - 1)

-    # Lead detection
-    self._lead_filter.add_data(float(lead_one.status))
-    lead_value = self._lead_filter.get_value() or 0.0
-    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
-
-    # MPC FCW detection
-    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
-    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
-    self._has_mpc_fcw = fcw_filtered_value > 0.5
-
-    # Slow down detection
+    self._has_lead_filtered = self._lead_tracker.update(float(lead_one.status))
+    self._has_radar_acc_lead = self._radar_acc_lead_tracker.update(self._radar_acc_lead_score(lead_one))
+    self._has_mpc_fcw = self._mpc_fcw_crash_cnt > 0
    self._calculate_slow_down(md)

-    # Slowness detection
-    if not (self._standstill_count > 5) and not self._has_slow_down:
+    if self._standstill_count > WMACConstants.STANDSTILL_FRAMES or self._has_slow_down:
+      self._slowness_tracker.reset()
+      self._has_slowness = False
+    else:
      current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      self._slowness_filter.add_data(current_slowness)
-      slowness_value = self._slowness_filter.get_value() or 0.0
+      self._has_slowness = self._slowness_tracker.update(current_slowness)

-      # Hysteresis for slowness
-      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
-      self._has_slowness = slowness_value > threshold
-
-  def _calculate_slow_down(self, md):
-    """Calculate urgency based on trajectory endpoint vs expected distance."""
-
-    # Reset to safe defaults
-    urgency = 0.0
+  def _calculate_slow_down(self, md) -> None:
    self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
    self._trajectory_valid = False

-    #Require exact trajectory size
-    position_valid = len(md.position.x) == TRAJECTORY_SIZE
-    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+    urgency = self._model_action_urgency(md)
+    position_valid = len(md.position.x) == WMACConstants.TRAJECTORY_SIZE

-    if not (position_valid and orientation_valid):
-      # Invalid trajectory - this itself might indicate a stop scenario
-      # Apply moderate urgency for incomplete trajectories at speed
-      if self._v_ego_kph > 20.0:
-        urgency = 0.3
+    if position_valid:
+      self._trajectory_valid = True
+      self._endpoint_x = md.position.x[WMACConstants.TRAJECTORY_SIZE - 1]
+      self._expected_distance = interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST)
+      urgency = max(urgency, self._endpoint_urgency(self._endpoint_x, self._expected_distance))

-      self._slow_down_filter.add_data(urgency)
-      urgency_filtered = self._slow_down_filter.get_value() or 0.0
-      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
-      self._urgency = urgency_filtered
-      return
+    self._raw_urgency = clip01(urgency)
+    self._has_slow_down = self._slow_down_tracker.update(self._raw_urgency)
+    self._urgency = self._slow_down_tracker.value

-    # We have a valid full trajectory
-    self._trajectory_valid = True
+  def _radar_acc_lead_score(self, lead_one) -> float:
+    if not lead_one.status:
+      return 0.0

-    # Use the exact endpoint (33rd point, index 32)
-    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
-    self._endpoint_x = endpoint_x
+    d_rel = float(getattr(lead_one, 'dRel', float('inf')))
+    v_rel = float(getattr(lead_one, 'vRel', 0.0))
+    if d_rel <= WMACConstants.RADAR_LEAD_ACC_MAX_DREL:
+      return 1.0
+    if v_rel <= WMACConstants.RADAR_LEAD_ACC_MIN_CLOSING_SPEED and d_rel / max(-v_rel, 0.1) <= WMACConstants.RADAR_LEAD_ACC_MAX_TTC:
+      return 1.0
+    return 0.0

-    # Get expected distance based on current speed using tuned constants
-    expected_distance = interp(self._v_ego_kph,
-                               WMACConstants.SLOW_DOWN_BP,
-                               WMACConstants.SLOW_DOWN_DIST)
-    self._expected_distance = expected_distance
+  def _model_action_urgency(self, md) -> float:
+    action = getattr(md, 'action', None)
+    if action is None:
+      return 0.0

-    # Calculate urgency based on trajectory shortage
-    if endpoint_x < expected_distance:
-      shortage = expected_distance - endpoint_x
-      shortage_ratio = shortage / expected_distance
+    urgency = 1.0 if getattr(action, 'shouldStop', False) else 0.0
+    desired_accel = getattr(action, 'desiredAcceleration', 0.0)
+    if desired_accel < WMACConstants.MODEL_DECEL_START:
+      urgency = max(urgency, min(1.0, (WMACConstants.MODEL_DECEL_START - desired_accel) / WMACConstants.MODEL_DECEL_RANGE))
+    return urgency

-      # Base urgency on shortage ratio
-      urgency = min(1.0, shortage_ratio * 2.0)
+  def _endpoint_urgency(self, endpoint_x: float, expected_distance: float) -> float:
+    if endpoint_x >= expected_distance:
+      return 0.0

-      # Increase urgency for very short trajectories (imminent stops)
-      critical_distance = expected_distance * 0.3
-      if endpoint_x < critical_distance:
-        urgency = min(1.0, urgency * 2.0)
+    shortage_ratio = (expected_distance - endpoint_x) / expected_distance
+    urgency = min(1.0, shortage_ratio * WMACConstants.ENDPOINT_URGENCY_GAIN)

-      # Speed-based urgency adjustment
-      if self._v_ego_kph > 25.0:
-        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
-        urgency = min(1.0, urgency * speed_factor)
+    if endpoint_x < expected_distance * WMACConstants.CRITICAL_ENDPOINT_FACTOR:
+      urgency = min(1.0, urgency * WMACConstants.CRITICAL_URGENCY_GAIN)

-    # Apply filtering but with less smoothing for stops
-    self._slow_down_filter.add_data(urgency)
-    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+    if self._v_ego_kph > WMACConstants.SPEED_URGENCY_MIN:
+      speed_factor = 1.0 + (self._v_ego_kph - WMACConstants.SPEED_URGENCY_MIN) / WMACConstants.SPEED_URGENCY_RANGE
+      urgency = min(1.0, urgency * speed_factor)

-    # Update state with lower threshold for better stop detection
-    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
-    self._urgency = urgency_filtered
+    return urgency

-  def _radarless_mode(self) -> None:
-    """Radarless mode decision logic with emergency handling."""
+  def _desired_mode(self) -> tuple[ModeType, bool]:
+    if not self._CP.radarUnavailable and self._has_radar_acc_lead:
+      return 'acc', False

-    # EMERGENCY: MPC FCW - immediate blended mode
    if self._has_mpc_fcw:
-      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      return
+      return 'blended', True

-    # Standstill: use blended
-    if self._standstill_count > 3:
-      self._mode_manager.request_mode('blended', confidence=0.9)
-      return
+    standstill = self._standstill_count > WMACConstants.STANDSTILL_FRAMES
+    urgent_slow_down = self._has_slow_down and self._raw_urgency > WMACConstants.URGENT_SLOW_DOWN_PROB

-    # Slow down scenarios: emergency for high urgency, normal for lower urgency
-    if self._has_slow_down:
-      if self._urgency > 0.7:
-        # Emergency: immediate blended mode for high urgency stops
-        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      else:
-        # Normal: blended with urgency-based confidence
-        confidence = min(1.0, self._urgency * 1.5)
-        self._mode_manager.request_mode('blended', confidence=confidence)
-      return
+    if self._CP.radarUnavailable:
+      if standstill or self._has_slow_down:
+        return 'blended', urgent_slow_down
+      return 'acc', False

-    # Driving slow: use ACC (but not if actively slowing down)
-    if self._has_slowness and not self._has_slow_down:
-      self._mode_manager.request_mode('acc', confidence=0.8)
-      return
+    if standstill or self._has_slow_down:
+      return 'blended', urgent_slow_down

-    # Default: ACC
-    self._mode_manager.request_mode('acc', confidence=0.7)
-
-  def _radar_mode(self) -> None:
-    """Radar mode with emergency handling."""
-
-    # EMERGENCY: MPC FCW - immediate blended mode
-    if self._has_mpc_fcw:
-      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      return
-
-    # If lead detected and not in standstill: always use ACC
-    if self._has_lead_filtered and not (self._standstill_count > 3):
-      self._mode_manager.request_mode('acc', confidence=1.0)
-      return
-
-    # Slow down scenarios: emergency for high urgency, normal for lower urgency
-    if self._has_slow_down:
-      if self._urgency > 0.7:
-        # Emergency: immediate blended mode for high urgency stops
-        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
-      else:
-        # Normal: blended with urgency-based confidence
-        confidence = min(1.0, self._urgency * 1.3)
-        self._mode_manager.request_mode('blended', confidence=confidence)
-      return
-
-    # Standstill: use blended
-    if self._standstill_count > 3:
-      self._mode_manager.request_mode('blended', confidence=0.9)
-      return
-
-    # Driving slow: use ACC (but not if actively slowing down)
-    if self._has_slowness and not self._has_slow_down:
-      self._mode_manager.request_mode('acc', confidence=0.8)
-      return
-
-    # Default: ACC
-    self._mode_manager.request_mode('acc', confidence=0.7)
+    return 'acc', False

  def update(self, sm: messaging.SubMaster) -> None:
    self._read_params()
-
    self.set_mpc_fcw_crash_cnt()
-
    self._update_calculations(sm)

-    if self._CP.radarUnavailable:
-      self._radarless_mode()
-    else:
-      self._radar_mode()
-
+    mode, immediate = self._desired_mode()
+    self._mode_manager.request_mode(mode, immediate=immediate, hold_frames=WMACConstants.EMERGENCY_HOLD_FRAMES,
+                                    cancel_hold=self._has_radar_acc_lead)
    self._mode_manager.update()
+
    self._active = sm['selfdriveState'].experimentalMode and self._enabled
    self._frame += 1
@@ -1,94 +0,0 @@
-import pytest
-
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
-
-class MockLeadOne:
-  def __init__(self, status=0.0):
-    self.status = status
-
-class MockRadarState:
-  def __init__(self, status=0.0):
-    self.leadOne = MockLeadOne(status=status)
-
-class MockCarState:
-  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
-    self.vEgo = vEgo
-    self.vCruise = vCruise
-    self.standstill = standstill
-
-class MockModelData:
-  def __init__(self, valid=True):
-    size = 33 if valid else 10  # incomplete if invalid
-    self.position = type("Pos", (), {"x": [0.0] * size})()
-    self.orientation = type("Ori", (), {"x": [0.0] * size})()
-
-class MockSelfDriveState:
-  def __init__(self, experimentalMode=False):
-    self.experimentalMode = experimentalMode
-
-class MockParams:
-  def get_bool(self, name):
-    return True
-
-@pytest.fixture
-def default_sm():
-  sm = {
-    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
-    'radarState': MockRadarState(status=1.0),
-    'modelV2': MockModelData(valid=True),
-    'selfdriveState': MockSelfDriveState(experimentalMode=True),
-  }
-  return sm
-
-@pytest.fixture
-def mock_cp():
-  class CP:
-    radarUnavailable = False
-  return CP()
-
-@pytest.fixture
-def mock_mpc():
-  class MPC:
-    crash_cnt = 0
-  return MPC()
-
-# Fake Kalman Filter that always returns a given value
-class FakeKalman:
-  def __init__(self, value=1.0):
-    self.value = value
-  def add_data(self, v): pass
-  def get_value(self): return self.value
-  def get_confidence(self): return 1.0
-  def reset_data(self): pass
-
-def test_initial_mode_is_acc(mock_cp, mock_mpc):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  assert controller.mode() == "acc"
-
-def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  default_sm['carState'].standstill = True
-  for _ in range(10):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-  mock_mpc.crash_cnt = 1  # simulate FCW
-  for _ in range(2):
-    controller.update(default_sm)
-  assert controller.mode() == "blended"
-
-def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
-  mock_cp.radarUnavailable = True
-  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
-
-  # Force conditions to simulate slowdown
-  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
-  controller._v_ego_kph = 35.0
-  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
-
-  for _ in range(3):
-    controller.update(default_sm)
-
-  assert controller.mode() == "blended"
@@ -0,0 +1,352 @@
+import pytest
+
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, HysteresisSignal
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+
+
+class MockLeadOne:
+  def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
+    self.status = status
+    self.dRel = dRel
+    self.vRel = vRel
+
+
+class MockRadarState:
+  def __init__(self, status=0.0, dRel=30.0, vRel=0.0):
+    self.leadOne = MockLeadOne(status=status, dRel=dRel, vRel=vRel)
+
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
+
+
+class MockAction:
+  def __init__(self, desiredAcceleration=0.0, shouldStop=False):
+    self.desiredAcceleration = desiredAcceleration
+    self.shouldStop = shouldStop
+
+
+class MockModelData:
+  def __init__(self, valid=True, endpoint_x=200.0, orientation_valid=None, desired_acceleration=0.0, should_stop=False):
+    position_size = 33 if valid else 10
+    orientation_size = position_size if orientation_valid is None else (33 if orientation_valid else 10)
+    position_x = [0.0] * position_size
+    if position_x:
+      position_x[-1] = endpoint_x
+    self.position = type("Pos", (), {"x": position_x})()
+    self.orientation = type("Ori", (), {"x": [0.0] * orientation_size})()
+    self.acceleration = type("Accel", (), {"x": [0.0] * position_size})()
+    self.action = MockAction(desired_acceleration, should_stop)
+
+
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+
+class MockParams:
+  def get_bool(self, name):
+    return True
+
+
+@pytest.fixture
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
+
+
+@pytest.fixture
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
+
+
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
+
+
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"
+
+
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['carState'].standstill = True
+  for _ in range(20):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  mock_mpc.crash_cnt = 1
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+
+def test_smoothing_transition_false_while_never_switched(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  controller.update(default_sm)
+  assert controller.mode() == "acc"
+  assert not controller.smoothing_transition()
+
+
+def test_smoothing_transition_true_right_after_routine_switch_and_stays_true(mock_cp, mock_mpc, default_sm):
+  # a standstill-driven switch is routine (not FCW/immediate) -- smoothing must engage at the switch and,
+  # since the moment stays non-urgent, keep applying continuously (no more time-boxed lapse) as long as we
+  # stay in blended and nothing urgent shows up -- see test_smoothing_transition_turns_off_when_urgency_rises
+  # for the case that DOES turn it off.
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['carState'].standstill = True
+  saw_switch_with_smoothing = False
+  prev_mode = controller.mode()
+  for _ in range(20):
+    controller.update(default_sm)
+    if controller.mode() == "blended" and prev_mode == "acc":
+      saw_switch_with_smoothing = controller.smoothing_transition()
+      break
+    prev_mode = controller.mode()
+  assert saw_switch_with_smoothing
+  for _ in range(WMACConstants.TRANSITION_SMOOTH_FRAMES + 2):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+  assert controller.smoothing_transition()   # still non-urgent -- no time-based lapse anymore
+
+
+def test_smoothing_transition_turns_off_when_urgency_rises_while_already_blended(mock_cp, mock_mpc, default_sm):
+  # The gap this fixes: entering blended for a ROUTINE reason (standstill) must not permanently exempt a
+  # LATER genuine emergency that appears while already blended -- the old last_switch_was_immediate snapshot
+  # only looked at how we entered, never re-checked. is_urgent() re-checks every cycle instead.
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['carState'].standstill = True
+  for _ in range(20):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
+  assert controller.smoothing_transition()
+  assert not controller.is_urgent()
+
+  mock_mpc.crash_cnt = 1   # a new FCW appears, still in blended (standstill keeps it there)
+  controller.update(default_sm)
+  assert controller.mode() == "blended"   # no mode switch needed/observed -- already blended
+  assert controller.is_urgent()
+  assert not controller.smoothing_transition()   # must turn off immediately, same cycle
+
+
+def test_is_urgent_true_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  mock_mpc.crash_cnt = 1
+  controller.update(default_sm)
+  assert controller.is_urgent()
+
+
+def test_is_urgent_false_for_routine_slowdown_below_threshold(mock_cp, mock_mpc, default_sm):
+  # a mild slow-down (not near the URGENT_SLOW_DOWN_PROB severity) must not read as urgent.
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, desired_acceleration=-0.6)   # just past MODEL_DECEL_START
+  controller.update(default_sm)
+  assert controller._raw_urgency < WMACConstants.URGENT_SLOW_DOWN_PROB
+  assert not controller.is_urgent()
+
+
+def test_smoothing_transition_false_for_emergency_switch(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  mock_mpc.crash_cnt = 1
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+  assert not controller.smoothing_transition()   # immediate/emergency switch must never be smoothed
+
+
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  controller.update(default_sm)
+
+  assert controller.mode() == "blended"
+
+
+def test_valid_position_with_missing_orientation_can_trigger_slowdown(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, orientation_valid=False)
+
+  controller.update(default_sm)
+
+  assert controller._trajectory_valid
+  assert controller.mode() == "blended"
+
+
+def test_incomplete_position_does_not_trigger_slowdown(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=False, endpoint_x=0.0)
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert not controller._trajectory_valid
+  assert not controller._has_slow_down
+  assert controller.mode() == "acc"
+
+
+def test_slowdown_hysteresis_prevents_threshold_chatter():
+  signal = HysteresisSignal(enter_threshold=0.5, exit_threshold=0.4, rise_rate=1.0, fall_rate=1.0)
+
+  assert signal.update(0.55)
+  assert signal.update(0.45)
+  assert not signal.update(0.35)
+
+
+def test_model_should_stop_triggers_blended_without_valid_trajectory(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=False, should_stop=True)
+
+  controller.update(default_sm)
+
+  assert not controller._trajectory_valid
+  assert controller.mode() == "blended"
+
+
+def test_radar_lead_keeps_acc_over_model_slowdown(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for _ in range(3):
+    controller.update(default_sm)
+
+  assert controller._has_slow_down
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_far_radar_lead_allows_blended_until_acc_relevant(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert not controller._has_radar_acc_lead
+  assert controller.mode() == "blended"
+
+
+def test_relevant_radar_lead_smoothly_returns_to_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+  assert controller.mode() == "blended"
+
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=45.0, vRel=0.0)
+  for _ in range(20):
+    controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_closing_far_radar_lead_returns_to_acc(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=-25.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+
+  for _ in range(20):
+    controller.update(default_sm)
+
+  assert controller._has_radar_acc_lead
+  assert controller.mode() == "acc"
+
+
+def test_radar_lead_keeps_acc_over_fcw_and_standstill(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  default_sm['carState'].standstill = True
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0, should_stop=True)
+  mock_mpc.crash_cnt = 1
+
+  for _ in range(10):
+    controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller._has_mpc_fcw
+  assert controller.mode() == "acc"
+
+
+def test_lead_flicker_hold_prevents_one_frame_mode_flip(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0)
+  controller.update(default_sm)
+
+  default_sm['radarState'] = MockRadarState(status=0.0)
+  default_sm['modelV2'] = MockModelData(valid=True, endpoint_x=0.0)
+  controller.update(default_sm)
+
+  assert controller._has_lead_filtered
+  assert controller.mode() == "acc"
+
+
+def test_has_radar_acc_lead_true_for_near_lead(mock_cp, mock_mpc, default_sm):
+  # within RADAR_LEAD_ACC_MAX_DREL -- available regardless of whether DEC's own param/active() is on, since
+  # _update_calculations runs every cycle unconditionally.
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=40.0, vRel=0.0)
+  controller.update(default_sm)
+  assert controller.has_radar_acc_lead()
+
+
+def test_has_radar_acc_lead_false_for_far_slow_lead(mock_cp, mock_mpc, default_sm):
+  # beyond MAX_DREL and not closing fast enough for the TTC gate -- correctly not trusted as an ACC-safe lead.
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=120.0, vRel=0.0)
+  controller.update(default_sm)
+  assert not controller.has_radar_acc_lead()
+
+
+def test_has_radar_acc_lead_false_when_radar_unavailable(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=40.0, vRel=0.0)
+  controller.update(default_sm)
+  assert not controller.has_radar_acc_lead()
+
+
+def test_has_radar_acc_lead_independent_of_dec_param(mock_cp, mock_mpc, default_sm):
+  # DEC disabled (param False) must not affect this -- it's a lead-safety baseline other callers rely on
+  # regardless of whether DEC itself is on.
+  class MockParamsOff:
+    def get_bool(self, name):
+      return False
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParamsOff())
+  default_sm['radarState'] = MockRadarState(status=1.0, dRel=40.0, vRel=0.0)
+  controller.update(default_sm)
+  assert not controller.enabled()
+  assert not controller.active()
+  assert controller.has_radar_acc_lead()
@@ -9,6 +9,8 @@ from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.accel_controller import AccelController
+from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import RadarDistanceController
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
@@ -20,12 +22,40 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource

+# Bounds how fast output_a_target may drop while blended and NOT currently urgent (continuous -- not just a
+# short window right after the switch; see DynamicExperimentalController.smoothing_transition()/is_urgent()).
+# Never active during a genuine emergency (FCW, or a model slow-down past the urgent-severity threshold) at
+# any point, whether that was true at the moment of the switch or only became true later while still blended.
+TRANSITION_MAX_DROP_PER_CYCLE = 0.15   # m/s^2 per cycle
+
+
+class _E2ETransitionGuard:
+  # Without this, the e2e model's own action.desiredAcceleration -- which the core MPC-side jerk_scale never
+  # shapes (it only touches the MPC's own solution, not this raw model path) -- can drop sharply frame-to-
+  # frame at any point while blended, not only at the instant DEC switches into it, producing a discontinuous
+  # brake with zero jerk shaping. Only ever limits a DOWNWARD move; never delays a rise.
+  def __init__(self):
+    self._last = None
+
+  def reset(self) -> None:
+    self._last = None
+
+  def apply(self, output_a_target: float, smoothing_active: bool) -> float:
+    if not smoothing_active or self._last is None:
+      self._last = output_a_target
+      return output_a_target
+    limited = max(output_a_target, self._last - TRANSITION_MAX_DROP_PER_CYCLE)
+    self._last = limited
+    return limited
+

 class LongitudinalPlannerSP:
  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
    self.events_sp = EventsSP()
    self.resolver = SpeedLimitResolver()
    self.dec = DynamicExperimentalController(CP, mpc)
+    self.accel = AccelController(CP, mpc)
+    self.radar_distance = RadarDistanceController(CP)
    self.scc = SmartCruiseControl()
    self.resolver = SpeedLimitResolver()
    self.sla = SpeedLimitAssist(CP, CP_SP)
@@ -35,13 +65,24 @@ class LongitudinalPlannerSP:

    self.output_v_target = 0.
    self.output_a_target = 0.
+    self._e2e_transition_guard = _E2ETransitionGuard()

  def is_e2e(self, sm: messaging.SubMaster) -> bool:
    experimental_mode = sm['selfdriveState'].experimentalMode
-    if not self.dec.active():
-      return experimental_mode
+    if not experimental_mode:
+      return False

-    return experimental_mode and self.dec.mode() == "blended"
+    # A near/fast-closing radar lead always routes to pure MPC, regardless of whether DEC itself is on --
+    # this baseline is not something the DEC toggle should be able to bypass (dec.has_radar_acc_lead() is
+    # computed every cycle independent of dec.active()). DEC's own toggle only gates the OTHER blended
+    # triggers (standstill, slow-down, FCW) below.
+    if self.dec.has_radar_acc_lead():
+      return False
+
+    if not self.dec.active():
+      return True
+
+    return self.dec.mode() == "blended"

  def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
    CS = sm['carState']
@@ -76,8 +117,16 @@ class LongitudinalPlannerSP:
  def update(self, sm: messaging.SubMaster) -> None:
    self.events_sp.clear()
    self.dec.update(sm)
+    self.accel.update(sm)
+    self.radar_distance.update(sm)
    self.e2e_alerts_helper.update(sm, self.events_sp)

+  def smooth_radarstate(self, radarstate):
+    return self.radar_distance.smooth_radarstate(radarstate)
+
+  def smooth_e2e_transition(self, output_a_target: float) -> float:
+    return self._e2e_transition_guard.apply(output_a_target, self.dec.smoothing_transition())
+
  def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
    plan_sp_send = messaging.new_message('longitudinalPlanSP')

@@ -138,4 +187,17 @@ class LongitudinalPlannerSP:
    e2eAlerts.greenLightAlert = self.e2e_alerts_helper.green_light_alert
    e2eAlerts.leadDepartAlert = self.e2e_alerts_helper.lead_depart_alert

+    # Acceleration Personality (telemetry only; brakeNeed/decelTarget/smoothActive repurposed for the
+    # input-shaping design -- see cereal custom.capnp Acceleration).
+    acceleration = longitudinalPlanSP.acceleration
+    acceleration.personality = self.accel.personality()
+    acceleration.enabled = self.accel.enabled()
+    acceleration.maxAccel = float(self.accel.max_accel())
+    acceleration.brakeNeed = float(self.accel.follow_widen())    # follow-gap widen added on top of stock (s)
+    acceleration.decelTarget = float(self.accel.t_follow())       # t_follow handed to the MPC (s)
+    acceleration.smoothActive = self.accel.widen_active()         # follow-gap widen currently active
+    acceleration.bypassed = False                                 # unused (no output shaping / bypass anymore)
+    acceleration.leadUnstable = bool(self.radar_distance.lead_unstable())
+
+
    pm.send('longitudinalPlanSP', plan_sp_send)
@@ -0,0 +1,449 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+RadarDistance conditions the lead the longitudinal MPC follows on a noisy (TSS2-class) radar. It NEVER
+reports a farther-or-faster lead than reality, so braking is always >= stock. Four mechanisms:
+  * jump-guard: reject a same-cycle FARTHER dRel jump on a lead that never dropped status (a vision/radar
+    fusion transient during lead acquisition -- e.g. a cut-in whose vision distance estimate briefly
+    disagrees with a solid radar track) by holding the last-trusted, closer reading instead of snapping back
+    out. A closer jump of any size always passes immediately -- this only ever delays relief, never a brake;
+  * flicker-hold: keep a just-dropped, recently-sustained lead alive (dead-reckoned) through a brief radar
+    dropout so the MPC does not lose and re-grab it (which reads as a phantom release then a catch-up brake);
+  * churn/noise smoother: a short EMA on a lead's dRel/vLead/vRel so the MPC stops hunting the gap (removes
+    the follow-jitter that reads as rubber-banding and, on the sensor side, as a lead-detection "lurch").
+    Covers two DISTINCT same-physical-object noise signatures: trackId churn (id flips frame-to-frame but the
+    kinematics stay coherent -- one real lead getting re-labeled) and same-track noise (id stays constant but
+    vLead itself is bimodal/bouncing -- one real lead with a noisy fusion/Doppler velocity read). Both are
+    safe to EMA because the id evidence pins them to a SINGLE physical object; a bimodal vLead WITH the id
+    also changing is left alone (ambiguous -- could be two really-different real objects) so this can never
+    average two real tracks together. dRel is asymmetric -- closer accepted immediately, only farther is
+    EMA-lagged -- so it can't hold a steadily-closing lead farther-than-true; vLead/vRel stay symmetric;
+  * stop-gap: near a (near-)stopped lead at low speed report dRel a touch closer so the MPC's own smooth stop
+    settles farther back (the Prius TSS2 stock crawl creeps in to ~1.5 m). Monotone (closer => brake >= stock).
+    Overridden off by sustained lead motion (even slow creep) so it can't suppress a real, growing gap during
+    a launch. Never runs on a held (jump-guard or flicker-hold) lead, since a hold's vLead/dRel are stale;
+Also publishes a read-only lead-instability flag (telemetry). Disabled => byte-stock passthrough always.
+"""
+
+from collections import deque
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+
+HOLD_MAX_FRAMES = 20        # ~1.0s flicker-hold cap, since the last sustained lead
+SUSTAIN_FRAMES = 2
+DROPOUT_DREL = 1.0
+FCW_PROB_CAP = 0.9
+MIN_HELD_DREL = 0.5
+
+LOW_SPEED_PASSTHROUGH_V = 5.0   # m/s: below this, no flicker-hold (holding a stale lead near a stop would
+                                # delay the launch); the churn smoother still runs down to CREEP_PASSTHROUGH_V
+CREEP_PASSTHROUGH_V = 1.0       # m/s: below this, full byte-stock passthrough (protect the stock stop distance)
+
+SWITCH_DREL = 4.0               # m, dRel jump = a track switch (used by the instability detector + jump-guard).
+
+# Jump-guard: a same-cycle dRel jump this far FARTHER, on a lead that never dropped status, is treated as a
+# fusion transient (not a real sudden separation) and held at the last-trusted value for a bounded number of
+# frames. Self-heals fast so a genuinely-departing lead is never held stale for long.
+JUMP_GUARD_MAX_HOLD = 10       # frames (~0.5s)
+
+# How many frames a _JumpGuard/_LeadSmoother reference can go without a step()/update() call (below the speed
+# gate that call is skipped entirely) before it's discarded as stale rather than diffed/EMA'd against. Must be
+# small next to a real stop (the bug this guards against ran 3200+ frames/160s) but comfortably bigger than an
+# incidental single skipped cycle from v_ego dithering right at LOW_SPEED_PASSTHROUGH_V/CREEP_PASSTHROUGH_V --
+# a flat ">1" here defeated the same-cycle farther-jump guard on every dithered cycle and let a real jitter
+# glitch leak into the smoother's EMA for up to ~1s.
+REFERENCE_STALE_FRAMES = 20    # ~1.0s
+
+# Lead-instability detector (telemetry only): flags a bimodal/bouncing radar lead.
+STABILITY_WINDOW = 5           # frames (~0.25s @ 20Hz)
+VLEAD_SPREAD = 4.0            # m/s, vLead range over the window above which the lead is "unstable"
+ID_CHURN_WINDOW = 10          # frames (~0.5s) for radarTrackId-churn detection (steady lead, flipping ids)
+ID_CHURN = 3                 # trackId switches in the window above which the lead is "unstable" (follow-hunting)
+
+# Churn smoother: during trackId churn the per-track dRel/vRel jitter makes the MPC hunt the follow gap. A
+# short SYMMETRIC EMA on the churning lead removes the jitter so the MPC sees a steady lead. Active ONLY
+# during churn (NOT bimodal vLead -> never averages two real tracks). Bounded symmetric lag ~LEAD_SMOOTH_TAU.
+LEAD_SMOOTH_TAU = 0.5          # s, EMA time constant
+LEAD_SMOOTH_HOLD = 20          # frames (~1s): keep smoothing through brief churn gaps (churn toggles on/off)
+
+# Stop-gap: near a (near-)stopped lead at low speed, report dRel up to STOP_GAP_M closer so the MPC's own
+# smooth stop terminates that much farther back (stock Prius crawl-creeps to ~1.5 m). Monotone (only reports
+# closer => brake >= stock). Ramps in below the regime dRel and out as the lead starts moving; releases on
+# launch as ego speed rises past STOP_GAP_VEGO.
+STOP_GAP_M = 2.5               # m: max dRel reduction = added standstill gap
+STOP_GAP_VEGO = 8.0            # m/s: only below this ego speed
+STOP_GAP_VLEAD = 1.5           # m/s: only behind a (near-)stopped lead; ramps out as vLead rises to this
+STOP_GAP_REGIME_DREL = 12.0    # m: bias ramps in below this dRel
+STOP_GAP_RAMP_BAND = 2.0       # m: ramp-in band (full offset below REGIME_DREL - RAMP_BAND)
+STOP_GAP_MIN_DREL = 2.0        # m: never report a lead closer than this
+
+# Stop-gap creep override: a lead creeping forward slowly can sit under STOP_GAP_VLEAD for many seconds
+# without crossing it, so the bias keeps suppressing a real, growing gap. Sustained motion this long overrides
+# the bias off regardless of how slow. The counter decays (not just holds) on a sub-threshold frame, so it
+# takes sustained motion, not noise straddling the threshold, to reach the cap.
+STOP_GAP_CREEP_V = 0.03        # m/s: a truly-stopped lead reads exactly 0.0; treat anything above this as motion
+STOP_GAP_CREEP_HOLD_S = 1.5    # s: this much sustained motion overrides the bias off
+STOP_GAP_CREEP_HOLD_FRAMES = int(STOP_GAP_CREEP_HOLD_S / DT_MDL)
+
+
+class _BiasedLead:
+  __slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'vLeadK', 'aLeadK', 'aLeadTau', 'modelProb')
+
+  def __init__(self, src, dRel):
+    self.status = src.status
+    self.dRel = dRel
+    self.yRel = src.yRel
+    self.vRel = src.vRel
+    self.vLead = src.vLead
+    self.vLeadK = src.vLeadK
+    self.aLeadK = src.aLeadK
+    self.aLeadTau = src.aLeadTau
+    self.modelProb = src.modelProb
+
+
+class _SmoothedLead:
+  __slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'vLeadK', 'aLeadK', 'aLeadTau', 'modelProb')
+
+  def __init__(self, src, dRel, vLead, vRel):
+    self.status = src.status
+    self.dRel = dRel
+    self.yRel = src.yRel
+    self.vRel = vRel
+    self.vLead = vLead
+    self.vLeadK = vLead
+    self.aLeadK = src.aLeadK
+    self.aLeadTau = src.aLeadTau
+    self.modelProb = src.modelProb
+
+
+class _HeldLead:
+  __slots__ = ('status', 'dRel', 'yRel', 'vRel', 'vLead', 'vLeadK', 'aLeadK', 'aLeadTau', 'modelProb')
+
+  def __init__(self, dRel, vRel, vLead, aLeadK, aLeadTau, modelProb):
+    self.status = True
+    self.dRel = dRel
+    self.vRel = vRel
+    self.vLead = vLead
+    self.vLeadK = vLead
+    self.aLeadK = aLeadK
+    self.aLeadTau = aLeadTau
+    self.modelProb = modelProb
+    self.yRel = 0.0
+
+
+class _RadarStateProxy:
+  __slots__ = ('leadOne', 'leadTwo')
+
+  def __init__(self, lead_one, lead_two):
+    self.leadOne = lead_one
+    self.leadTwo = lead_two
+
+
+class _LeadSmoother:
+  # EMA on a noisy same-physical-object lead's dRel/vLead/vRel (jitter removal; see _LeadStability for what
+  # qualifies as "same object"). A hold keeps it active through brief noise gaps (the trigger toggles on/off);
+  # passthrough + reset only after the hold lapses. dRel is ASYMMETRIC: a closer raw reading is accepted
+  # immediately (never delay awareness of closer -- the file's own invariant), only a FARTHER raw reading is
+  # EMA-lagged (reject noise in that direction). Without this, a lead that's genuinely closing steadily while
+  # noisy (even briefly) gets held farther-than-true for the full LEAD_SMOOTH_HOLD window, then snaps -- a
+  # false-relief-then-correction that itself becomes a hard brake.
+  def __init__(self):
+    self._d = None
+    self._vl = None
+    self._vr = None
+    self._hold = 0
+    self._last_frame = 0
+
+  def reset(self):
+    self._d = None
+    self._vl = None
+    self._vr = None
+    self._hold = 0
+    self._last_frame = 0
+
+  def update(self, lead, noisy: bool, frame: int):
+    # A held lead's dRel/vLead is a stale extrapolation -- feeding it into the EMA would both hide that from
+    # downstream (wraps it into a _SmoothedLead) and pollute _d/_vl/_vr, lagging the real value's recovery.
+    if isinstance(lead, _HeldLead):
+      self.reset()
+      return lead
+    # update() is only called above CREEP_PASSTHROUGH_V (see smooth_radarstate), so _hold and the EMA state
+    # (_d/_vl/_vr) freeze for the entire duration of any full standstill. Resuming and EMA-ing a real, opening
+    # lead against that frozen _d as if no time had passed lags dRel toward the stale, closer pre-stop value
+    # for up to LEAD_SMOOTH_TAU-ish seconds -- same bug class as _JumpGuard/_LeadHold's frame-based staleness
+    # fixes. Treat a gap since the last call larger than REFERENCE_STALE_FRAMES (not a flat 1) as no state at
+    # all, so an incidental single skipped cycle from v_ego dithering right at the gate doesn't itself wipe the
+    # EMA's short-term jitter-suppression memory.
+    if self._last_frame and frame - self._last_frame > REFERENCE_STALE_FRAMES:
+      self.reset()
+    self._last_frame = frame
+    self._hold = LEAD_SMOOTH_HOLD if noisy else self._hold - 1
+    if self._hold <= 0 or not lead.status:
+      self.reset()
+      return lead
+    if self._d is None:
+      self._d, self._vl, self._vr = lead.dRel, lead.vLead, lead.vRel
+      return lead
+    a = DT_MDL / LEAD_SMOOTH_TAU
+    self._d = lead.dRel if lead.dRel < self._d else self._d + (lead.dRel - self._d) * a
+    self._vl += (lead.vLead - self._vl) * a
+    self._vr += (lead.vRel - self._vr) * a
+    return _SmoothedLead(lead, self._d, self._vl, self._vr)
+
+
+class _JumpGuard:
+  # Rejects a same-cycle FARTHER dRel jump on a lead that never dropped status (a vision/radar fusion
+  # transient, e.g. a cut-in whose vision distance estimate briefly disagrees with a solid radar track before
+  # the match locks on) by holding the last-trusted reading, extrapolated by its own vRel, for a bounded
+  # number of frames. A CLOSER jump of any size always passes through immediately -- this can only ever delay
+  # relief, never a brake -- and it self-heals after JUMP_GUARD_MAX_HOLD frames if the jump was real.
+  # modelProb is capped at FCW_PROB_CAP on the held lead (same as _LeadHold's flicker-hold, below) -- a held
+  # reading is no longer confirmed fresh, so it must not carry enough confidence to trip the stock FCW gate.
+  def __init__(self):
+    self._last = None
+    self._last_frame = 0
+    self._hold = 0
+    self._grace_used = False
+
+  def reset(self):
+    self._last = None
+    self._last_frame = 0
+    self._hold = 0
+    self._grace_used = False
+
+  def step(self, raw, frame):
+    if not raw.status:
+      self.reset()
+      return raw
+
+    # _last is only a valid reference to diff against if it's recent. smooth_radarstate() stops calling step()
+    # below LOW_SPEED_PASSTHROUGH_V (see _LeadHold), so after any low-speed gap (a full stop, a slow zone)
+    # _last can be arbitrarily many real seconds old. Diffing a fresh reading against a stale one as if it were
+    # a same-cycle transient rejects a real, large, entirely legitimate change (e.g. a lead that pulled away
+    # during the gap) as a fusion glitch and holds a phantom lead -- measured causing a hard, unwarranted brake
+    # on a real route (launch from a stop after the lead had long since moved on). Treat a stale _last as no
+    # reference at all: pass raw through and re-baseline. REFERENCE_STALE_FRAMES (not a flat 1) so an
+    # incidental single skipped cycle from v_ego dithering right at the gate doesn't itself defeat the guard.
+    stale = self._last is not None and (frame - self._last_frame) > REFERENCE_STALE_FRAMES
+
+    if not stale and self._last is not None and (raw.dRel - self._last[0]) > SWITCH_DREL and self._hold < JUMP_GUARD_MAX_HOLD:
+      dRel0, vRel0, vLead0, aLeadK0, aLeadTau0, prob0 = self._last
+      self._hold += 1
+      held_dRel = max(MIN_HELD_DREL, dRel0 - max(-vRel0, 0.0) * DT_MDL)
+      self._last = (held_dRel, vRel0, vLead0, aLeadK0, aLeadTau0, prob0)
+      self._last_frame = frame
+      return _HeldLead(held_dRel, vRel0, vLead0, aLeadK0, aLeadTau0, min(prob0, FCW_PROB_CAP))
+
+    # Hold cap reached on a lead that was closing: self-healing straight onto raw here would adopt a farther
+    # reading than the trajectory already tracked, i.e. report a farther lead than reality for at least one
+    # more cycle. Take exactly one bounded extra cycle at the last-held value first -- never a second, so this
+    # can't turn into an indefinite hold on a lead that genuinely departed.
+    if (not stale and self._hold >= JUMP_GUARD_MAX_HOLD and not self._grace_used and self._last is not None and
+        self._last[1] < 0.0 and (raw.dRel - self._last[0]) > SWITCH_DREL):
+      dRel0, vRel0, vLead0, aLeadK0, aLeadTau0, prob0 = self._last
+      self._grace_used = True
+      self._last_frame = frame
+      return _HeldLead(dRel0, vRel0, vLead0, aLeadK0, aLeadTau0, min(prob0, FCW_PROB_CAP))
+
+    self._hold = 0
+    self._grace_used = False
+    self._last = (raw.dRel, raw.vRel, raw.vLead, raw.aLeadK, raw.aLeadTau, raw.modelProb)
+    self._last_frame = frame
+    return raw
+
+
+class _LeadHold:
+  # step() takes the caller's absolute frame counter rather than counting its own calls: below
+  # LOW_SPEED_PASSTHROUGH_V the caller stops calling step() at all (see smooth_radarstate), and a
+  # self-incrementing counter would then stay frozen at whatever it was for however long that lasts -- on
+  # resume it would read as "just a few frames since the last real sighting" no matter how much real time
+  # (a full stop, a slow zone) actually passed, and could hand HOLD_MAX_FRAMES worth of stale credit to a
+  # sighting from arbitrarily long ago. Comparing against the caller's frame counter makes the elapsed-frames
+  # check correct regardless of how many cycles were skipped in between.
+  def __init__(self):
+    self._last = None
+    self._sustained = 0
+    self._real_frame = 0
+    self._armed = False
+    self._held_dRel = 0.0
+    self._holding = False   # true once this hold episode has been reseeded from a real reading
+
+  def reset(self):
+    self.__init__()
+
+  def step(self, raw, frame):
+    if raw.status and raw.dRel > DROPOUT_DREL:
+      self._last = (raw.dRel, raw.vRel, raw.vLead, raw.aLeadK, raw.aLeadTau, raw.modelProb)
+      self._sustained += 1
+      if self._sustained >= SUSTAIN_FRAMES:
+        self._real_frame = frame
+        self._armed = True
+      self._holding = False   # back on a real sighting -- the next dropout starts a fresh hold episode
+      return raw
+
+    self._sustained = 0
+    since_real = frame - self._real_frame
+    if self._armed and self._last is not None and since_real <= HOLD_MAX_FRAMES:
+      dRel0, vRel0, vLead0, aLeadK0, aLeadTau0, prob0 = self._last
+      # Reseed _held_dRel from the real last-known value exactly once per hold episode, on whichever call
+      # first starts holding -- NOT on since_real==1: since_real is elapsed REAL frames (see class docstring),
+      # so any low-speed gap in between (step() skipped) makes since_real > 1 on the very first dropout call
+      # actually made, and comparing it to 1 would silently skip the reseed -- leaving _held_dRel at its
+      # stale/init value (0.0), which the next line's floor then clamps to MIN_HELD_DREL: a fabricated
+      # near-bumper phantom lead, not a dead-reckoned extrapolation of the real one.
+      if not self._holding:
+        self._held_dRel = dRel0
+        self._holding = True
+      self._held_dRel = max(MIN_HELD_DREL, self._held_dRel - max(-vRel0, 0.0) * DT_MDL)
+      return _HeldLead(self._held_dRel, vRel0, vLead0, min(aLeadK0, 0.0), aLeadTau0, min(prob0, FCW_PROB_CAP))
+
+    self._armed = False
+    self._holding = False
+    return raw
+
+
+class _LeadStability:
+  # Read-only monitor: flags an unstable leadOne -- bimodal/bouncing vLead, dRel track-switch jumps, or
+  # radarTrackId churn (a steady lead flipping track ids -> vRel jitter -> follow-hunting). Telemetry only.
+  # Also derives same_track_noise: a bimodal/bouncing vLead while radarTrackId sat CONSTANT the whole window
+  # -- i.e. the id evidence pins the noise to one physical object (a Doppler/fusion-noisy velocity read on one
+  # real lead), so it is safe to feed the smoother (see _LeadSmoother). A bimodal vLead WITH the id also
+  # changing stays outside same_track_noise (could be two really-different real objects at different speeds)
+  # and is left unmitigated, same as before. dRel track-jumps are deliberately excluded here: while status
+  # stays True (this class's own precondition), a repeated FARTHER dRel jump is already absorbed by
+  # _JumpGuard upstream (same SWITCH_DREL threshold), so adding it here would just double up on the same
+  # signal rather than covering a real gap.
+  def __init__(self):
+    self._v = deque(maxlen=STABILITY_WINDOW)
+    self._d = deque(maxlen=STABILITY_WINDOW)
+    self._id = deque(maxlen=ID_CHURN_WINDOW)
+    self.unstable = False
+    self.churn = False
+    self.same_track_noise = False
+
+  def reset(self):
+    self._v.clear()
+    self._d.clear()
+    self._id.clear()
+    self.unstable = False
+    self.churn = False
+    self.same_track_noise = False
+
+  def update(self, lead, v_ego: float) -> None:
+    if not lead.status or v_ego < CREEP_PASSTHROUGH_V:
+      self.reset()
+      return
+    self._v.append(float(lead.vLead))
+    self._d.append(float(lead.dRel))
+    self._id.append(int(getattr(lead, 'radarTrackId', -1)))
+    if len(self._v) < STABILITY_WINDOW:
+      self.unstable = False
+      return
+    v_spread = max(self._v) - min(self._v)
+    d_jumps = sum(abs(b - a) > SWITCH_DREL for a, b in zip(self._d, list(self._d)[1:], strict=False))
+    ids = list(self._id)
+    id_churn = sum(1 for a, b in zip(ids, ids[1:], strict=False) if a != b and a > 0 and b > 0)
+    recent_ids = ids[-STABILITY_WINDOW:]
+    same_track = recent_ids[0] > 0 and len(set(recent_ids)) == 1
+    self.churn = id_churn >= ID_CHURN and v_spread <= VLEAD_SPREAD   # steady lead, flipping ids (not bimodal)
+    self.same_track_noise = same_track and v_spread > VLEAD_SPREAD
+    self.unstable = v_spread > VLEAD_SPREAD or d_jumps >= 2 or self.churn
+
+
+class RadarDistanceController:
+  def __init__(self, CP: structs.CarParams, params=None):
+    # CP accepted for the planner's constructor signature; unused.
+    self._params = params or Params()
+    self._frame = 0
+    self._v_ego = 0.0
+    self._enabled = self._params.get_bool("RadarDistance")
+    self._jump_guard = _JumpGuard()
+    self._one = _LeadHold()
+    self._two = _LeadHold()
+    self._stability = _LeadStability()
+    self._smoother = _LeadSmoother()
+    self._creep_frames = 0
+    self._creep_released = False
+
+  def _read_params(self) -> None:
+    enabled = self._params.get_bool("RadarDistance")
+    if not enabled and self._enabled:
+      self._jump_guard.reset()
+      self._one.reset()
+      self._two.reset()
+      self._smoother.reset()
+      self._creep_frames = 0
+      self._creep_released = False
+    self._enabled = enabled
+
+  def update(self, sm) -> None:
+    if self._frame % int(1. / DT_MDL) == 0:
+      self._read_params()
+    self._v_ego = float(sm['carState'].vEgo)
+
+  def enabled(self) -> bool:
+    return self._enabled
+
+  def lead_unstable(self) -> bool:
+    return self._stability.unstable
+
+  def _stop_gap_bias(self, lead):
+    # Report a (near-)stopped lead up to STOP_GAP_M closer at low speed so the MPC's own smooth stop ends
+    # that much farther back. Monotone (only ever reports closer). No-op outside the regime.
+    in_regime = (lead.status and lead.vLead <= STOP_GAP_VLEAD and
+                 self._v_ego <= STOP_GAP_VEGO and lead.dRel > STOP_GAP_MIN_DREL)
+    if not in_regime:
+      self._creep_frames = 0
+      self._creep_released = False
+      return lead
+
+    # A held (stale) lead's near-zero vLead can still satisfy the regime check on a lead that's departed --
+    # skip biasing it, but freeze the creep latch rather than resetting it (an unrelated jump-guard glitch
+    # shouldn't undo motion the lead already earned).
+    if isinstance(lead, _HeldLead):
+      return lead
+
+    if lead.vLead > STOP_GAP_CREEP_V:
+      self._creep_frames = min(self._creep_frames + 1, STOP_GAP_CREEP_HOLD_FRAMES)
+      if self._creep_frames >= STOP_GAP_CREEP_HOLD_FRAMES:
+        self._creep_released = True
+    else:
+      # decay: a sub-threshold frame undoes one frame of "motion" credit, so only SUSTAINED motion (not
+      # cumulative noise straddling the threshold) can reach the cap.
+      self._creep_frames = max(self._creep_frames - 1, 0)
+    if self._creep_released:                          # once latched: sticky -- a single-frame near-zero blip
+      return lead                                      # afterward (e.g. sensor noise mid-creep) can't re-suppress it
+
+    d_ramp = min(max((STOP_GAP_REGIME_DREL - lead.dRel) / STOP_GAP_RAMP_BAND, 0.0), 1.0)
+    v_ramp = min(max((STOP_GAP_VLEAD - lead.vLead) / STOP_GAP_VLEAD, 0.0), 1.0)
+    offset = STOP_GAP_M * d_ramp * v_ramp
+    if offset < 0.05:
+      return lead
+    return _BiasedLead(lead, max(lead.dRel - offset, STOP_GAP_MIN_DREL))
+
+  def smooth_radarstate(self, radarstate):
+    self._frame += 1                                           # step()'s elapsed-frames basis; see _LeadHold
+    self._stability.update(radarstate.leadOne, self._v_ego)   # telemetry, runs every cycle
+    if not self._enabled:
+      return radarstate                                       # off: byte-stock passthrough
+    two = radarstate.leadTwo
+    noisy = self._stability.churn or self._stability.same_track_noise
+    if self._v_ego >= LOW_SPEED_PASSTHROUGH_V:
+      one = self._jump_guard.step(radarstate.leadOne, self._frame)  # reject a same-cycle farther-jump transient ...
+      one = self._one.step(one, self._frame)                  # ... + flicker-hold ...
+      two = self._two.step(radarstate.leadTwo, self._frame)
+      one = self._smoother.update(one, noisy, self._frame)     # ... + same-object de-jitter (anti follow-hunt)
+    elif self._v_ego >= CREEP_PASSTHROUGH_V:
+      # creep band: de-jitter ONLY (symmetric EMA), no flicker-hold (a stale held lead would delay launch)
+      one = self._smoother.update(radarstate.leadOne, noisy, self._frame)
+    else:
+      one = radarstate.leadOne                                # full standstill: no hold/smoothing
+    one = self._stop_gap_bias(one)                            # low-speed near-stopped: settle farther back
+    if one is radarstate.leadOne and two is radarstate.leadTwo:
+      return radarstate                                       # nothing changed -> byte-stock object
+    return _RadarStateProxy(one, two)
@@ -0,0 +1,801 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+RadarDistance is a pure lead DE-NOISER: flicker-hold + churn smoother + instability telemetry, and nothing
+else (no dRel biasing). These tests pin: off / low-speed == byte-stock (stock stop distance); the hold is
+obstacle-monotone (brake >= stock) and bounded; the churn smoother de-jitters only a track-flipping lead;
+and the instability flag is telemetry that runs regardless of the gate.
+"""
+
+from types import SimpleNamespace
+
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot.selfdrive.controls.lib.radar_distance.radar_distance import \
+  RadarDistanceController, HOLD_MAX_FRAMES, FCW_PROB_CAP, LOW_SPEED_PASSTHROUGH_V, CREEP_PASSTHROUGH_V, \
+  DROPOUT_DREL, STOP_GAP_MIN_DREL, STOP_GAP_VEGO, STOP_GAP_VLEAD, STOP_GAP_REGIME_DREL, SWITCH_DREL, \
+  JUMP_GUARD_MAX_HOLD, STOP_GAP_CREEP_V, STOP_GAP_CREEP_HOLD_FRAMES
+
+COMFORT_BRAKE = 2.5
+
+
+class FakeParams:
+  def __init__(self, store=None):
+    self.store = dict(store or {})
+
+  def get_bool(self, key):
+    return bool(self.store.get(key, False))
+
+
+def lead(status=True, dRel=40.0, vRel=-2.0, vLead=18.0, aLeadK=0.0, aLeadTau=1.5, modelProb=0.95, radarTrackId=-1):
+  return SimpleNamespace(status=status, dRel=dRel, yRel=0.0, vRel=vRel, vLead=vLead, vLeadK=vLead,
+                         aLeadK=aLeadK, aLeadTau=aLeadTau, modelProb=modelProb, radarTrackId=radarTrackId)
+
+
+def rs(one, two=None):
+  return SimpleNamespace(leadOne=one, leadTwo=two or lead(status=False, dRel=0.0, modelProb=0.0))
+
+
+def obstacle(ld):
+  return ld.dRel + ld.vLead ** 2 / (2 * COMFORT_BRAKE)
+
+
+def ctrl(enabled=True, v_ego=10.0):
+  c = RadarDistanceController(CP=SimpleNamespace(), params=FakeParams({'RadarDistance': enabled}))
+  c._v_ego = v_ego   # above the low-speed gate so the hold + smoother run
+  return c
+
+
+def churn_frames(n, d_a=40.0, d_b=42.0, vLead=18.0):
+  # a steady lead whose radarTrackId flips every frame (dRel jitters with it) -> the churn detector fires and
+  # the smoother should de-jitter dRel. vLead is steady so it is NOT flagged bimodal (never averages 2 tracks).
+  for i in range(n):
+    even = i % 2 == 0
+    yield lead(dRel=d_a if even else d_b, vLead=vLead, vRel=-1.0, radarTrackId=1 if even else 2)
+
+
+# --- off / low-speed == byte-stock ------------------------------------------------------------------------
+
+def test_disabled_is_identity():
+  c = ctrl(enabled=False)
+  r = rs(lead())
+  assert c.smooth_radarstate(r) is r                 # byte-stock passthrough
+
+
+def test_valid_lead_passthrough():
+  c = ctrl()
+  one = lead(dRel=40.0)
+  out = c.smooth_radarstate(rs(one))
+  assert out.leadOne is one                          # clean lead, no churn -> unchanged
+
+
+def test_full_standstill_outside_stopgap_is_passthrough():
+  # Full standstill (< CREEP_PASSTHROUGH_V), lead OUTSIDE the stop-gap regime (far): no hold, no smoothing,
+  # no bias -> the EXACT raw radarstate object (byte-identical). The stop-gap only engages inside its regime.
+  c = ctrl(v_ego=CREEP_PASSTHROUGH_V - 0.5)
+  r = rs(lead(dRel=STOP_GAP_REGIME_DREL + 8.0, vLead=0.5))
+  assert c.smooth_radarstate(r) is r
+
+
+def test_creep_dejitters_churn_but_no_hold():
+  # Creep band [CREEP, LOW_SPEED): the churn smoother runs (de-jitter -> smooth stop-and-go), but the
+  # flicker-hold does NOT (a dropped/departed lead must not be held, or launch would be delayed).
+  # vLead>STOP_GAP_VLEAD so the stop-gap stays out and this isolates the EMA.
+  c = ctrl(v_ego=(CREEP_PASSTHROUGH_V + LOW_SPEED_PASSTHROUGH_V) / 2)
+  out = None
+  for f in churn_frames(30, d_a=6.0, d_b=8.0, vLead=3.0):
+    out = c.smooth_radarstate(rs(f))
+  assert 6.0 < out.leadOne.dRel < 8.0                # jitter smoothed
+  # a dropout in the creep band is NOT held -> raw passes through (no stale lead)
+  drop = rs(lead(status=False, dRel=0.0, modelProb=0.0))
+  assert c.smooth_radarstate(drop) is drop
+
+
+def test_creep_clean_lead_passthrough():
+  # creep band, steady moving lead (no churn, outside stop-gap regime) -> exact raw object (unbiased)
+  c = ctrl(v_ego=(CREEP_PASSTHROUGH_V + LOW_SPEED_PASSTHROUGH_V) / 2)
+  r = rs(lead(dRel=4.0, vLead=2.5, radarTrackId=3))
+  assert c.smooth_radarstate(r) is r
+
+
+# --- stop-gap (settle farther back from a near-stopped lead) ----------------------------------------------
+
+def test_stop_gap_pulls_stopped_lead_closer():
+  c = ctrl(v_ego=2.0)
+  one = lead(dRel=6.0, vLead=0.0, vRel=-1.0)
+  out = c.smooth_radarstate(rs(one))
+  assert out.leadOne.dRel < 6.0                      # reported closer -> MPC stops farther back
+  assert obstacle(out.leadOne) <= obstacle(one) + 1e-6   # brake >= stock (obstacle never farther)
+
+
+def test_stop_gap_monotone_never_farther():
+  c = ctrl(v_ego=3.0)
+  for d in (4.0, 6.0, 9.0, 11.0):
+    out = c.smooth_radarstate(rs(lead(dRel=d, vLead=0.0)))
+    assert out.leadOne.dRel <= d + 1e-6
+
+
+def test_stop_gap_min_floor():
+  c = ctrl(v_ego=2.0)
+  out = c.smooth_radarstate(rs(lead(dRel=STOP_GAP_MIN_DREL + 0.5, vLead=0.0)))
+  assert out.leadOne.dRel >= STOP_GAP_MIN_DREL - 1e-6
+
+
+def test_stop_gap_off_when_disabled():
+  c = ctrl(enabled=False, v_ego=2.0)
+  r = rs(lead(dRel=6.0, vLead=0.0))
+  assert c.smooth_radarstate(r) is r                 # disabled -> stock stop distance
+
+
+def test_stop_gap_moving_lead_no_change():
+  c = ctrl(v_ego=2.0)
+  out = c.smooth_radarstate(rs(lead(dRel=6.0, vLead=STOP_GAP_VLEAD + 1.0)))
+  assert out.leadOne.dRel == pytest.approx(6.0)      # lead moving -> not a stop
+
+
+def test_stop_gap_high_speed_no_change():
+  c = ctrl(v_ego=STOP_GAP_VEGO + 2.0)
+  out = c.smooth_radarstate(rs(lead(dRel=6.0, vLead=0.0)))
+  assert out.leadOne.dRel == pytest.approx(6.0)      # above the stop regime -> unbiased
+
+
+def test_stop_gap_far_lead_no_change():
+  c = ctrl(v_ego=2.0)
+  d = STOP_GAP_REGIME_DREL + 5.0
+  out = c.smooth_radarstate(rs(lead(dRel=d, vLead=0.0)))
+  assert out.leadOne.dRel == pytest.approx(d)        # beyond the ramp-in regime -> unbiased
+
+
+# --- stop-gap creep override (sustained lead motion releases the bias even below STOP_GAP_VLEAD) ----------
+
+def test_stop_gap_creep_releases_after_sustained_motion():
+  # route 550a71ee4c7a7fbe/000004a4--c9c4691959, t~1126-1138: a lead crept forward at 0.3-0.6 m/s (well under
+  # STOP_GAP_VLEAD) for 9+ seconds; without the override the bias suppressed the whole real gap growth the
+  # entire time, producing a 9+ second launch delay. Real dRel grows steadily 4.0 -> 4.5m over this window.
+  c = ctrl(v_ego=0.0)
+  d = 4.0
+  out = None
+  for i in range(STOP_GAP_CREEP_HOLD_FRAMES + 5):
+    d += 0.05
+    out = c.smooth_radarstate(rs(lead(dRel=d, vLead=0.4)))
+    if i < STOP_GAP_CREEP_HOLD_FRAMES - 1:
+      assert out.leadOne.dRel < d - 1e-6                # still suppressed while creep hasn't sustained yet
+  assert out.leadOne.dRel == pytest.approx(d)            # released after STOP_GAP_CREEP_HOLD_FRAMES of motion
+
+
+def test_stop_gap_creep_release_is_sticky_through_a_momentary_zero_blip():
+  # A single-frame return to exactly 0.0 (real sensor behavior mid-creep, not just noise) must not re-arm the
+  # bias once sustained creep has already released it -- this was the actual bug: the real route's lead
+  # dipped to vLead=0.00 for one frame mid-launch and the bias briefly re-suppressed the gap right as a result.
+  c = ctrl(v_ego=0.0)
+  d = 4.0
+  for _ in range(STOP_GAP_CREEP_HOLD_FRAMES):
+    d += 0.05
+    c.smooth_radarstate(rs(lead(dRel=d, vLead=0.4)))
+  d += 0.05
+  out = c.smooth_radarstate(rs(lead(dRel=d, vLead=0.0)))  # exact-zero blip
+  assert out.leadOne.dRel == pytest.approx(d)             # still released, not re-suppressed
+  d += 0.05
+  out = c.smooth_radarstate(rs(lead(dRel=d, vLead=0.3)))  # creep resumes
+  assert out.leadOne.dRel == pytest.approx(d)
+
+
+def test_stop_gap_creep_counter_resets_on_a_genuine_new_stop():
+  # Leaving the bias regime entirely (lead departs, or ego speeds past STOP_GAP_VEGO) must re-arm the
+  # override so a LATER, unrelated near-stop encounter isn't permanently exempted by a stale latch.
+  c = ctrl(v_ego=0.0)
+  d = 4.0
+  for _ in range(STOP_GAP_CREEP_HOLD_FRAMES):
+    d += 0.05
+    c.smooth_radarstate(rs(lead(dRel=d, vLead=0.4)))
+  c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))   # lead lost -> regime exit
+  out = c.smooth_radarstate(rs(lead(dRel=6.0, vLead=0.0)))               # fresh near-stop encounter
+  assert out.leadOne.dRel < 6.0                                          # bias re-armed, active again
+
+
+def test_stop_gap_creep_below_threshold_never_releases():
+  c = ctrl(v_ego=0.0)
+  out = None
+  for _ in range(STOP_GAP_CREEP_HOLD_FRAMES + 10):
+    out = c.smooth_radarstate(rs(lead(dRel=6.0, vLead=STOP_GAP_CREEP_V * 0.5)))
+  assert out.leadOne.dRel < 6.0 - 1e-6                # vLead never exceeds the creep threshold -> stays biased
+
+
+def test_stop_gap_creep_intermittent_noise_never_releases():
+  # route 550a71ee4c7a7fbe/000004b6--d4a8ac3352, t~678-690s: a genuinely-stopped lead's vLead noise blipped
+  # above STOP_GAP_CREEP_V on roughly half the frames (never below zero motion overall, never sustained) --
+  # the old monotonic-only counter still accumulated those blips to the cap over enough frames and falsely
+  # latched the bias off mid-stop, producing a same-cycle jump in the reported gap. Alternating strictly
+  # above/below the threshold every frame, for far longer than STOP_GAP_CREEP_HOLD_FRAMES, must never release.
+  c = ctrl(v_ego=0.0)
+  out = None
+  for i in range(STOP_GAP_CREEP_HOLD_FRAMES * 4):
+    vLead = STOP_GAP_CREEP_V + 0.05 if i % 2 == 0 else 0.0
+    out = c.smooth_radarstate(rs(lead(dRel=6.0, vLead=vLead)))
+  assert out.leadOne.dRel < 6.0 - 1e-6                # never sustained -> never releases, even after 4x the hold
+
+
+def test_stop_gap_creep_sustained_after_intermittent_noise_still_releases():
+  # the decay must not make the override permanently harder to reach -- real sustained motion right after a
+  # noisy patch still releases within the normal HOLD window (decay only undoes noise, doesn't add a penalty).
+  c = ctrl(v_ego=0.0)
+  for i in range(STOP_GAP_CREEP_HOLD_FRAMES):
+    vLead = STOP_GAP_CREEP_V + 0.05 if i % 2 == 0 else 0.0
+    c.smooth_radarstate(rs(lead(dRel=6.0, vLead=vLead)))
+  out = None
+  for _ in range(STOP_GAP_CREEP_HOLD_FRAMES + 5):
+    out = c.smooth_radarstate(rs(lead(dRel=6.0, vLead=STOP_GAP_CREEP_V + 0.05)))
+  assert out.leadOne.dRel == pytest.approx(6.0)       # sustained motion still releases in bounded time
+
+
+def test_stop_gap_does_not_double_bias_a_jump_guard_held_lead():
+  # route 550a71ee4c7a7fbe/000004bc--d9e0efd5ac, t~1563.4-1563.9: a lead sitting near-stopped (vLead~0,
+  # inside the stop-gap regime) departs fast enough that a single raw dRel jump exceeds jump-guard's
+  # SWITCH_DREL. Jump-guard holds its OLD, stale (near-zero vLead0) reading rather than the new, fast, real
+  # one -- and that held vLead0 STILL satisfies the stop-gap regime check (it looks near-stopped), so without
+  # the skip, stop-gap piles a SECOND closer-bias on top of an already-stale value. On the real route this
+  # compounding dropped the reported gap far enough (raw ~16m -> ~2-5m) to fool the MPC's own forward-solve
+  # into a spurious FCW during a real launch. Fixed: stop-gap must skip a held (stale) lead entirely.
+  v_ego = (LOW_SPEED_PASSTHROUGH_V + STOP_GAP_VEGO) / 2   # in-band for jump-guard hold AND stop-gap regime
+  c = ctrl(v_ego=v_ego)
+  dRel0, vRel0, vLead0 = 7.5, -0.1, 0.2                  # near-stopped baseline, trusted
+  c.smooth_radarstate(rs(lead(dRel=dRel0, vRel=vRel0, vLead=vLead0)))
+  jumped = c.smooth_radarstate(rs(lead(dRel=dRel0 + SWITCH_DREL + 1.0, vRel=6.5, vLead=6.8)))  # real, fast departure
+  expected_held = dRel0 - max(-vRel0, 0.0) * DT_MDL      # jump-guard's own extrapolation -- no further bias
+  assert jumped.leadOne.dRel == pytest.approx(expected_held, abs=1e-6)
+
+
+def test_smoother_does_not_launder_a_jump_guard_hold_during_churn():
+  # A churn episode (real radarTrackId flapping, steady kinematics) actively engaging the smoother right as a
+  # jump-guard hold begins must not let the smoother wrap the held lead into a _SmoothedLead -- that would hide
+  # "this is stale" from stop-gap's held-lead check and let a second closer-bias stack on top.
+  v_ego = (LOW_SPEED_PASSTHROUGH_V + STOP_GAP_VEGO) / 2   # in-band for jump-guard hold AND stop-gap regime
+  c = ctrl(v_ego=v_ego)
+  d = 9.0
+  for i in range(8):
+    tid = 1 if i % 2 == 0 else 2
+    c.smooth_radarstate(rs(lead(dRel=d, vRel=-6.3, vLead=0.2, radarTrackId=tid)))
+    dRel0 = d
+    d -= 0.15
+  assert c.lead_unstable()                               # churn primed the smoother
+  vRel0 = -6.3
+  jumped = c.smooth_radarstate(rs(lead(dRel=dRel0 + SWITCH_DREL + 1.0, vRel=6.5, vLead=6.8, radarTrackId=1)))
+  expected_held = dRel0 - max(-vRel0, 0.0) * DT_MDL
+  assert type(jumped.leadOne).__name__ == '_HeldLead'
+  assert jumped.leadOne.dRel == pytest.approx(expected_held, abs=1e-6)
+
+
+def test_stop_gap_creep_latch_survives_an_unrelated_jump_guard_hold():
+  # A creep-release already earned (sustained real motion) must not be wiped by an unrelated jump-guard hold
+  # that happens to land on the same lead -- the hold is a one-cycle fusion transient, not evidence the lead
+  # stopped moving again.
+  v_ego = (LOW_SPEED_PASSTHROUGH_V + STOP_GAP_VEGO) / 2   # in-band for jump-guard hold AND stop-gap regime
+  c = ctrl(v_ego=v_ego)
+  d = 4.0
+  for _ in range(STOP_GAP_CREEP_HOLD_FRAMES + 2):
+    d += 0.05
+    c.smooth_radarstate(rs(lead(dRel=d, vRel=-6.0, vLead=0.4)))
+  assert c._creep_released
+  dRel0 = d
+  held = c.smooth_radarstate(rs(lead(dRel=dRel0 + SWITCH_DREL + 1.0, vRel=6.5, vLead=6.8)))
+  assert type(held.leadOne).__name__ == '_HeldLead'       # bias correctly skipped on the held cycle
+  assert c._creep_released                                # but the earned latch must survive the glitch
+  d += 0.05
+  out = c.smooth_radarstate(rs(lead(dRel=d, vRel=-0.4, vLead=0.4)))
+  assert out.leadOne.dRel == pytest.approx(d)              # creep resumes unbiased, no re-suppression
+
+
+def test_low_speed_override_lead_passthrough():
+  # radard low_speed_override emits a real closest-track lead with modelProb=0.0. It must be honored, not
+  # rejected in favor of a stale farther held lead (which would under-brake / stop too close).
+  c = ctrl()
+  one = lead(status=True, dRel=2.5, vRel=0.0, vLead=0.0, modelProb=0.0)
+  out = c.smooth_radarstate(rs(one))
+  assert out.leadOne is one
+
+
+# --- jump-guard (reject a same-cycle farther fusion transient) --------------------------------------------
+
+def test_jump_guard_holds_farther_transient():
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=27.92, vRel=-5.60, vLead=24.47, radarTrackId=1058)))
+  out = c.smooth_radarstate(rs(lead(dRel=38.88, vRel=-3.19, vLead=26.91, radarTrackId=-1)))
+  assert out.leadOne.dRel < 30.0                     # farther jump rejected, held near the trusted value
+  assert out.leadOne.status is True
+
+
+def test_jump_guard_passes_closer_jump_immediately():
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-2.0, vLead=18.0)))
+  out = c.smooth_radarstate(rs(lead(dRel=27.0, vRel=-5.0, vLead=15.0)))   # big CLOSER jump
+  assert out.leadOne.dRel == pytest.approx(27.0)     # closer always passes through -- never delays a brake
+
+
+def test_jump_guard_replays_real_route_whiplash():
+  # route 550a71ee4c7a7fbe/00000498--0704864d6a, t~402.2-402.8: a merging lead's vision distance estimate
+  # whiplashed 27.92 -> 38.88 -> 37.69 -> 37.20 -> 26.84 for ~0.3s while a solid radar track sat at ~27m the
+  # whole time. The guard should smooth the farther excursion into a monotone converge toward the real value.
+  c = ctrl()
+  raw = [
+    (74.18, -4.05, 25.77, -1), (53.21, -3.55, 26.33, -1), (47.42, -3.23, 26.67, -1),
+    (42.64, -3.50, 26.42, -1), (43.22, -3.49, 26.49, -1), (40.03, -3.04, 26.96, -1),
+    (39.50, -3.29, 26.74, -1), (27.92, -5.60, 24.47, 1058), (38.88, -3.19, 26.91, -1),
+    (37.69, -3.09, 27.04, -1), (37.20, -2.77, 27.39, -1), (26.84, -5.80, 24.37, 1058),
+  ]
+  out = None
+  for dRel, vRel, vLead, tid in raw:
+    out = c.smooth_radarstate(rs(lead(dRel=dRel, vRel=vRel, vLead=vLead, radarTrackId=tid)))
+  assert out.leadOne.dRel == pytest.approx(26.84)    # real value recovered exactly once raw resumes reporting it
+  # peak reported dRel during the excursion never revisits the raw 38.88 spike
+  seen = []
+  c = ctrl()
+  for dRel, vRel, vLead, tid in raw:
+    seen.append(c.smooth_radarstate(rs(lead(dRel=dRel, vRel=vRel, vLead=vLead, radarTrackId=tid))).leadOne.dRel)
+  assert max(seen[8:11]) < 30.0                      # the 3 farther-jump frames are all held near ~27m, not ~37-39m
+
+
+def test_jump_guard_self_heals_after_cap():
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=20.0, vRel=-1.0, vLead=19.0)))
+  for _ in range(JUMP_GUARD_MAX_HOLD):
+    out = c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-1.0, vLead=19.0)))
+    assert out.leadOne.dRel < 40.0                   # held while under the cap
+  # cap just reached on a lead that was closing -- one bounded grace cycle before accepting a farther raw value
+  out = c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-1.0, vLead=19.0)))
+  assert out.leadOne.dRel < 40.0                     # grace cycle: still held, not yet accepted
+  out = c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-1.0, vLead=19.0)))
+  assert out.leadOne.dRel == pytest.approx(40.0)     # grace spent -> accepts the real (departing) value
+
+
+def test_jump_guard_self_heals_immediately_when_not_closing():
+  # The grace cycle only protects a lead that was closing when the cap was hit -- a lead that was already
+  # steady/opening (vRel >= 0) self-heals on the very first cap-exceeding frame, same as before this fix.
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=20.0, vRel=0.5, vLead=19.0)))
+  for _ in range(JUMP_GUARD_MAX_HOLD):
+    out = c.smooth_radarstate(rs(lead(dRel=40.0, vRel=0.5, vLead=19.0)))
+    assert out.leadOne.dRel < 40.0
+  out = c.smooth_radarstate(rs(lead(dRel=40.0, vRel=0.5, vLead=19.0)))
+  assert out.leadOne.dRel == pytest.approx(40.0)     # no grace needed -> heals immediately, unchanged behavior
+
+
+def test_jump_guard_grace_is_used_at_most_once_per_hold_episode():
+  # The grace cycle must be bounded -- a lead that keeps reading farther after the grace is spent must not
+  # get a second grace before genuinely accepting the new value (else a departed lead could be held forever).
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=20.0, vRel=-1.0, vLead=19.0)))
+  for _ in range(JUMP_GUARD_MAX_HOLD):
+    c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-1.0, vLead=19.0)))
+  c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-1.0, vLead=19.0)))    # grace cycle, spent
+  out = c.smooth_radarstate(rs(lead(dRel=70.0, vRel=-1.0, vLead=19.0)))
+  assert out.leadOne.dRel == pytest.approx(70.0)     # grace already spent this episode -> accepts immediately
+
+
+def test_jump_guard_replays_real_route_dropout_catchup():
+  # route 550a71ee4c7a7fbe/000004c6--ed1b6d7f95, t~1337.9-1338.5: a spurious closer misread (31.08 -> 24.94)
+  # passes through immediately (closer always does), poisoning the guard's anchor. The lead's real, continuing
+  # trajectory (~31m, closing) then reads as a farther jump against that bad anchor and gets held for the full
+  # cap. Without the grace cycle, the guard self-healed straight onto a farther transitional misread (56.52)
+  # right as a real dropout began, and _LeadHold then flicker-held THAT value through the whole dropout --
+  # reporting a lead ~2x farther and opening instead of closing, easing the MPC off right before a real
+  # catch-up brake. The grace cycle must keep the held value close to the real trajectory across this handoff.
+  c = ctrl(v_ego=14.4)
+  raw = [
+    (30.62, -0.45, 1), (38.36, -3.33, -1), (38.20, -3.42, -1), (38.08, -3.45, -1), (37.88, -3.53, -1),
+    (37.72, -3.58, -1), (47.53, 0.35, -1), (24.94, -1.90, -1), (31.44, -3.72, -1), (31.20, -3.97, -1),
+    (31.08, -3.95, 2), (74.32, 3.65, 3), (74.52, 3.70, 3), (74.92, 3.85, 3), (75.12, 3.88, 3),
+    (75.28, 3.90, 3), (75.64, 3.95, 3), (75.64, 3.95, 3), (56.52, -2.09, -1),
+  ]
+  out = None
+  for dRel, vRel, tid in raw:
+    out = c.smooth_radarstate(rs(lead(dRel=dRel, vRel=vRel, vLead=10.5, radarTrackId=tid)))
+  assert out.leadOne.dRel < 30.0                     # grace cycle: still held near the real trajectory
+  dropout_held = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne
+  assert dropout_held.status is True
+  assert dropout_held.dRel < 30.0                    # flicker-hold seeds from the grace-held value, not 56.52
+
+
+def test_jump_guard_resets_on_dropout():
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=20.0, vRel=-1.0, vLead=19.0)))
+  c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  out = c.smooth_radarstate(rs(lead(dRel=40.0, vRel=-1.0, vLead=19.0)))
+  assert out.leadOne.dRel == pytest.approx(40.0)     # a real dropout in between is not a same-cycle jump
+
+
+def test_jump_guard_off_when_disabled():
+  c = ctrl(enabled=False)
+  c.smooth_radarstate(rs(lead(dRel=27.92, vRel=-5.60, vLead=24.47)))
+  r = rs(lead(dRel=38.88, vRel=-3.19, vLead=26.91))
+  assert c.smooth_radarstate(r) is r                 # disabled -> raw passthrough, no guard
+
+
+def test_jump_guard_replays_real_route_sub_threshold_bounce():
+  # route 550a71ee4c7a7fbe/000004b4--2bd66184db, t~976.08-976.48: dRel bounced 17.70 -> 12.32 -> ... -> 17.15
+  # -> 12.04m across ~0.4s while vRel stayed -0.8 to -2.4 m/s -- physically impossible for one real object
+  # at that closing speed (5m in ~0.1s would need ~50 m/s, not ~1-2). This is the case that motivated
+  # lowering SWITCH_DREL from 8.0 to 4.0: the farther excursion (12.24 -> 17.15, a 4.91m jump) sailed through
+  # unguarded at the old threshold, producing a false-relief-then-correction whipsaw. A closer jump (e.g.
+  # 17.70 -> 12.32) always passes immediately regardless of threshold -- that invariant is untouched here.
+  c = ctrl()
+  raw = [
+    (19.12, -2.32, 9.22, -0.67, -1), (17.95, -2.06, 9.39, -0.58, -1), (18.06, -1.90, 9.49, -0.60, -1),
+    (17.70, -1.84, 9.44, -0.52, -1), (12.32, -1.20, 10.01, -0.02, 2449), (12.12, -1.40, 9.75, -1.60, 2427),
+    (12.56, -1.20, 9.87, -1.45, 2427), (12.24, -1.05, 9.92, -1.29, 2427), (17.15, -2.39, 8.53, -0.85, -1),
+    (12.04, -0.82, 10.02, -0.97, 2427), (12.04, -0.82, 9.94, -0.85, 2427), (11.80, -0.85, 9.81, -0.78, 2427),
+  ]
+  out = None
+  seen = []
+  for dRel, vRel, vLead, aLeadK, tid in raw:
+    out = c.smooth_radarstate(rs(lead(dRel=dRel, vRel=vRel, vLead=vLead, aLeadK=aLeadK, radarTrackId=tid)))
+    seen.append(out.leadOne.dRel)
+  assert seen[4] == pytest.approx(12.32)          # the initial closer jump (17.70->12.32) passes immediately
+  assert seen[8] < 14.0                            # the 12.24->17.15 farther excursion is held, not passed
+  assert out.leadOne.dRel == pytest.approx(11.80)  # recovers exactly once raw resumes reporting close values
+
+
+def test_jump_guard_hold_caps_model_prob_for_fcw():
+  # route 550a71ee4c7a7fbe/000004bc--d9e0efd5ac, t~1563.5: a real, high-confidence (modelProb 0.999) lead
+  # departs and gets held near-stationary by the guard mid-launch. The stock crash_cnt FCW gate fires on
+  # radarState.leadOne.modelProb > 0.9 -- a held (stale, no longer confirmed-fresh) reading must not carry
+  # enough confidence on its own to satisfy that gate, matching _LeadHold's existing flicker-hold cap.
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=15.72, vRel=1.80, vLead=6.79, modelProb=0.999)))
+  held = c.smooth_radarstate(rs(lead(dRel=15.72 + SWITCH_DREL + 1.0, vRel=6.5, vLead=6.8, modelProb=0.999))).leadOne
+  assert held.modelProb <= FCW_PROB_CAP
+
+
+def test_jump_guard_boundary_not_triggered():
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-2.0, vLead=18.0)))
+  out = c.smooth_radarstate(rs(lead(dRel=30.0 + SWITCH_DREL - 0.1, vRel=-2.0, vLead=18.0)))
+  assert out.leadOne.dRel == pytest.approx(30.0 + SWITCH_DREL - 0.1)   # under threshold -> passes through
+
+
+def test_jump_guard_does_not_hold_a_stale_reference_after_an_extended_low_speed_gap():
+  # Mirrors _LeadHold's identical bug (see test_hold_does_not_resurrect_a_stale_lead_after_an_extended_low_speed_gap):
+  # _jump_guard.step() is also only called above LOW_SPEED_PASSTHROUGH_V, so its _last reference used to
+  # freeze for the entire duration of any low-speed period with no elapsed-time awareness. Route
+  # 550a71ee4c7a7fbe/000004dc--c8c0867520, t~407.1: a lead tracked at dRel=11.72 while decelerating into a
+  # stop froze there through a ~160s standstill. On relaunch the real lead (now dRel=23.16, opening) was
+  # diffed against that 160s-stale reference as if it were a same-cycle transient, held as a fabricated
+  # closing lead, and fed the MPC a phantom near-collision course that produced a real, unwarranted hard
+  # brake on a real drive.
+  c = ctrl(v_ego=LOW_SPEED_PASSTHROUGH_V + 1.0)
+  c.smooth_radarstate(rs(lead(dRel=11.72, vRel=-2.33, vLead=2.72)))    # last reading before decelerating to a stop
+  c._v_ego = CREEP_PASSTHROUGH_V - 0.5                                 # full stop: jump-guard.step() never called
+  for _ in range(HOLD_MAX_FRAMES * 10):                                # far longer than any hold cap -- a real gap
+    c.smooth_radarstate(rs(lead(dRel=3.68, vRel=0.0, vLead=0.0)))     # the lead is stopped just ahead
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V + 1.0                             # relaunch: real lead now far + opening
+  out = c.smooth_radarstate(rs(lead(dRel=23.16, vRel=4.72, vLead=9.77))).leadOne
+  assert out.dRel == pytest.approx(23.16)             # fresh reading passes through, not held as a phantom jump
+  assert out.vRel == pytest.approx(4.72)
+
+
+def test_jump_guard_survives_a_single_incidental_gap_without_losing_protection():
+  # Regression: a flat ">1 frame gap -> stale" threshold discarded the trusted reference (and so skipped the
+  # SWITCH_DREL check entirely) after ANY single skipped call -- not just a real multi-second stop. That
+  # happens on every cycle of ordinary v_ego dithering right at LOW_SPEED_PASSTHROUGH_V (a car crawling near
+  # 5 m/s in stop-and-go traffic), permanently voiding the same-cycle fusion-transient guard for as long as the
+  # dithering continues and letting a real glitch straight through. A single one-frame dip (a momentary v_ego
+  # dip below the gate, then immediately back above it) must NOT be treated as stale -- the original farther-
+  # jump rejection must still fire right after it, same as it would with no gap at all.
+  c = ctrl(v_ego=LOW_SPEED_PASSTHROUGH_V + 1.0)
+  c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-2.0, vLead=18.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V - 1.0             # one incidental dip below the gate
+  c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V + 1.0             # immediately back above it
+  glitch = rs(lead(dRel=30.0 + SWITCH_DREL + 1.0, vRel=6.0, vLead=20.0))   # same-cycle fusion transient
+  out = c.smooth_radarstate(glitch).leadOne
+  assert out.dRel < 32.0                               # still held near ~30, glitch did not leak through
+
+
+# --- flicker-hold -----------------------------------------------------------------------------------------
+
+def test_holds_after_sustained_dropout():
+  c = ctrl()
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-4.0, vLead=16.0)))
+  held = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne
+  assert held.status is True
+  assert held.dRel < 30.0                            # dead-reckoned closer
+  assert held.dRel == pytest.approx(30.0 - 4.0 * 0.05, abs=1e-6)
+
+
+def test_no_hold_without_sustained_lead():
+  c = ctrl()
+  c.smooth_radarstate(rs(lead(dRel=30.0)))           # single frame < SUSTAIN_FRAMES
+  out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  assert out.leadOne.status is False                 # no hold armed
+
+
+def test_hold_does_not_resurrect_a_stale_lead_after_an_extended_low_speed_gap():
+  # Below LOW_SPEED_PASSTHROUGH_V the hold is never stepped at all (see smooth_radarstate), so an elapsed-
+  # frames check must be based on real cycles, not "cycles since step() was last called" -- otherwise resuming
+  # above the gate looks like no time passed no matter how long the low-speed period actually was, and a hold
+  # armed on a real lead long before the gap can resurrect as if it were still fresh.
+  c = ctrl(v_ego=LOW_SPEED_PASSTHROUGH_V + 1.0)
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-3.0, vLead=5.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V - 1.0             # below the gate: step() stops being called on the hold
+  for _ in range(HOLD_MAX_FRAMES * 3):
+    c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V + 1.0             # back above the gate, lead still gone
+  out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  assert out.leadOne.status is False                  # must not resurrect the old hold
+
+
+def test_hold_survives_a_brief_low_speed_dip_within_the_cap():
+  # A short dip below the gate (well under HOLD_MAX_FRAMES real cycles) is the case flicker-hold exists for --
+  # it must still bridge, same as a same-speed dropout of the same real duration would. dRel must stay close
+  # to the real last-known value (a genuine dead-reckoned extrapolation) -- NOT collapse toward MIN_HELD_DREL,
+  # which is what a broken reseed would produce (see test_hold_reseeds_correctly_after_any_low_speed_gap).
+  c = ctrl(v_ego=LOW_SPEED_PASSTHROUGH_V + 1.0)
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-3.0, vLead=5.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V - 1.0
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V + 1.0
+  out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  assert out.leadOne.status is True
+  assert out.leadOne.dRel < 30.0
+  assert out.leadOne.dRel > 29.0                     # dead-reckoned from 30.0, not collapsed to MIN_HELD_DREL
+
+
+def test_hold_reseeds_correctly_after_any_low_speed_gap():
+  # Regression: _held_dRel used to be reseeded to the real last-known value only when since_real == 1. Once
+  # since_real became elapsed-REAL-frames (not a self-incrementing call counter), any skipped low-speed frame
+  # made since_real > 1 on the very first dropout call actually made, silently skipping the reseed -- leaving
+  # _held_dRel at its stale/init value (0.0), which the very next line's floor clamps to MIN_HELD_DREL: a
+  # fabricated near-bumper phantom lead fed straight to the MPC, not a dead-reckoned extrapolation of the real
+  # one. A single one-frame low-speed dip (the shortest possible gap, ~0.05s) is enough to trigger it.
+  c = ctrl(v_ego=LOW_SPEED_PASSTHROUGH_V + 1.0)
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=50.0, vRel=-3.0, vLead=15.0)))
+  c._v_ego = CREEP_PASSTHROUGH_V - 0.5
+  c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))   # exactly ONE low-speed frame
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V + 1.0
+  out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne
+  assert out.status is True
+  assert out.dRel > 45.0                             # must be near the real ~50m, not a fabricated 0.5m
+
+
+def test_releases_after_hold_cap():
+  c = ctrl()
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-2.0)))
+  drop = rs(lead(status=False, dRel=0.0, modelProb=0.0))
+  for _ in range(HOLD_MAX_FRAMES):
+    assert c.smooth_radarstate(drop).leadOne.status is True
+  assert c.smooth_radarstate(drop).leadOne.status is False   # released after the cap
+
+
+def test_obstacle_monotone_during_hold():
+  c = ctrl()
+  for _ in range(3):
+    real = lead(dRel=30.0, vRel=-3.0, vLead=15.0)
+    c.smooth_radarstate(rs(real))
+  base = obstacle(real)
+  drop = rs(lead(status=False, dRel=0.0, modelProb=0.0))
+  prev = base
+  for _ in range(HOLD_MAX_FRAMES):
+    held = c.smooth_radarstate(drop).leadOne
+    assert obstacle(held) <= prev + 1e-6             # never reports a farther obstacle -> brake >= stock
+    prev = obstacle(held)
+
+
+def test_fcw_prob_capped_and_aleadk_not_positive():
+  c = ctrl()
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=30.0, aLeadK=1.5, modelProb=0.99)))
+  held = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0))).leadOne
+  assert held.modelProb <= FCW_PROB_CAP
+  assert held.aLeadK <= 0.0
+
+
+def test_flicker_does_not_reset_wall_clock():
+  c = ctrl()
+  for _ in range(3):
+    c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-2.0)))
+  # alternating drop/reacquire must not refill the hold budget: after > HOLD_MAX_FRAMES wall time it releases
+  for i in range(HOLD_MAX_FRAMES + 4):
+    frame = rs(lead(status=False, dRel=0.0, modelProb=0.0)) if i % 2 else rs(lead(dRel=0.5))  # dRel<=DROPOUT: not real
+    c.smooth_radarstate(frame)
+  out = c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  assert out.leadOne.status is False
+  assert DROPOUT_DREL == 1.0
+
+
+# --- churn smoother ---------------------------------------------------------------------------------------
+
+def test_churn_smoother_removes_jitter():
+  c = ctrl()
+  out = None
+  for f in churn_frames(30):
+    out = c.smooth_radarstate(rs(f))
+  assert c.lead_unstable()                           # churn detected
+  assert 40.0 < out.leadOne.dRel < 42.0              # EMA settled between the two jittering tracks
+  assert out.leadOne.dRel not in (40.0, 42.0)        # not the raw alternating value
+
+
+def test_churn_smoother_off_when_disabled():
+  c = ctrl(enabled=False)
+  out = None
+  for f in churn_frames(30):
+    r = rs(f)
+    out = c.smooth_radarstate(r)
+    assert out is r                                  # disabled -> raw passthrough, no smoothing
+
+
+def test_smoother_inactive_without_churn():
+  c = ctrl()
+  one = lead(dRel=40.0, radarTrackId=7)
+  for _ in range(10):
+    out = c.smooth_radarstate(rs(lead(dRel=40.0, radarTrackId=7)))
+  out = c.smooth_radarstate(rs(one))
+  assert out.leadOne is one                          # steady id -> no churn -> exact passthrough
+
+
+def test_churn_smoother_closer_accepted_immediately():
+  # A steadily-closing lead that also briefly churns must never be held farther than the current raw value --
+  # otherwise the EMA lags a real closing lead for the whole LEAD_SMOOTH_HOLD window, then snaps (a false
+  # relief followed by a hard catch-up brake -- route 550a71ee4c7a7fbe/00000499, t~1387, real regression).
+  c = ctrl()
+  d = 82.0
+  for i in range(40):
+    tid = 1 if i % 3 else 2   # enough id-churn to keep the smoother engaged
+    out = c.smooth_radarstate(rs(lead(dRel=d, vRel=-6.0, vLead=24.0, radarTrackId=tid)))
+    assert out.leadOne.dRel <= d + 1e-6                # never farther than the latest raw reading
+    d -= 0.4                                            # steadily closing
+
+
+def test_churn_smoother_replays_real_route_late_acquisition():
+  # route 550a71ee4c7a7fbe/00000499--7f57e1d000, t~1386.9-1388.4: radard toggles between two real candidate
+  # tracks (id 4611 ~110m, id 4609 ~82m closing) while acquiring, then a couple of vision-fallback frames
+  # (id -1) report ~104-109m mid-acquisition. The real dRel (track 4609) closes smoothly 82.0 -> 73.2m the
+  # whole time. Old symmetric EMA held the reported dRel near ~82m (farther than truth) for ~1s after the
+  # brief churn window, then snapped -- this is the false-relief-then-correction pattern being fixed here.
+  c = ctrl()
+  raw = [
+    (110.84, -1.75, 4611), (82.04, -3.78, 4609), (110.60, -1.85, 4611), (81.68, -3.80, 4609),
+    (82.28, -4.13, 4609), (110.40, -2.05, 4611), (110.16, -1.93, 4611), (110.08, -2.00, 4611),
+    (110.00, -2.00, 4611), (80.12, -4.83, 4609), (79.88, -4.95, 4609), (79.64, -5.08, 4609),
+    (79.32, -5.20, 4609), (79.48, -5.38, 4609), (79.08, -5.55, 4609), (78.64, -5.70, 4609),
+    (78.20, -5.88, 4609), (77.84, -6.00, 4609), (77.60, -6.18, 4609), (77.48, -6.30, 4609),
+    (76.96, -6.50, 4609), (76.48, -6.65, 4609), (103.52, -1.75, -1), (76.08, -6.90, 4609),
+    (75.52, -7.05, 4609), (108.97, -2.02, -1), (104.23, -2.15, -1), (103.64, -2.13, -1),
+    (74.16, -7.43, 4609), (73.72, -7.60, 4609), (73.24, -7.70, 4609),
+  ]
+  out = None
+  for dRel, vRel, tid in raw:
+    out = c.smooth_radarstate(rs(lead(dRel=dRel, vRel=vRel, vLead=24.0 + vRel, radarTrackId=tid)))
+  assert out.leadOne.dRel == pytest.approx(73.24, abs=0.5)   # tracks the true closing value, no lag
+  # at no point does the reported dRel sit meaningfully farther than the most recent real (id>0) reading
+  c = ctrl()
+  worst_overshoot = 0.0
+  last_real = None
+  for dRel, vRel, tid in raw:
+    out = c.smooth_radarstate(rs(lead(dRel=dRel, vRel=vRel, vLead=24.0 + vRel, radarTrackId=tid)))
+    if tid > 0:
+      last_real = dRel
+    if last_real is not None:
+      worst_overshoot = max(worst_overshoot, out.leadOne.dRel - last_real)
+  assert worst_overshoot < 1.0                              # old code overshot by ~6-9m for up to ~1s
+
+
+# --- instability telemetry --------------------------------------------------------------------------------
+
+def test_stability_quiet_on_clean_lead():
+  c = ctrl()
+  for _ in range(10):
+    c.smooth_radarstate(rs(lead(dRel=40.0, vLead=18.0, radarTrackId=5)))
+  assert not c.lead_unstable()
+
+
+def test_stability_flags_bimodal_lead():
+  c = ctrl()
+  for i in range(10):
+    c.smooth_radarstate(rs(lead(dRel=40.0, vLead=18.0 if i % 2 else 10.0, radarTrackId=5)))
+  assert c.lead_unstable()
+
+
+def test_stability_flags_trackid_churn():
+  c = ctrl()
+  for f in churn_frames(20):
+    c.smooth_radarstate(rs(f))
+  assert c.lead_unstable()
+
+
+def test_stability_resets_on_dropout():
+  c = ctrl()
+  for i in range(10):
+    c.smooth_radarstate(rs(lead(dRel=40.0, vLead=18.0 if i % 2 else 10.0)))
+  assert c.lead_unstable()
+  c.smooth_radarstate(rs(lead(status=False, dRel=0.0, modelProb=0.0)))
+  assert not c.lead_unstable()
+
+
+def test_stability_runs_even_when_disabled():
+  c = ctrl(enabled=False)
+  for i in range(10):
+    c.smooth_radarstate(rs(lead(dRel=40.0, vLead=18.0 if i % 2 else 10.0)))
+  assert c.lead_unstable()                           # telemetry not gated by the RadarDistance param
+
+
+# --- same-track noise smoother (bimodal vLead / repeated dRel jump on a CONSTANT radarTrackId) -------------
+
+def test_smoother_dejitters_bimodal_vlead_on_same_track():
+  # Same physical object (radarTrackId constant) but a bouncing velocity read (Doppler/fusion noise) -- the
+  # id evidence pins this to ONE real lead, so it's safe to EMA (unlike a bimodal read with a changing id).
+  c = ctrl()
+  out = None
+  for i in range(30):
+    out = c.smooth_radarstate(rs(lead(dRel=40.0, vLead=18.0 if i % 2 else 10.0, vRel=-1.0, radarTrackId=9)))
+  assert c.lead_unstable()
+  assert 10.0 < out.leadOne.vLead < 18.0             # EMA settled between the two bouncing readings
+  assert out.leadOne.vLead not in (10.0, 18.0)
+
+
+def test_smoother_inactive_on_bimodal_vlead_with_changing_track():
+  # Same bimodal vLead signature, but radarTrackId ALSO changes -- ambiguous (could be two really-different
+  # real objects at different speeds), so this must NOT be smoothed, unlike the same-track case above.
+  c = ctrl()
+  one = lead(dRel=40.0, vLead=18.0, radarTrackId=1)
+  for i in range(10):
+    c.smooth_radarstate(rs(lead(dRel=40.0, vLead=18.0 if i % 2 else 10.0, radarTrackId=1 if i % 2 else 2)))
+  out = c.smooth_radarstate(rs(one))
+  assert out.leadOne is one                          # exact passthrough -- not averaged across tracks
+
+
+def test_smoother_same_track_noise_ignores_drel_jump():
+  # dRel track-jumps are excluded from same_track_noise on purpose: while status stays True, a repeated
+  # farther jump this large is already absorbed by _JumpGuard upstream, so the smoother never even sees the
+  # raw alternation here -- confirms the two mechanisms don't double up on the same signal.
+  c = ctrl()
+  out = None
+  for i in range(30):
+    out = c.smooth_radarstate(rs(lead(dRel=40.0 if i % 2 == 0 else 55.0, vLead=18.0, vRel=-1.0, radarTrackId=4)))
+  assert out.leadOne.dRel < 45.0                     # held near the trusted value by the jump-guard, not 55
+
+
+def test_smoother_does_not_lag_a_stale_ema_after_an_extended_low_speed_gap():
+  # Mirrors the identical bug already fixed in _JumpGuard/_LeadHold: _smoother.update() is only called above
+  # CREEP_PASSTHROUGH_V (see smooth_radarstate), so its EMA state (_d/_vl/_vr) and _hold freeze for the entire
+  # duration of any full standstill. Resuming and EMA-ing a real, opening lead against that frozen state as if
+  # no time had passed lags dRel toward the stale, closer pre-stop value -- confirmed on the same real route as
+  # the _JumpGuard bug (550a71ee4c7a7fbe/000004dc--c8c0867520): pre-fix this reported 12.86m instead of the
+  # real 23.16m on relaunch.
+  c = ctrl(v_ego=LOW_SPEED_PASSTHROUGH_V + 1.0)
+  for i in range(12):
+    c.smooth_radarstate(rs(lead(dRel=11.72, vLead=2.72, vRel=-2.33, radarTrackId=1 if i % 2 else 2)))  # arms churn
+  c._v_ego = CREEP_PASSTHROUGH_V - 0.5                   # full stop: smoother.update() never called
+  for _ in range(60):
+    c.smooth_radarstate(rs(lead(dRel=3.68, vRel=0.0, vLead=0.0)))
+  c._v_ego = LOW_SPEED_PASSTHROUGH_V + 1.0               # relaunch: real lead now far + opening
+  out = c.smooth_radarstate(rs(lead(dRel=23.16, vRel=4.72, vLead=9.77, radarTrackId=1))).leadOne
+  assert out.dRel == pytest.approx(23.16)                # fresh reading passes through, not EMA-lagged stale
+
+
+def test_single_incidental_gap_during_churn_does_not_leak_a_glitch_into_the_ema():
+  # Regression, deeper than the single-mechanism cases above: a flat ">1 frame gap -> stale" threshold made
+  # _jump_guard treat ANY single skipped call as fully stale and skip the SWITCH_DREL check -- so a same-cycle
+  # fusion-transient glitch right after one incidental low-speed dip passed straight through _jump_guard
+  # unguarded, then got folded into the churn smoother's EMA (which was still live from before the dip),
+  # lagging vLead/dRel toward the glitch's inflated values for ~1s: a farther-and-faster-than-real lead, i.e.
+  # a real violation of this file's own invariant ("NEVER report a farther-or-faster lead than reality").
+  c = ctrl(v_ego=10.0)
+  for i in range(6):                                     # prime churn (real radar trackId-flip signature)
+    tid = 1 if i % 2 == 0 else 2
+    c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-1.0, vLead=15.0, radarTrackId=tid)))
+  c._v_ego = 3.0                                         # one incidental dip into the creep band
+  c.smooth_radarstate(rs(lead(dRel=30.0, vRel=-1.0, vLead=15.0, radarTrackId=1)))
+  c._v_ego = 10.0                                        # immediately back above the full-pipeline gate
+  glitch = lead(dRel=30.0 + SWITCH_DREL + 1.0, vRel=6.0, vLead=20.0, radarTrackId=1)
+  out = c.smooth_radarstate(rs(glitch)).leadOne
+  assert out.dRel < 31.0                                 # held near real ~30, not the glitch's 35.0
+  assert out.vLead < 16.0                                # held near real ~15, not the glitch's 20.0
@@ -0,0 +1,106 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+NEARSIDE_PROB = 0.25
+EDGE_PROB = 0.35
+EDGE_REACTION_TIME = 1.0
+EDGE_CLEAR_TIME = 0.3
+MIN_SPEED = 20 * CV.MPH_TO_MS
+NEAR_EDGE_DISTANCE = 4.5
+LEFT_NEARSIDE_LANE_IDX = 1
+RIGHT_NEARSIDE_LANE_IDX = 2
+
+
+class RoadEdgeLaneChangeController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.params = Params()
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+    self.param_read_counter = 0
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def read_params(self) -> None:
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def reset(self) -> None:
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  @staticmethod
+  def _road_edge_y(road_edges, idx: int) -> float | None:
+    if road_edges is None or len(road_edges) <= idx or len(road_edges[idx].y) == 0:
+      return None
+    return road_edges[idx].y[0]
+
+  @staticmethod
+  def _edge_is_near(edge_y: float | None, left: bool) -> bool:
+    if edge_y is None:
+      return False
+    if left:
+      return bool(-NEAR_EDGE_DISTANCE < edge_y < 0.0)
+    return bool(0.0 < edge_y < NEAR_EDGE_DISTANCE)
+
+  def update(self, road_edge_stds, lane_line_probs, v_ego: float, road_edges=None) -> None:
+    self.update_params()
+
+    if not self.enabled or v_ego < MIN_SPEED:
+      self.reset()
+      return
+
+    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    left_lane_prob = lane_line_probs[LEFT_NEARSIDE_LANE_IDX]
+    right_lane_prob = lane_line_probs[RIGHT_NEARSIDE_LANE_IDX]
+
+    left_edge_y = self._road_edge_y(road_edges, 0)
+    right_edge_y = self._road_edge_y(road_edges, 1)
+    left_edge_near = self._edge_is_near(left_edge_y, True)
+    right_edge_near = self._edge_is_near(right_edge_y, False)
+
+    left_cond = left_edge_prob > EDGE_PROB and (left_edge_near or (left_edge_y is None and left_lane_prob < NEARSIDE_PROB))
+    right_cond = right_edge_prob > EDGE_PROB and (right_edge_near or (right_edge_y is None and right_lane_prob < NEARSIDE_PROB))
+
+    if left_cond:
+      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.left_clear_timer = 0.0
+      if self.left_edge_timer > EDGE_REACTION_TIME:
+        self.left_edge_detected = True
+    else:
+      self.left_clear_timer += DT_MDL
+      if self.left_clear_timer > EDGE_CLEAR_TIME:
+        self.left_edge_timer = 0.0
+        self.left_edge_detected = False
+
+    if right_cond:
+      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.right_clear_timer = 0.0
+      if self.right_edge_timer > EDGE_REACTION_TIME:
+        self.right_edge_detected = True
+    else:
+      self.right_clear_timer += DT_MDL
+      if self.right_clear_timer > EDGE_CLEAR_TIME:
+        self.right_edge_timer = 0.0
+        self.right_edge_detected = False
@@ -92,8 +92,7 @@ class SpeedLimitAssist:
    self._minus_hold = 0.
    self._last_carstate_ts = 0.

-    # TODO-SP: SLA's own output_a_target for planner
-    # Solution functions mapped to respective states
+    # Solution functions mapped to respective states (dispatched from get_a_target_from_control)
    self.acceleration_solutions = {
      SpeedLimitAssistState.disabled: self.get_current_acceleration_as_target,
      SpeedLimitAssistState.inactive: self.get_current_acceleration_as_target,
@@ -135,9 +134,14 @@ class SpeedLimitAssist:
    # Fallback
    return V_CRUISE_UNSET

-  # TODO-SP: SLA's own output_a_target for planner
  def get_a_target_from_control(self) -> float:
-    return self.a_ego
+    # Dispatches to acceleration_solutions[self.state] -- a real per-state decel/accel estimate (kinematic
+    # distance-to-limit formula while adapting, offset-over-horizon while active/holding) instead of echoing
+    # a_ego. Clipped to LIMIT_MIN_ACC/LIMIT_MAX_ACC: this is a comfort bound on the VALUE HANDED TO THE MPC AS
+    # ITS INITIAL STATE (x0), not a brake cap -- the MPC's own solve is free to command more decel than this
+    # from that starting point, so clipping here can't reduce achievable braking.
+    solution = self.acceleration_solutions.get(self.state, self.get_current_acceleration_as_target)
+    return max(LIMIT_MIN_ACC, min(LIMIT_MAX_ACC, solution()))

  def update_params(self) -> None:
    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
@@ -16,12 +16,14 @@ from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
-  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES, LIMIT_MIN_ACC, LIMIT_MAX_ACC
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP

 SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
@@ -243,7 +245,36 @@ class TestSpeedLimitAssist:

    self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, distance, self.events_sp)
    assert self.sla.state == SpeedLimitAssistState.adapting
-    assert self.sla.output_v_target == target_speed  # TODO-SP: assert expected accel, need to enable self.acceleration_solutions
+    assert self.sla.output_v_target == target_speed
+    # kinematic (target^2 - current^2) / (2*distance) is well past LIMIT_MIN_ACC here -> clipped
+    expected_raw = (target_speed ** 2 - current_speed ** 2) / (2. * distance)
+    assert expected_raw < LIMIT_MIN_ACC
+    assert self.sla.output_a_target == pytest.approx(LIMIT_MIN_ACC)
+
+  def test_active_state_uses_offset_over_horizon_formula(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+    target_speed = SPEED_LIMITS['highway']
+    current_speed = target_speed - 1.0   # small offset, stays within the clip band
+
+    self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+    expected = (target_speed - current_speed) / float(ModelConstants.T_IDXS[CONTROL_N])
+    assert LIMIT_MIN_ACC < expected < LIMIT_MAX_ACC   # sanity: this case is meant to land inside the clip band
+    assert self.sla.output_a_target == pytest.approx(expected)
+
+  def test_a_target_clipped_to_max_acc(self):
+    self.sla.state = SpeedLimitAssistState.adapting
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    distance = 1.0   # tiny distance -> a large positive kinematic solution -> clipped
+    current_speed = SPEED_LIMITS['city']
+    target_speed = SPEED_LIMITS['highway']
+
+    self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, distance, self.events_sp)
+    expected_raw = (target_speed ** 2 - current_speed ** 2) / (2. * distance)
+    assert expected_raw > LIMIT_MAX_ACC
+    assert self.sla.output_a_target == pytest.approx(LIMIT_MAX_ACC)

  def test_long_disengaged_to_disabled(self):
    self.initialize_active_state(self.pcm_long_max_set_speed)
@@ -0,0 +1,185 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+Closed-loop regression tests for sunnypilot's longitudinal comfort/smoothness fixes, built on the real
+LongitudinalPlanner via selfdrive/test/longitudinal_maneuvers/plant.py. Unlike a static log replay (which
+can only recompute an isolated input factor from recorded data), this drives the REAL MPC solver every
+cycle and feeds its output back into ego's own simulated speed/distance -- so it can catch regressions in
+the actual re-solved trajectory, not just in one factor's value. Params are set via the real Params() store;
+pytest's autouse openpilot_function_fixture (root conftest.py) gives each test function a fresh isolated
+prefix, so this is safe to run without touching real device state.
+
+Each test targets a SPECIFIC bug found and fixed this session, and is verified to actually fail if that fix
+is reverted (see the commit history / memory notes referenced in each test's docstring) -- these aren't
+just plausible-looking assertions, they have demonstrated teeth.
+"""
+
+import numpy as np
+
+from openpilot.common.params import Params
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import NORMAL
+
+
+def enable_sunnypilot_longitudinal(params: Params, accel_personality=True, radar_distance=True, dec=False):
+  params.put_bool("AccelPersonalityEnabled", accel_personality)
+  if accel_personality:
+    params.put("AccelPersonality", int(NORMAL))
+  params.put_bool("RadarDistance", radar_distance)
+  params.put_bool("DynamicExperimentalControl", dec)
+
+
+def count_launch_brake_cycles(accel: np.ndarray, speed: np.ndarray, launch_th=0.3, settle_speed=0.5) -> int:
+  # Count distinct "launch" events (acceleration crosses above launch_th while ego is near-stopped) followed
+  # by a return to near-zero/negative acceleration -- the "creep brake creep brake" signature. Only counts
+  # launches while speed stays low (settle_speed) -- a real, sustained departure isn't a cycle.
+  cycles = 0
+  launched = False
+  for a, v in zip(accel, speed, strict=True):
+    if not launched and a > launch_th and v < settle_speed:
+      launched = True
+      cycles += 1
+    elif launched and a < 0.0:
+      launched = False
+  return cycles
+
+
+def test_creep_noise_never_causes_repeated_launch_brake_cycling():
+  # Route 550a71ee4c7a7fbe/000004b6, t~678-690s: a genuinely-stopped lead's vLead sensor noise (small blips
+  # above STOP_GAP_CREEP_V=0.03 m/s, never sustained) previously accumulated in radar_distance.py's
+  # stop-gap creep-override counter (monotonic, never decayed) until it falsely latched the bias off,
+  # producing a same-cycle gap-widening the MPC read as "room to launch" -- see
+  # lead_unstable_gate_revert / routes_04b5_04b6_creep_bug memory notes; fixed in commit 73bea3866f
+  # (counter now decays on sub-threshold frames). This reproduces the noise pattern in closed loop: ego
+  # approaches and settles behind a near-stopped lead, then the lead's speed hovers with intermittent
+  # noise (never sustained motion) for 40s. Must never repeatedly launch-then-brake.
+  params = Params()
+  enable_sunnypilot_longitudinal(params)
+
+  rng = np.random.default_rng(0)
+  breakpoints = [0.0, 8.0]
+  speed_lead_values = [3.0, 0.0]
+  # 40s of intermittent noise: alternating 0.0 / small blip every 0.5s -- never two consecutive "moving" ticks,
+  # so no real sustained motion, matching the real route's noise signature.
+  noise_t = np.arange(8.0, 48.0, 0.5)
+  noise_v = np.where(rng.random(len(noise_t)) > 0.5, 0.08, 0.0)
+  breakpoints += list(noise_t)
+  speed_lead_values += list(noise_v)
+
+  man = Maneuver(
+    'stopped lead with intermittent vLead noise, no sustained motion',
+    duration=48.0,
+    initial_speed=8.0,
+    lead_relevancy=True,
+    initial_distance_lead=30.0,
+    speed_lead_values=speed_lead_values,
+    breakpoints=breakpoints,
+  )
+  valid, logs = man.evaluate()
+  assert valid
+  # logs columns: time, distance, distance_lead, speed, speed_lead, acceleration, d_rel
+  t, speed, accel = logs[:, 0], logs[:, 3], logs[:, 5]
+  settled = t > 10.0  # after the initial approach, while noise is active
+  cycles = count_launch_brake_cycles(accel[settled], speed[settled])
+  assert cycles <= 1, f'expected at most one settle-launch, got {cycles} launch-brake cycles from pure sensor noise'
+
+
+def test_drel_glitch_does_not_whipsaw_accel():
+  # Route 550a71ee4c7a7fbe/000004b4, t~976.1s: raw dRel bounced 17.7->12.3->17.15->12.0m across ~0.3s while
+  # vRel stayed -1 to -2 m/s -- physically impossible for one real object, a fusion glitch. SWITCH_DREL was
+  # 8.0 (too coarse to catch the ~5m bounce); lowered to 4.0 in commit f978c923a4. This reproduces the exact
+  # bounce pattern via Plant's lead_dRel_glitch_fn hook (overrides only dRel, leaving the true physics-based
+  # vRel/speed evolution intact for the closed loop) and checks the MPC's actual commanded accel doesn't
+  # whipsaw in response.
+  params = Params()
+  enable_sunnypilot_longitudinal(params)
+
+  glitch_window = (5.0, 5.5)  # apply the bounce for a short window mid-maneuver
+
+  def glitch_fn(t, d_rel, v_rel):
+    if glitch_window[0] <= t < glitch_window[1]:
+      # alternate between the true (closer) reading and a ~5m-farther bounce, matching the real route
+      phase = int((t - glitch_window[0]) / 0.05) % 2
+      if phase == 1:
+        return d_rel + 5.0, v_rel
+    return d_rel, v_rel
+
+  plant = Plant(lead_relevancy=True, speed=8.0, distance_lead=20.0, e2e=False,
+                lead_dRel_glitch_fn=glitch_fn)
+
+  accels = []
+  while plant.current_time < 10.0:
+    log = plant.step(v_lead=1.5)
+    accels.append(log['acceleration'])
+  accels = np.array(accels)
+
+  jerk = np.diff(accels) / (1.0 / plant.rate)
+  # focus on the glitch window and its immediate aftermath
+  t_arr = np.arange(len(accels)) / plant.rate
+  during = (t_arr[1:] >= glitch_window[0]) & (t_arr[1:] < glitch_window[1] + 0.5)
+  assert during.any()
+  peak_jerk = np.max(np.abs(jerk[during]))
+  assert peak_jerk < 3.0, f'dRel glitch produced a {peak_jerk:.2f} m/s^3 accel whipsaw -- glitch is leaking into the commanded accel'
+
+
+def test_fast_closing_lead_onset_is_ramped_not_snapped():
+  # A severe closing-rate lead (matching route 000004b5's flagship regression episode, vRel to -16.5 m/s)
+  # legitimately requires a large final decel -- that's not a bug (see routes_04b5_04b6_creep_bug memory:
+  # "very firm brake... looks legitimate"). What IS a bug is an instantaneous snap rather than a ramped
+  # onset. This checks onset smoothness (peak jerk during the transition) without asserting the final
+  # magnitude must be small.
+  params = Params()
+  enable_sunnypilot_longitudinal(params)
+
+  man = Maneuver(
+    'severe closing-rate lead, onset must ramp not snap',
+    duration=12.0,
+    initial_speed=20.0,
+    lead_relevancy=True,
+    initial_distance_lead=160.0,
+    speed_lead_values=[3.5, 3.5],
+    breakpoints=[0.0, 12.0],
+  )
+  valid, logs = man.evaluate()
+  assert valid
+  t, accel = logs[:, 0], logs[:, 5]
+  dt = np.diff(t)
+  dt[dt <= 0] = np.nan
+  jerk = np.diff(accel) / dt
+  onset = (t[1:] > 0.5) & (t[1:] < 3.0)  # after the first solve settles, during the initial hard reaction
+  assert onset.any()
+  peak_onset_jerk = np.nanmax(np.abs(jerk[onset]))
+  assert peak_onset_jerk < 4.0, f'onset jerk {peak_onset_jerk:.2f} m/s^3 -- braking snapped instead of ramping'
+  # sanity: this scenario genuinely needs real braking (not asserting it stays small)
+  assert np.min(accel) < -1.0
+
+
+def test_dec_on_off_agree_with_lead_present():
+  # is_e2e() previously only enforced "near/closing radar lead -> pure MPC, never blend e2e" inside DEC's
+  # active()-gated branch -- DEC off silently dropped the whole check, letting the e2e model's opinion
+  # blend in via min() regardless of the lead. Fixed in commit 7ff32eafea (dec.has_radar_acc_lead() checked
+  # unconditionally, before dec.active() is even consulted). This closed-loop test uses an adversarial
+  # e2e_accel_fn (independently opinionated, not the harness's default mild self.acceleration+0.1 echo) so
+  # DEC-on vs DEC-off would visibly diverge if the fix regressed.
+  def adversarial_e2e(t, speed, accel):
+    return -2.0  # e2e model insists on a hard brake, independent of the MPC's own view
+
+  def run(dec_enabled):
+    params = Params()
+    enable_sunnypilot_longitudinal(params, dec=dec_enabled)
+    plant = Plant(lead_relevancy=True, speed=15.0, distance_lead=40.0, e2e=True,
+                  e2e_accel_fn=adversarial_e2e)
+    accels = []
+    while plant.current_time < 5.0:
+      log = plant.step(v_lead=13.0)  # near lead, closing slowly -- within RADAR_LEAD_ACC_MAX_DREL
+      accels.append(log['acceleration'])
+    return np.array(accels)
+
+  accel_dec_on = run(dec_enabled=True)
+  accel_dec_off = run(dec_enabled=False)
+  np.testing.assert_allclose(accel_dec_on, accel_dec_off, atol=0.05,
+                              err_msg='DEC on vs off disagree with an identical near/closing lead present')
@@ -0,0 +1,72 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+_E2ETransitionGuard bounds how fast output_a_target may drop right after DEC switches into blended mode for
+a routine reason, so the e2e model's own (previously-hidden) desiredAcceleration can't produce a same-cycle
+discontinuous brake. It must never limit a rise, never limit anything while smoothing is inactive, and never
+apply when the caller signals an urgent/immediate transition.
+"""
+
+import pytest
+
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import _E2ETransitionGuard, TRANSITION_MAX_DROP_PER_CYCLE
+
+
+def test_inactive_is_identity():
+  g = _E2ETransitionGuard()
+  g.apply(-0.3, False)
+  assert g.apply(-1.1, False) == pytest.approx(-1.1)   # smoothing inactive -> raw passthrough always
+
+
+def test_first_call_seeds_without_limiting():
+  g = _E2ETransitionGuard()
+  assert g.apply(-1.1, True) == pytest.approx(-1.1)    # no prior baseline -> nothing to limit against yet
+
+
+def test_limits_downward_jump_when_active():
+  g = _E2ETransitionGuard()
+  g.apply(-0.3, False)                                 # establish baseline while inactive
+  out = g.apply(-1.1, True)                             # a farther-in-one-cycle jump, smoothing now active
+  assert out == pytest.approx(-0.3 - TRANSITION_MAX_DROP_PER_CYCLE)
+  assert out > -1.1                                     # not the raw discontinuous value
+
+
+def test_never_limits_a_rise():
+  g = _E2ETransitionGuard()
+  g.apply(-1.0, False)
+  out = g.apply(0.5, True)                              # accel rising -- must never be held back
+  assert out == pytest.approx(0.5)
+
+
+def test_converges_to_raw_within_a_few_cycles():
+  g = _E2ETransitionGuard()
+  g.apply(-0.3, False)
+  out = -0.3
+  for _ in range(20):
+    out = g.apply(-1.1, True)
+  assert out == pytest.approx(-1.1, abs=1e-6)            # eventually tracks the sustained raw value exactly
+
+
+def test_replays_real_route_e2e_transition():
+  # route 550a71ee4c7a7fbe/0000049f--71203acd12, t~165.3-166.2: DEC switches acc->blended (routine slow-down,
+  # not FCW) and the raw blended output snaps -0.312 -> -1.109 in one 50ms tick, then continues to ~-1.33.
+  g = _E2ETransitionGuard()
+  raw_acc = [-0.312, -0.312]           # still acc mode
+  raw_blended = [-1.109, -1.112, -1.121, -1.110, -1.118, -1.137, -1.140, -1.133, -1.145, -1.165,
+                 -1.199, -1.227, -1.255, -1.268, -1.287, -1.293, -1.326]
+  for v in raw_acc:
+    g.apply(v, False)
+  guarded = [g.apply(v, i < 10) for i, v in enumerate(raw_blended)]   # smoothing active for the first 10 frames
+  assert guarded[0] == pytest.approx(-0.312 - TRANSITION_MAX_DROP_PER_CYCLE)   # graded, not the -1.109 snap
+  assert min(guarded[:3]) > -1.0        # nowhere near the raw value in the first few frames
+  assert guarded[-1] == pytest.approx(raw_blended[-1])   # long since converged and tracking raw exactly
+
+
+def test_reset_drops_stale_baseline():
+  g = _E2ETransitionGuard()
+  g.apply(-0.3, False)
+  g.reset()
+  assert g.apply(-1.1, True) == pytest.approx(-1.1)      # no stale baseline to limit against after reset
@@ -0,0 +1,62 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+
+LongitudinalPlannerSP.is_e2e() decides whether the e2e model's raw action.desiredAcceleration blends into
+the MPC's solution via min(). A near/fast-closing radar lead must always route to pure MPC regardless of
+whether DEC itself is on -- that baseline previously lived entirely inside DEC's active()-gated branch, so
+turning DEC off silently dropped it (identical lead input, different is_e2e() answer). These tests pin the
+fix: the lead check now runs unconditionally, before DEC's own toggle is even consulted.
+"""
+
+from types import SimpleNamespace
+
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
+
+
+class FakeDec:
+  def __init__(self, active=False, mode="acc", has_radar_acc_lead=False):
+    self._active = active
+    self._mode = mode
+    self._has_radar_acc_lead = has_radar_acc_lead
+
+  def active(self):
+    return self._active
+
+  def mode(self):
+    return self._mode
+
+  def has_radar_acc_lead(self):
+    return self._has_radar_acc_lead
+
+
+def make_sm(experimental_mode=True):
+  return {'selfdriveState': SimpleNamespace(experimentalMode=experimental_mode)}
+
+
+def is_e2e(dec):
+  # is_e2e only reads self.dec -- no need to construct the full LongitudinalPlannerSP.
+  return LongitudinalPlannerSP.is_e2e(SimpleNamespace(dec=dec), make_sm())
+
+
+def test_experimental_mode_off_never_e2e():
+  sm_off = make_sm(experimental_mode=False)
+  assert not LongitudinalPlannerSP.is_e2e(SimpleNamespace(dec=FakeDec(active=True, mode="blended")), sm_off)
+  assert not LongitudinalPlannerSP.is_e2e(SimpleNamespace(dec=FakeDec(has_radar_acc_lead=True)), sm_off)
+
+
+def test_lead_present_blocks_e2e_regardless_of_dec_active():
+  # the bug this fixes: identical lead, DEC on vs off must agree.
+  assert not is_e2e(FakeDec(active=True, mode="acc", has_radar_acc_lead=True))
+  assert not is_e2e(FakeDec(active=False, mode="acc", has_radar_acc_lead=True))
+
+
+def test_no_lead_dec_off_falls_back_to_experimental_mode():
+  assert is_e2e(FakeDec(active=False, has_radar_acc_lead=False))
+
+
+def test_no_lead_dec_on_follows_dec_mode():
+  assert is_e2e(FakeDec(active=True, mode="blended", has_radar_acc_lead=False))
+  assert not is_e2e(FakeDec(active=True, mode="acc", has_radar_acc_lead=False))
@@ -5,6 +5,8 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+

 TurnDirection = custom.ModelDataV2SP.TurnDirection

@@ -107,7 +109,11 @@ def set_lane_turn_params():
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
  dh = DesireHelper()
+  relc = RoadEdgeLaneChangeController(dh)
+  relc.enabled = True
  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
+    dh.update(carstate, lateral_active, lane_change_prob,
+              left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+
@@ -0,0 +1,133 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
+  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
+)
+
+V_HIGH = MIN_SPEED + 2.0
+V_LOW = MIN_SPEED - 1.0
+
+
+class DummyRoadEdge:
+  def __init__(self, y):
+    self.y = [y]
+
+
+@pytest.fixture
+def relc(mocker):
+  mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
+  mock_params.return_value.get_bool.return_value = True
+  controller = RoadEdgeLaneChangeController(DesireHelper())
+  controller.enabled = True
+  return controller
+
+
+def make_road_edges(left_y=-3.0, right_y=3.0):
+  return [DummyRoadEdge(left_y), DummyRoadEdge(right_y)]
+
+
+def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH, road_edges=None):
+  for _ in range(int(seconds / DT_MDL) + 1):
+    controller.update(road_edge_stds, lane_line_probs, v_ego, road_edges)
+
+
+@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
+  ([0.0, 0.9], [0.8, 0.0, 0.8, 0.8], "left_edge_detected"),
+  ([0.9, 0.0], [0.8, 0.8, 0.0, 0.8], "right_edge_detected"),
+])
+def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
+  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+  assert getattr(relc, attr)
+
+
+def test_edge_detection_requires_time(relc):
+  drive(relc, [0.0, 0.9], [0.8, 0.0, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+  assert not relc.left_edge_detected
+
+
+def test_both_edges_detected(relc):
+  drive(relc, [0.0, 0.0], [0.8, 0.0, 0.0, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_noise_doesnt_clear(relc):
+  edge = ([0.0, 0.9], [0.8, 0.0, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update(*clear, V_HIGH)
+  relc.update(*edge, V_HIGH)
+  assert relc.left_edge_detected
+
+
+def test_clears_after_window(relc):
+  edge = ([0.0, 0.9], [0.8, 0.0, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_low_speed_skips(relc):
+  drive(relc, [0.0, 0.9], [0.8, 0.0, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_speed_drop_resets(relc):
+  drive(relc, [0.0, 0.9], [0.8, 0.0, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update([0.0, 0.9], [0.8, 0.0, 0.8, 0.8], V_LOW)
+  assert not relc.left_edge_detected
+
+
+def test_param_off_resets(relc):
+  drive(relc, [0.0, 0.9], [0.8, 0.0, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.params.get_bool.return_value = False
+  relc.read_params()
+  relc.update([0.0, 0.9], [0.8, 0.0, 0.8, 0.8], V_HIGH)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+@pytest.mark.parametrize("lane_line_probs", [
+  [0.0, 0.8, 0.8, 0.8],
+  [0.8, 0.8, 0.8, 0.0],
+])
+def test_outer_lane_lines_do_not_drive_edge_detection(relc, lane_line_probs):
+  drive(relc, [0.0, 0.0], lane_line_probs, EDGE_REACTION_TIME + 0.1)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
+
+
+@pytest.mark.parametrize("road_edge_stds,road_edges,attr", [
+  ([0.0, 0.9], make_road_edges(left_y=-3.0, right_y=8.0), "left_edge_detected"),
+  ([0.9, 0.0], make_road_edges(left_y=-8.0, right_y=3.0), "right_edge_detected"),
+])
+def test_near_road_edge_geometry_blocks_with_visible_lane_lines(relc, road_edge_stds, road_edges, attr):
+  drive(relc, road_edge_stds, [0.8, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, road_edges=road_edges)
+  assert getattr(relc, attr)
+
+
+def test_far_road_edge_geometry_does_not_block(relc):
+  drive(relc, [0.0, 0.0], [0.8, 0.0, 0.0, 0.8], EDGE_REACTION_TIME + 0.1, road_edges=make_road_edges(left_y=-8.0, right_y=8.0))
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
@@ -243,4 +243,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
+
+  EventNameSP.laneChangeRoadEdge: {
+    ET.WARNING: Alert(
+      "Lane Change Unavailable: Road Edge",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }
@@ -41,6 +41,7 @@ LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
+METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")

 params = Params()

@@ -169,6 +170,39 @@ def getParamsAllKeys() -> list[str]:
  return keys


+@dispatcher.add_method
+def getParamsAllKeysV1() -> dict[str, str]:
+  try:
+    with open(METADATA_PATH) as f:
+      metadata = json.load(f)
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
+    metadata = {}
+
+  try:
+    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+    params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
+    for key in available_keys:
+      value = get_param_as_byte(key, get_default=True)
+
+      param_entry = {
+        "key": key,
+        "type": int(params.get_type(key).value),
+        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+      }
+
+      if key in metadata:
+        meta_copy = metadata[key].copy()
+        param_entry["_extra"] = meta_copy
+
+      params_dict["params"].append(param_entry)
+    return {"keys": json.dumps(params_dict.get("params", []))}
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
+    raise
+
+
@dispatcher.add_method
 def getParamsMetadata() -> str:
  """Return settings_ui.json + live capabilities as gzip-compressed, base64-encoded string.
@@ -97,11 +97,12 @@ The compiler splices a list-context `$ref` into its parent list. Macros may refe

 ```
 1. common/params_keys.h               — add/remove the C++ param key
-2. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
-3. python sunnypilot/sunnylink/tools/compile_settings_ui.py
-4. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
-5. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
-6. commit
+2. params_metadata.json               — automated via update_params_metadata.py
+3. settings_ui_src/pages/<page>.yaml  — add/edit/remove the item in the right section
+4. python sunnypilot/sunnylink/tools/compile_settings_ui.py
+5. python sunnypilot/sunnylink/tools/validate_settings_ui.py  (or: --check on the compiler)
+6. uv run python -m pytest sunnypilot/sunnylink/tests/   # run regression + compiler tests
+7. commit
 ```

 CI runs `compile_settings_ui.py --check` to fail on hand-edited `settings_ui.json`.
@@ -537,6 +537,12 @@
                  "value": 0
                }
              ]
+            },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks the lane change if the model sees a road edge on your signaled side."
            }
          ]
        }
@@ -587,6 +593,26 @@
                }
              ]
            },
+            {
+              "key": "RadarDistance",
+              "widget": "toggle",
+              "title": "Radar Distance",
+              "description": "De-noises the lead sunnypilot follows -- holds it through brief radar flicker/dropout and smooths a jittery (track-flipping) lead -- so it does not lose and re-grab the lead or hunt the gap. Braking is never reduced below stock.",
+              "visibility": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
            {
              "key": "DisengageOnAccelerator",
              "widget": "toggle",
@@ -620,6 +646,58 @@
                }
              ]
            },
+            {
+              "key": "AccelPersonalityEnabled",
+              "widget": "toggle",
+              "title": "Enable Acceleration Profiles",
+              "description": "Enables Eco/Normal/Sport profiles -- a tier-scaled take-off from a stop and a slightly wider, smoother following gap. Braking is never reduced below stock.",
+              "visibility": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
+            {
+              "key": "AccelPersonality",
+              "widget": "multiple_button",
+              "title": "Acceleration Profile",
+              "description": "Eco takes off gently and keeps the roomiest, smoothest following gap; Sport takes off briskly and follows a touch tighter. Hard-braking authority is always preserved.",
+              "options": [
+                {
+                  "value": 0,
+                  "label": "Eco"
+                },
+                {
+                  "value": 1,
+                  "label": "Normal"
+                },
+                {
+                  "value": 2,
+                  "label": "Sport"
+                }
+              ],
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                },
+                {
+                  "type": "param",
+                  "key": "AccelPersonalityEnabled",
+                  "equals": true
+                }
+              ]
+            },
            {
              "key": "IntelligentCruiseButtonManagement",
              "widget": "toggle",
@@ -2001,6 +2079,22 @@
                  "equals": true
                }
              ]
+            },
+            {
+              "key": "PlanplusControl",
+              "widget": "option",
+              "title": "Plan Plus Controls",
+              "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lane center; too high and it will ping-pong.",
+              "min": 0.0,
+              "max": 2.0,
+              "step": 0.1,
+              "enablement": [
+                {
+                  "type": "param",
+                  "key": "ShowAdvancedControls",
+                  "equals": true
+                }
+              ]
            }
          ]
        },
@@ -2168,6 +2262,50 @@
      "title": "Toyota / Lexus Settings",
      "description": "",
      "items": [
+        {
+          "key": "ToyotaAutoHold",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaEnhancedBsm",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: Prius TSS2 BSM and some tssp",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaTSS2Long",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Toyota: custom longitudinal for TSS2",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
+        {
+          "key": "ToyotaDriveMode",
+          "widget": "toggle",
+          "needs_onroad_cycle": true,
+          "title": "Enable drive mode btn link",
+          "enablement": [
+            {
+              "type": "not_engaged"
+            }
+          ]
+        },
        {
          "key": "ToyotaEnforceStockLongitudinal",
          "widget": "toggle",
@@ -24,6 +24,16 @@ sections:
    - $ref: '#/macros/longitudinal'
    enablement:
    - $ref: '#/macros/longitudinal'
+  - key: RadarDistance
+    widget: toggle
+    title: Radar Distance
+    description: De-noises the lead sunnypilot follows -- holds it through brief radar flicker/dropout and
+      smooths a jittery (track-flipping) lead -- so it does not lose and re-grab the lead or hunt the gap.
+      Braking is never reduced below stock.
+    visibility:
+    - $ref: '#/macros/longitudinal'
+    enablement:
+    - $ref: '#/macros/longitudinal'
  - key: DisengageOnAccelerator
    widget: toggle
    title: Disengage Cruise on Accelerator Pedal
@@ -43,6 +53,32 @@ sections:
      label: Relaxed
    enablement:
    - $ref: '#/macros/longitudinal'
+  - key: AccelPersonalityEnabled
+    widget: toggle
+    title: Enable Acceleration Profiles
+    description: Enables Eco/Normal/Sport profiles -- a tier-scaled take-off from a stop and a slightly wider,
+      smoother following gap. Braking is never reduced below stock.
+    visibility:
+    - $ref: '#/macros/longitudinal'
+    enablement:
+    - $ref: '#/macros/longitudinal'
+  - key: AccelPersonality
+    widget: multiple_button
+    title: Acceleration Profile
+    description: Eco takes off gently and keeps the roomiest, smoothest following gap; Sport takes off briskly
+      and follows a touch tighter. Hard-braking authority is always preserved.
+    options:
+    - value: 0
+      label: Eco
+    - value: 1
+      label: Normal
+    - value: 2
+      label: Sport
+    enablement:
+    - $ref: '#/macros/longitudinal'
+    - type: param
+      key: AccelPersonalityEnabled
+      equals: true
  - key: IntelligentCruiseButtonManagement
    widget: toggle
    title: Intelligent Cruise Button Management (ICBM) (Alpha)
@@ -51,6 +51,16 @@ sections:
        key: LagdToggle
        equals: true
    - $ref: '#/macros/advanced_only'
+  - key: PlanplusControl
+    widget: option
+    title: Plan Plus Controls
+    description: Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover
+      to lane center; too high and it will ping-pong.
+    min: 0.0
+    max: 2.0
+    step: 0.1
+    enablement:
+    - $ref: '#/macros/advanced_only'
 - id: lateral_control
  title: Lateral Control
  description: Neural network lateral control for supported models
@@ -255,3 +255,7 @@ sections:
      key: AutoLaneChangeTimer
      op: '>'
      value: 0
+  - key: RoadEdgeLaneChangeEnabled
+    widget: toggle
+    title: 'Block Lane Change: Road Edge Detection'
+    description: Blocks the lane change if the model sees a road edge on your signaled side.
@@ -60,6 +60,30 @@ sections:
  title: Toyota / Lexus Settings
  description: ''
  items:
+  - key: ToyotaAutoHold
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: Auto Brake Hold FOR TSS2 HYBRID CARS'
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaEnhancedBsm
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: Prius TSS2 BSM and some tssp'
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaTSS2Long
+    widget: toggle
+    needs_onroad_cycle: true
+    title: 'Toyota: custom longitudinal for TSS2'
+    enablement:
+    - $ref: '#/macros/not_engaged'
+  - key: ToyotaDriveMode
+    widget: toggle
+    needs_onroad_cycle: true
+    title: Enable drive mode btn link
+    enablement:
+    - $ref: '#/macros/not_engaged'
  - key: ToyotaEnforceStockLongitudinal
    widget: toggle
    needs_onroad_cycle: true
@@ -0,0 +1,86 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
+
+
+def test_get_params_all_keys_v1():
+  """
+  Test the getParamsAllKeysV1 API endpoint.
+
+  Why:
+  This endpoint is used by the UI (and potentially external tools) to fetch the list of
+  available parameters along with their metadata (titles, descriptions, options, constraints).
+  We need to ensure it returns the correct structure and that the metadata from
+  params_metadata.json is correctly merged into the response.
+
+  Expected:
+  - The response should contain a "keys" field which is a JSON string of a list of parameters.
+  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
+  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
+    the source of truth (params_metadata.json).
+  """
+  response = getParamsAllKeysV1()
+  assert "keys" in response
+
+  keys_json = response["keys"]
+  params_list = json.loads(keys_json)
+
+  assert isinstance(params_list, list)
+  assert len(params_list) > 0
+
+  # Check structure of first item
+  first_param = params_list[0]
+  assert "key" in first_param
+  assert "type" in first_param
+  assert "default_value" in first_param
+
+  if "_extra" in first_param:
+    assert isinstance(first_param["_extra"], dict)
+    assert "default" not in first_param["_extra"]
+    assert "type" not in first_param["_extra"]
+
+  # Load the source of truth
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Verify that the API response matches the metadata file for a few sample keys
+  # This ensures the plumbing is working without being brittle to content changes
+
+  # 1. Check a key that should have metadata
+  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
+  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
+
+  for param in keys_with_metadata[:5]:  # Check first 5 matches
+    key = param["key"]
+    expected_meta = metadata[key]
+
+    assert "_extra" in param, f"Parameter {key} should have _extra field"
+    actual_meta = param["_extra"]
+
+    # Verify all fields in JSON are present in the API response
+    for meta_key, meta_val in expected_meta.items():
+      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
+      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
+
+  # 2. Check that we are correctly serving options if they exist
+  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
+  if params_with_options:
+    param = params_with_options[0]
+    key = param["key"]
+    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
+    assert param["_extra"]["options"] == metadata[key]["options"]
+
+  # 3. Check that we are correctly serving numeric constraints if they exist
+  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
+  if params_with_constraints:
+    param = params_with_constraints[0]
+    key = param["key"]
+    assert param["_extra"]["min"] == metadata[key]["min"]
+    assert param["_extra"]["max"] == metadata[key]["max"]
+    assert param["_extra"]["step"] == metadata[key]["step"]
@@ -0,0 +1,284 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
+
+
+def test_metadata_json_exists():
+  """
+  Test that the params_metadata.json file exists at the expected path.
+
+  Why:
+  The metadata file is the source of truth for parameter descriptions, options, and constraints.
+  If it's missing, the UI will not be able to display rich information for parameters.
+
+  Expected:
+  The file should exist at sunnypilot/sunnylink/params_metadata.json.
+  """
+  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
+
+
+def test_metadata_json_valid():
+  """
+  Test that the params_metadata.json file contains valid JSON.
+
+  Why:
+  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
+  resulting in missing metadata.
+
+  Expected:
+  The file content should be parseable as a JSON object (dictionary).
+  """
+  with open(METADATA_PATH) as f:
+    try:
+      data = json.load(f)
+    except json.JSONDecodeError:
+      pytest.fail("Metadata file is not valid JSON")
+
+    assert isinstance(data, dict), "Metadata root must be a dictionary"
+
+
+def test_all_params_have_metadata():
+  """
+  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
+
+  Why:
+  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
+  should also be documented in the metadata file.
+
+  Expected:
+  There should be no parameters in Params() that are missing from the metadata file.
+  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
+  """
+  params = Params()
+  all_keys = [k.decode('utf-8') for k in params.all_keys()]
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  missing_keys = [key for key in all_keys if key not in metadata]
+
+  if missing_keys:
+    pytest.fail(
+      f"The following parameters are missing from metadata: {missing_keys}. "
+      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
+    )
+
+
+def test_metadata_keys_exist_in_params():
+  """
+  Test that all keys in params_metadata.json actually exist in the codebase.
+
+  Why:
+  We want to avoid stale metadata for parameters that have been removed or renamed.
+  This keeps the metadata file clean and relevant.
+
+  Expected:
+  There should be no keys in the metadata file that are not present in Params().
+  This prints a warning rather than failing, as it's less critical than missing metadata.
+  """
+  params = Params()
+  all_keys = {k.decode('utf-8') for k in params.all_keys()}
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  extra_keys = [key for key in metadata.keys() if key not in all_keys]
+
+  if extra_keys:
+    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
+
+
+def test_no_default_titles():
+  """
+  Test that no parameter has a title that is identical to its key.
+
+  Why:
+  The default behavior of the update script is to set the title equal to the key.
+  We want to force developers to provide human-readable, descriptive titles for all parameters.
+
+  Expected:
+  No parameter metadata should have 'title' == 'key'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
+
+  if default_title_keys:
+    pytest.fail(
+      f"The following parameters have default titles (title == key): {default_title_keys}. "
+      + "Please update 'params_metadata.json' with descriptive titles."
+    )
+
+
+def test_options_structure():
+  """
+  Test that the 'options' field in metadata follows the correct structure.
+
+  Why:
+  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
+  Incorrect structure will break the UI rendering for dropdowns/toggles.
+
+  Expected:
+  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "options" in meta:
+      options = meta["options"]
+      assert isinstance(options, list), f"Options for {key} must be a list"
+      for option in options:
+        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
+        assert "value" in option, f"Option in {key} must have a 'value' key"
+        assert "label" in option, f"Option in {key} must have a 'label' key"
+
+
+def test_numeric_constraints():
+  """
+  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
+
+  Why:
+  The UI uses these constraints to validate user input and render sliders/steppers.
+  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
+
+  Expected:
+  If any of min/max/step is present, ALL of them must be present.
+  They must be numbers (int/float), and min must be less than max.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "min" in meta or "max" in meta or "step" in meta:
+      assert "min" in meta, f"Numeric param {key} must have 'min'"
+      assert "max" in meta, f"Numeric param {key} must have 'max'"
+      assert "step" in meta, f"Numeric param {key} must have 'step'"
+
+      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
+      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
+      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
+      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
+
+
+def test_known_params_metadata():
+  """
+  Test specific known parameters to ensure they have the expected rich metadata.
+
+  Why:
+  This acts as a spot check to ensure that our rich metadata population logic is working correctly
+  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
+
+  Expected:
+  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
+  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Check an enum-like param
+  lp = metadata.get("LongitudinalPersonality")
+  assert lp is not None
+  assert "options" in lp
+  assert len(lp["options"]) == 3
+  assert lp["options"][0]["label"] == "Aggressive"
+  assert lp["options"][0]["value"] == 0
+
+  # Check a numeric param
+  acc_long = metadata.get("CustomAccLongPressIncrement")
+  assert acc_long is not None
+  assert acc_long["min"] == 1
+  assert acc_long["max"] == 10
+  assert acc_long["step"] == 1
+
+
+def test_torque_control_tune_versions_in_sync():
+  """
+  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
+
+  Why:
+  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
+  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
+
+  Expected:
+  - TorqueControlTune should have a 'Default' option with empty string value
+  - All versions from latcontrol_torque_versions.json should be present in the options
+  - The version values and labels should match between both files
+  """
+  from openpilot.common.basedir import BASEDIR
+
+  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
+
+  # Load both files
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  with open(versions_json_path) as f:
+    versions = json.load(f)
+
+  # Get TorqueControlTune metadata
+  torque_tune = metadata.get("TorqueControlTune")
+  if torque_tune is None:
+    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
+
+  if "options" not in torque_tune:
+    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
+
+  options = torque_tune["options"]
+  if not isinstance(options, list):
+    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
+
+  if len(options) == 0:
+    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
+
+  # Check that Default option exists
+  default_option = next((opt for opt in options if opt.get("value") == ""), None)
+  if default_option is None:
+    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
+
+  if default_option.get("label") != "Default":
+    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
+
+  # Build expected options from versions.json
+  expected_version_keys = set(versions.keys())
+  actual_version_keys = set()
+
+  for option in options:
+    if option.get("value") == "":
+      continue  # Skip the default option
+
+    label = option.get("label")
+    value = option.get("value")
+
+    # Check that this option corresponds to a version
+    if label not in versions:
+      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
+
+    # Check that the value matches the version number
+    expected_value = float(versions[label]["version"])
+    if value != expected_value:
+      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
+
+    actual_version_keys.add(label)
+
+  # Check that all versions are represented
+  missing_versions = expected_version_keys - actual_version_keys
+  if missing_versions:
+    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
+                f"Please run '{sync_script_path}' to sync.")
+
+  extra_versions = actual_version_keys - expected_version_keys
+  if extra_versions:
+    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
+                f"{extra_versions}. Please run '{sync_script_path}' to sync.")
@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
+
+METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
+TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+
+
+def main():
+  params = Params()
+  all_keys = params.all_keys()
+
+  if os.path.exists(METADATA_PATH):
+    with open(METADATA_PATH) as f:
+      try:
+        data = json.load(f)
+      except json.JSONDecodeError:
+        data = {}
+  else:
+    data = {}
+
+  # Add new keys
+  for key in all_keys:
+    key_str = key.decode("utf-8")
+    if key_str not in data:
+      print(f"Adding new key: {key_str}")
+      data[key_str] = {
+        "title": key_str,
+        "description": "",
+      }
+
+  # Remove deleted keys
+  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
+  # for k in keys_to_remove:
+  #   print(f"Removing deleted key: {k}")
+  #   del data[k]
+
+  # Sort keys
+  sorted_data = dict(sorted(data.items()))
+
+  with open(METADATA_PATH, "w") as f:
+    json.dump(sorted_data, f, indent=2)
+    f.write("\n")
+
+  print(f"Updated {METADATA_PATH}")
+
+  # update onroad screen brightness params
+  update_onroad_brightness_param()
+
+  # update onroad screen brightness timer params
+  update_onroad_brightness_timer_param()
+
+  # update torque versions param
+  update_torque_versions_param()
+
+
+def update_onroad_brightness_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffBrightness" in params_metadata:
+      options = [
+        {"value": 0, "label": "Auto (Default)"},
+        {"value": 1, "label": "Auto (Dark)"},
+        {"value": 2, "label": "Screen Off"},
+      ]
+      for i in range(3, 23):
+        options.append({"value": i, "label": f"{(i - 2) * 5} %"})
+      params_metadata["OnroadScreenOffBrightness"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
+
+
+def update_onroad_brightness_timer_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffTimer" in params_metadata:
+      options = []
+      for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
+        label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
+        options.append({"value": seconds, "label": label})
+      params_metadata["OnroadScreenOffTimer"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
+
+
+def update_torque_versions_param():
+  with open(TORQUE_VERSIONS_JSON) as f:
+    current_versions = json.load(f)
+
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+
+    options = [{"value": "", "label": "Default"}]
+    for version_key, version_data in current_versions.items():
+      version_value = float(version_data["version"])
+      options.append({"value": version_value, "label": str(version_key)})
+
+    if "TorqueControlTune" in params_metadata:
+      params_metadata["TorqueControlTune"]["options"] = options
+
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+
+      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
+
+  except Exception as e:
+    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
+
+
+if __name__ == "__main__":
+  main()
@@ -45,8 +45,9 @@ class ScrollState(Enum):


 class GuiScrollPanel2:
-  def __init__(self, horizontal: bool = True) -> None:
+  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
    self._horizontal = horizontal
+    self._handle_out_of_bounds = handle_out_of_bounds
    self._state = ScrollState.STEADY
    self._offset: rl.Vector2 = rl.Vector2(0, 0)
    self._initial_click_event: MouseEvent | None = None
@@ -98,7 +99,7 @@ class GuiScrollPanel2:
      # simple exponential return if out of bounds
      # out of bounds is handled by snapping, so skip if set
      out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
-      if out_of_bounds and snap_target is None:
+      if out_of_bounds and snap_target is None and self._handle_out_of_bounds:
        target = max_offset if self.get_offset() > max_offset else min_offset

        dt = rl.get_frame_time() or 1e-6
@@ -75,7 +75,6 @@ class _Scroller(Widget):
    self._items: list[Widget] = []
    self._horizontal = horizontal
    self._snap_items = snap_items
-    assert not self._snap_items or self._horizontal, "Snapping is only supported for horizontal scrolling"
    self._spacing = spacing
    self._pad = pad

@@ -191,8 +190,12 @@ class _Scroller(Widget):
    snap_target: float | None = None
    if self._snap_items and visible_items and self._scrolling_to[0] is None:
      # TODO: this doesn't handle two small buttons at the edges well
-      center_pos = self._rect.x + self._rect.width / 2
-      closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      if self._horizontal:
+        center_pos = self._rect.x + self._rect.width / 2
+        closest_delta_pos = min((((item.rect.x + item.rect.width / 2) - center_pos) for item in visible_items), key=abs)
+      else:
+        center_pos = self._rect.y + self._rect.height / 2
+        closest_delta_pos = min((((item.rect.y + item.rect.height / 2) - center_pos) for item in visible_items), key=abs)
      snap_target = self.scroll_panel.get_offset() - closest_delta_pos

    return self.scroll_panel.update(self._rect, content_size, snap_target=snap_target)
@@ -28,8 +28,6 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "release3-staging"): "release-tizi-staging",
  ("mici", "release3"): "release-mici",
  ("mici", "release3-staging"): "release-mici-staging",
-  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
-  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -1,183 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab containers="1" tab_name="actuator data">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="steering messages (CAN)">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
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-       <limitY/>
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-       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
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-       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
-       <curve name="/carControl/latActive" color="#1ac938"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
-       <limitY/>
-       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="Understanding Torque">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
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-       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
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- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
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- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
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-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
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-
@@ -1,702 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab containers="1" tab_name="actuator data">
-   <Container>
-    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range top="0.100000" bottom="-0.100000" left="256.448992" right="302.818689"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range top="21.512506" bottom="-143.133163" left="256.448992" right="302.818689"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range top="17.919758" bottom="7.125814" left="256.448992" right="302.818689"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
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-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range top="0.055486" bottom="-0.008455" left="256.448992" right="302.818689"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="steering messages (CAN)">
-   <Container>
-    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
-     <DockArea name="...">
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-       <limitY/>
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-       <range top="48.052530" bottom="-34.508142" left="256.448992" right="302.818689"/>
-       <limitY/>
-       <curve name="Angle Error" color="#ff7f0e"/>
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-       <limitY/>
-       <curve name="Angle Staturation" color="#f14cc1"/>
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-   <Container>
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- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="subject_to_angle_smoothing">
-   <global></global>
-   <function>if v1 == 0 then
-    return 0
-end
-
-if value &lt; 8.5 then 
-    return 1
-elseif value &lt; 11 then
-    return 2
-elseif value &lt;= 13.8 then
-    return 3
-elseif value &lt;= 18 then
-    return 4
-end
-
-return 0</function>
-   <linked_source>/carState/vEgo</linked_source>
-   <additional_sources>
-    <v1>/carControl/latActive</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="base_ceiling_bracket">
-   <global></global>
-   <function>if v1 == 0 then
-    return 0
-end
-
-if value &lt; 20 then 
-    return 1
-elseif value &lt; 40 then
-    return 2
-elseif value &lt;= 120 then
-    return 3
-end
-
-
-return 0</function>
-   <linked_source>carState.vEgo kmh</linked_source>
-   <additional_sources>
-    <v1>/carControl/latActive</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="Angle Staturation">
-   <global></global>
-   <function>if value > .3 then 
-    return 1
-end
-
-return 0</function>
-   <linked_source>Angle Error</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
--return 0
-  return  (value * -9.8) - (v3 * 9.81)</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="engaged curvature vehicle model">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged curvature plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="engaged_accel_plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/longitudinalPlan/accels/0</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Angle Error">
-   <global>last_angle_requested = 0</global>
-   <function>angle_error = last_angle_requested - v1
-
-
-last_angle_requested = value
-return angle_error</function>
-   <linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringAngleDeg</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actuator">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carControl/actuators/accel</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actual">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carState/aEgo</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="Zero">
-   <global></global>
-   <function>return (0)</function>
-   <linked_source>/carState/canValid</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="carState.vEgo mph">
-   <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="engaged curvature yaw">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value / v3
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return curvature
-else
-  return 0
-end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
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-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab containers="1" tab_name="tab1">
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-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <customMathEquations>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -1,175 +0,0 @@
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- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="tab1" containers="1">
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-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
-       <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
-       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
-       <limitY/>
-       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
-       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#0097ff"/>
-       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
-       <limitY/>
-       <curve name="/carState/vEgo" color="#f14cc1">
-        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
-         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="tab2" containers="1">
-   <Container>
-    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
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-       <limitY/>
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-  <currentTabIndex index="1"/>
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-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>
-
-if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
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 [[package]]
Author	SHA1	Message	Date
rav4kumar	d0d3d22b83	fix(long): frame based staleness for jumpguard and lead-smoother	2026-07-14 15:42:50 -07:00
rav4kumar	449ae8a984	fix(long): frame-based staleness check for radar lead hold _LeadHold counted its own step() calls to gauge staleness, but smooth_radarstate() stops calling step() below LOW_SPEED_PASSTHROUGH_V — so the counter froze indefinitely during any low-speed period (measured 60-80s freezes on real routes) and read as "just a few frames old" on resume no matter how much real time passed, letting a long-dead hold resurrect as a phantom lead. Compare against the caller's live frame counter instead.	2026-07-12 14:55:32 -07:00
rav4kumar	93520b7e99	fix(long): jump-guard self-heal onto farther-than-held value on a closing lead A spurious closer misread can poison the guard's anchor, making the lead's own real, continuing (farther) trajectory read as a false farther jump and get held to the cap. Self-heal then jumped straight onto whatever farther transitional reading showed up next, which _LeadHold could seed a dropout extrapolation from -- reporting a lead opening up right before a real catch-up brake (confirmed on route 000004c6, t~1338, -3.94 m/s^2). Add one bounded grace cycle before self-heal on a closing lead so the handoff into a dropout hold stays close to the real trajectory instead.	2026-07-11 12:52:02 -07:00
rav4kumar	7006814ced	ref	2026-07-10 00:34:07 -07:00
rav4kumar	4a7cd03efc	fix(long): ceiling rise-rate	2026-07-09 12:47:37 -07:00
rav4kumar	24af9ca14b	fix(long): stop-gap/smoother double-bias	2026-07-09 12:47:30 -07:00
rav4kumar	499ed0e59d	feat(long): closed-loop regression suite; fix jerk_scale sustained-pin oscillation	2026-07-08 14:24:52 -07:00
rav4kumar	6a9550d54b	fix(long): leadrule bypass	2026-07-08 14:06:29 -07:00
rav4kumar	65812911fb	fix(long): revert leadunstale	2026-07-08 14:06:18 -07:00
rav4kumar	878e560c60	fix(long): stop-gap creep	2026-07-08 14:06:07 -07:00
rav4kumar	7b2cb04e97	fix(long): lower SWITCH_DREL 8.0->4.0	2026-07-07 22:05:59 -07:00
rav4kumar	432b253f48	fix(long): gate accel relax on radar noise, wire up SLA dead code, continuous DEC e2e jerk-shaping	2026-07-07 22:05:49 -07:00
rav4kumar	6131a64f0d	feat(long): proactive closing jerk	2026-07-06 16:40:15 -07:00
rav4kumar	f5087f238a	fix(long): stop-gap bias could suppress a real gap during slow lead creep	2026-07-05 11:07:49 -07:00
rav4kumar	59e9e828e5	fix(long): lol	2026-07-05 11:07:49 -07:00
rav4kumar	a2fbe20532	fix(long): SPORT's jerk_scale	2026-07-04 18:29:24 -07:00
rav4kumar	75416274ab	feat(long): generalize jerk-cost relax to onset	2026-07-04 14:56:52 -07:00
rav4kumar	c1c1440707	fix(long): smooth DEC blended	2026-07-04 12:55:54 -07:00
rav4kumar	1d8538f14e	feat(long): relax launch jerk cost	2026-07-04 12:55:39 -07:00
rav4kumar	d044951bdc	fix(long): reject radar fusion	2026-07-04 12:55:28 -07:00
rav4kumar	e65a39e749	fix(long): decouple accel	2026-07-03 11:03:21 -07:00
rav4kumar	eea9dbcf28	feat(long): stop farther from a stopped lead + gentler eco onset	2026-07-02 12:45:36 -07:00
rav4kumar	cb0bc5746d	fix(long): bugs	2026-07-02 08:29:28 -07:00
rav4kumar	15ddcc2026	refactor(long): tfollow + lead denoiser and output shaping	2026-07-01 12:39:22 -07:00
rav4kumar	5cfa627b1e	feat(long): hard brake	2026-07-01 12:38:34 -07:00
rav4kumar	c241b7f9e5	refactor(long):	2026-06-30 21:10:24 -07:00
rav4kumar	1cae2e14b9	feat(long): tfllow	2026-06-30 13:31:24 -07:00
rav4kumar	bc498ea6af	refactor(long): cleam up	2026-06-30 10:45:17 -07:00
rav4kumar	c0e08181df	feat(long): physics decel cap	2026-06-29 13:44:00 -07:00
rav4kumar	bbe7b01adc	Reapply "feat(dec): rework dynamic experimental controller" This reverts commit `cc8115141f`.	2026-06-28 12:19:11 -07:00
rav4kumar	9f3fa8ceb7	feat(long): lead jitter smoother for trackId	2026-06-28 12:18:02 -07:00
rav4kumar	df54f8e083	feat(long): gas suppression near a lead	2026-06-27 11:23:26 -07:00
rav4kumar	4d351bdcad	feat(long): RadarDistance lead instability	2026-06-27 11:08:17 -07:00
rav4kumar	bca4be26cd	fix(long): comfort_stop and vLead	2026-06-26 12:22:30 -07:00
rav4kumar	cc8115141f	Revert "feat(dec): rework dynamic experimental controller" This reverts commit `83de89e253`.	2026-06-26 11:54:24 -07:00
rav4kumar	d7af8bfc4d	fix(long): RadarDistance drop out	2026-06-26 11:53:44 -07:00
rav4kumar	b30e52261e	fix(long): remove RadarDistance vLead	2026-06-24 23:56:41 -07:00
rav4kumar	e09bc59ea3	fix(long): comfort stop	2026-06-24 12:44:55 -07:00
rav4kumar	f9e7974e02	feat(long): comfort stop	2026-06-24 10:51:55 -07:00
rav4kumar	8c902576dc	long stopping	2026-06-23 11:24:06 -07:00
rav4kumar	bc96b6a6ce	fix(long): remove onset jerk-cap	2026-06-22 13:21:30 -07:00
rav4kumar	0a68face78	long refactor	2026-06-21 13:35:31 -07:00
rav4kumar	78307a31f1	feat(long): jerk-limit	2026-06-20 12:19:48 -07:00
rav4kumar	d10577dc2c	ref	2026-06-20 11:40:52 -07:00
rav4kumar	37f19a35b6	tune	2026-06-19 23:12:18 -07:00
rav4kumar	2276e9d47d	tune long	2026-06-19 13:22:51 -07:00
rav4kumar	0a167d5024	refactor(long): clean up	2026-06-18 11:43:36 -07:00
rav4kumar	21e0583752	Fix RELC road edge detection	2026-06-18 11:14:06 -07:00
rav4kumar	88dad50ee1	Enable relc for stock modeld	2026-06-17 13:48:07 -07:00
rav4kumar	9f20c56b2f	feat(long): roomier stops + smoother decel	2026-06-17 11:13:05 -07:00
rav4kumar	a2b50e5a8b	feat(long): prompt ECO launch from stop	2026-06-16 12:05:57 -07:00
Kumar	bebe8f0b04	Update constants.py	2026-06-16 06:27:59 -07:00
rav4kumar	aa23fd0e4a	tuneref	2026-06-14 12:15:24 -07:00
rav4kumar	8f942eefd7	ref	2026-06-12 11:56:04 -07:00
rav4kumar	9487f880e2	feat(long): convex brakeonset shaper	2026-06-12 11:55:36 -07:00
rav4kumar	17b097b434	tune	2026-06-12 07:14:01 -07:00
rav4kumar	17eca0ab43	gental	2026-06-10 21:34:18 -07:00
rav4kumar	634ba8f6b2	sl params	2026-06-10 11:38:31 -07:00
rav4kumar	a45487f829	feat(long): radar distance controller	2026-06-10 11:38:31 -07:00
rav4kumar	e790ce047b	refactor(long): strip accel personality to lean core	2026-06-09 22:07:13 -07:00
rav4kumar	96d7850888	feat(long): fix accelersonality rubbernband	2026-06-09 22:02:56 -07:00
Kumar	6bf721a8c9	Update longitudinal_planner.py	2026-06-09 17:25:14 -07:00
rav4kumar	bc6dbf8ca1	feat(long): acceleration controller	2026-06-09 15:03:02 -07:00
rav4kumar	ffb7bbbbc4	ref	2026-06-09 12:41:01 -07:00
rav4kumar	83de89e253	feat(dec): rework dynamic experimental controller	2026-06-06 11:45:24 -07:00
rav4kumar	04224e8747	Add custom params to sunnylink settings	2026-06-06 10:31:17 -07:00
rav4kumar	6012ebb7c7	ref	2026-06-06 10:30:46 -07:00
rav4kumar	e91dbe351e	ref	2026-06-05 11:29:37 -07:00
rav4kumar	e25061fd08	fix mapd scorll	2026-06-05 11:28:47 -07:00
rav4kumar	baf56ae324	feat/relc	2026-06-05 11:06:06 -07:00
rav4kumar	9badd3fa40	mici-sla-ui	2026-06-05 11:05:29 -07:00
rav4kumar	2220e7fc11	point the submodule	2026-06-05 11:04:53 -07:00
rav4kumar	e862935209	toyota sp link and drive mode btn support	2026-06-05 11:04:49 -07:00
rav4kumar	9bd504a5cb	abh, bsm	2026-06-05 11:04:43 -07:00