Merge remote-tracking branch 'origin/master' into sunnymodel

Revert "sunnylink: shorter timeout for websocket reconnect (#1681)"

This reverts commit c51b41e96a.

.clang-tidy

@@ -1,19 +0,0 @@
----
-Checks: '
-bugprone-*,
--bugprone-integer-division,
--bugprone-narrowing-conversions,
-performance-*,
-clang-analyzer-*,
-misc-*,
--misc-unused-parameters,
-modernize-*,
--modernize-avoid-c-arrays,
--modernize-deprecated-headers,
--modernize-use-auto,
--modernize-use-using,
--modernize-use-nullptr,
--modernize-use-trailing-return-type,
-'
-CheckOptions:
-...

.codespellignore

@@ -3,3 +3,4 @@ REGIST
 PullRequest
 cancelled
 FOF
+NoO

.dockerignore

@@ -13,27 +13,6 @@
 *.o-*
 *.os
 *.os-*
-*.so
-*.a
 
 venv/
 .venv/
-
-notebooks
-phone
-massivemap
-neos
-installer
-chffr/app2
-chffr/backend/env
-selfdrive/nav
-selfdrive/baseui
-selfdrive/test/simulator2
-**/cache_data
-xx/plus
-xx/community
-xx/projects
-!xx/projects/eon_testing_master
-!xx/projects/map3d
-xx/ops
-xx/junk

.gitattributes

@@ -7,10 +7,12 @@
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
+*.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text

.github/labeler.yaml

@@ -1,6 +1,6 @@
 ci:
   - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
+    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
 
 chore:
   - changed-files:
@@ -16,7 +16,7 @@ simulation:
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
 
 tools:
   - changed-files:

.github/workflows/auto_pr_review.yaml

@@ -1,7 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
-    types: [opened, reopened, synchronize, edited]
+    types: [ opened, reopened, synchronize, edited ]
 
 jobs:
   labeler:
@@ -12,12 +12,12 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: false
 
     # Label PRs
-    - uses: actions/labeler@v5.0.0
+    - uses: actions/labeler@v6
       with:
         dot: true
         configuration-path: .github/labeler.yaml
@@ -29,21 +29,21 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master-new$).*/
+        target: /^(?!master$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-new` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env: 
-      PR_LABEL: 'dev-c3'
+    env:
+      PR_LABEL: 'dev'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev-c3 label
+      - name: Check if PR has dev label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -55,33 +55,33 @@ jobs:
               repo: context.repo.repo,
               issue_number: prNumber
             });
-            
+
             const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
             const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
+
             console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
             console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+
+            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
             core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-      
+
       - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           script: |
             const prNumber = context.payload.pull_request.number;
-            
+
             await github.rest.issues.removeLabel({
               owner: context.repo.owner,
               repo: context.repo.repo,
               issue_number: prNumber,
               name: process.env.TRUST_FORK_PR_LABEL
             });
-            
+
             console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
+
             // Add a comment to the PR
             await github.rest.issues.createComment({
               owner: context.repo.owner,

.github/workflows/badges.yaml

@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
+  BASE_IMAGE: sunnypilot-base
+  DOCKER_REGISTRY: ghcr.io/sunnypilot
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
@@ -17,13 +17,13 @@ jobs:
     permissions:
       contents: write
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
+        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
 
         rm .gitattributes
 

.github/workflows/build-all-tinygrad-models.yaml

@@ -1,4 +1,4 @@
-name: Build and push all tinygrad models 
+name: Build and push all tinygrad models
 
 on:
   workflow_dispatch:
@@ -16,7 +16,24 @@ jobs:
       recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
       json_file: ${{ steps.get-json.outputs.json_file }}
       model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
+      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
     steps:
+      - name: Checkout sunnypilot repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          path: sunnypilot
+          submodules: recursive
+
+      - name: Get tinygrad_repo ref
+        id: get-tinygrad-ref
+        run: |
+          cd sunnypilot
+          export PYTHONPATH=$(pwd)
+          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
+          echo "tinygrad_ref is $ref"
+
       - name: Checkout docs repo (sunnypilot-docs, gh-pages)
         uses: actions/checkout@v4
         with:
@@ -57,7 +74,7 @@ jobs:
         env:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           git checkout main
           git sparse-checkout set --no-cone models/
@@ -110,7 +127,7 @@ jobs:
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
@@ -174,7 +191,7 @@ jobs:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
           echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           echo "checkout models/${RECOMPILED_DIR}"
           git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
@@ -269,6 +286,7 @@ jobs:
           ARGS=""
           [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
           ARGS="$ARGS --sort-by-date"
+          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
           eval python3 docs/json_parser.py \
             --json-path "$JSON_FILE" \
             --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \

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

@@ -42,11 +42,11 @@ on:
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
-        type: number
+        type: string
       json_version:
         description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
         required: true
-        type: number
+        type: string
       model_folder:
         description: 'Model folder'
         type: choice
@@ -67,11 +67,11 @@ on:
       generation:
         description: 'Model generation'
         required: false
-        type: number
+        type: string
       version:
         description: 'Minimum selector version'
         required: false
-        type: number
+        type: string
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
   JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
@@ -109,7 +109,7 @@ jobs:
           GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
         run: |
           echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai3.git gitlab_docs
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
           cd gitlab_docs
           echo "checkout models/${RECOMPILED_DIR}"
           git sparse-checkout set --no-cone models/${RECOMPILED_DIR}

.github/workflows/cereal_validation.yaml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request:
     paths:
       - 'cereal/**'
@@ -17,7 +16,7 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:

.github/workflows/ci_weekly_report.yaml

@@ -38,10 +38,10 @@ jobs:
   report:
     needs: [ci_matrix_run]
     runs-on: ubuntu-latest
-    if: always()
+    if: always() && github.repository == 'commaai/openpilot'
     steps:
       - name: Get job results
-        uses: actions/github-script@v7
+        uses: actions/github-script@v8
         id: get-job-results
         with:
           script: |

.github/workflows/ci_weekly_run.yaml

@@ -11,7 +11,7 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+  tests:
+    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
+      if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -22,7 +22,7 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
 
@@ -34,7 +34,7 @@ jobs:
         mkdocs build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs

.github/workflows/jenkins-pr-trigger.yaml

@@ -9,10 +9,13 @@ jobs:
   scan-comments:
     runs-on: ubuntu-latest
     if: ${{ github.event.issue.pull_request }}
+    permissions:
+      contents: write
+      issues: write
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v7
+      uses: actions/github-script@v8
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -32,7 +35,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
+      uses: actions/checkout@v6
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -43,3 +46,14 @@ jobs:
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
         GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+
+    - name: Delete trigger comment
+      if: steps.check_comment.outputs.result == 'true' && always()
+      uses: actions/github-script@v8
+      with:
+        script: |
+          await github.rest.issues.deleteComment({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            comment_id: context.payload.comment.id,
+          });

.github/workflows/lfs-maintenance.yaml

@@ -9,11 +9,11 @@ on:
     - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
   push:
     branches:
-      - 'master-new'
+      - 'master'
   pull_request:
     branches:
-      - 'master-new'
-  workflow_dispatch:  # enables manual triggering
+      - 'master'
+  workflow_dispatch: # enables manual triggering
     inputs:
       upstream_branch:
         default: 'master'
@@ -30,7 +30,7 @@ jobs:
         with:
           repository: 'commaai/openpilot'
           ref: ${{ inputs.upstream_branch }}
-      
+
       - name: LFS Fetch
         run: |
           git lfs fetch
@@ -48,7 +48,7 @@ jobs:
       - name: Add GitLab public keys
         run: |
           ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-      
+
       - name: Ensure branch
         run: |
           if git symbolic-ref -q HEAD >/dev/null; then

.github/workflows/mici_raylib_ui_preview.yaml

@@ -0,0 +1,151 @@
+name: "mici raylib ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create mici raylib UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
+  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
+  # All report files are pushed here
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+jobs:
+  preview:
+    if: github.repository == 'sunnypilot/sunnypilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
+        uses: actions/checkout@v6
+        with:
+          repository: sunnypilot/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_ui_raylib
+          ref: ${{ env.MASTER_BRANCH_NAME }}
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          git checkout --orphan=new_master_ui_mici_raylib
+          git rm -rf *
+          git branch -D ${{ env.MASTER_BRANCH_NAME }}
+          git branch -m ${{ env.MASTER_BRANCH_NAME }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for commit ${{ env.SHA }}"
+          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diff
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          # Find the video file from PR
+          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
+          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
+
+          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
+          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
+
+          # Run report
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+          diff_exit_code=0
+          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+          # Copy diff report files
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
+
+          REPORT_URL="https://sunnypilot.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
+          if [ $diff_exit_code -eq 0 ]; then
+            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
+          else
+            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
+          fi
+          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff report to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
+          git add diff_pr_${{ github.event.number }}.html
+          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment Video on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
+            ## mici raylib UI Preview
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_video_mici_raylib
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/model_review.yaml

@@ -16,9 +16,9 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
       - name: Checkout master
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: master
           path: base

.github/workflows/post-to-discourse/action.yml

@@ -0,0 +1,105 @@
+name: 'Post to Discourse'
+description: 'Posts a message to a Discourse topic (existing or new)'
+
+inputs:
+  discourse-url:
+    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
+    required: true
+  api-key:
+    description: 'Discourse API key'
+    required: true
+  api-username:
+    description: 'Discourse API username'
+    required: true
+  topic-id:
+    description: 'Discourse topic ID to post to (use this OR category-id + title)'
+    required: false
+  category-id:
+    description: 'Category ID for new topic (required if topic-id not provided)'
+    required: false
+  title:
+    description: 'Title for new topic (required if topic-id not provided)'
+    required: false
+  message:
+    description: 'Message content (markdown supported)'
+    required: true
+
+outputs:
+  post-number:
+    description: 'The post number in the topic'
+    value: ${{ steps.post.outputs.post_number }}
+  post-url:
+    description: 'Direct URL to the post'
+    value: ${{ steps.post.outputs.post_url }}
+  topic-id:
+    description: 'The topic ID (useful when creating a new topic)'
+    value: ${{ steps.post.outputs.topic_id }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: Post to Discourse
+      id: post
+      shell: bash
+      run: |
+        # Validate inputs
+        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
+          echo "❌ Error: Must provide either topic-id OR both category-id and title"
+          exit 1
+        fi
+        
+        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
+          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
+        fi
+        
+        # Determine if creating new topic or posting to existing
+        if [ -n "${{ inputs.topic-id }}" ]; then
+          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
+        
+          # Create JSON payload for posting to existing topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg topic_id "${{ inputs.topic-id }}" \
+            '{topic_id: $topic_id, raw: $content}')
+        else
+          echo "✨ Creating new topic: ${{ inputs.title }}"
+        
+          # Create JSON payload for new topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg title "${{ inputs.title }}" \
+            --arg category "${{ inputs.category-id }}" \
+            '{title: $title, category: ($category | tonumber), raw: $content}')
+        fi
+        
+        # Post to Discourse
+        RESPONSE=$(curl -s -w "\n%{http_code}" \
+          -X POST "${{ inputs.discourse-url }}/posts.json" \
+          -H "Content-Type: application/json" \
+          -H "Api-Key: ${{ inputs.api-key }}" \
+          -H "Api-Username: ${{ inputs.api-username }}" \
+          -d "$PAYLOAD")
+        
+        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
+        BODY=$(echo "$RESPONSE" | sed '$d')
+        
+        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
+          echo "✅ Successfully posted to Discourse!"
+        
+          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
+          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
+          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
+        
+          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
+          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
+          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
+        
+          echo "Topic ID: ${TOPIC_ID}"
+          echo "Post number: ${POST_NUMBER}"
+          echo "URL: ${POST_URL}"
+        else
+          echo "❌ Failed to post to Discourse"
+          echo "HTTP Code: ${HTTP_CODE}"
+          echo "Response: ${BODY}"
+          exit 1
+        fi

.github/workflows/prebuilt.yaml

@@ -6,7 +6,7 @@ on:
 
 env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh prebuilt
+  BUILD: release/ci/docker_build_sp.sh prebuilt
 
 jobs:
   build_prebuilt:
@@ -29,7 +29,7 @@ jobs:
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
     - run: git lfs pull

.github/workflows/raylib_ui_preview.yaml

@@ -1,23 +1,23 @@
-name: "ui preview"
+name: "raylib ui preview"
 on:
   push:
     branches:
       - master
-      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
-      - 'master-new'
     paths:
+      - 'selfdrive/assets/**'
       - 'selfdrive/ui/**'
+      - 'system/ui/**'
   workflow_dispatch:
 
 env:
-  UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
+  UI_JOB_NAME: "Create raylib UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
 
 jobs:
   preview:
@@ -54,31 +54,31 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-1-${{ env.REPORT_NAME }}
+          name: raylib-report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting master ui
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui
-          ref: openpilot_master_ui
+          path: ${{ github.workspace }}/master_ui_raylib
+          ref: openpilot_master_ui_raylib
 
       - name: Saving new master ui
-        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
         run: |
-          git checkout --orphan=new_master_ui
+          git checkout --orphan=new_master_ui_raylib
           git rm -rf *
-          git branch -D openpilot_master_ui
-          git branch -m openpilot_master_ui
+          git branch -D openpilot_master_ui_raylib
+          git branch -m openpilot_master_ui_raylib
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
           mv ${{ github.workspace }}/pr_ui/*.png .
           git add .
-          git commit -m "screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui --force
+          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
+          git push origin openpilot_master_ui_raylib --force
 
       - name: Finding diff
         if: github.event_name == 'pull_request_target'
@@ -96,7 +96,7 @@ jobs:
           for ((i=0; i<${#A[*]}; i=i+1));
           do
             # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
+            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
               # This is a new file in PR UI that doesn't exist in master
               DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
@@ -108,12 +108,12 @@ jobs:
 
               DIFF="${DIFF}</table>"
               DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
+              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
+              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
 
-              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
+              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
 
               DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
@@ -151,7 +151,7 @@ jobs:
 
       - name: Saving proposed ui
         if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui
+        working-directory: ${{ github.workspace }}/master_ui_raylib
         run: |
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
@@ -159,7 +159,7 @@ jobs:
           git rm -rf *
           mv ${{ github.workspace }}/pr_ui/* .
           git add .
-          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
           git push origin ${{ env.BRANCH_NAME }} --force
 
       - name: Comment Screenshots on PR
@@ -167,9 +167,9 @@ jobs:
         uses: thollander/actions-comment-pull-request@v2
         with:
           message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
-            ## UI Preview
+            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
+            ## raylib UI Preview
             ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots
+          comment_tag: run_id_screenshots_raylib
           pr_number: ${{ github.event.number }}
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release-drafter.yml

@@ -3,7 +3,6 @@ name: Release Drafter
 on:
   push:
     branches:
-      - master-new
       - master
     tags:
       - 'v*'

.github/workflows/release.yaml

@@ -5,12 +5,12 @@ on:
   workflow_dispatch:
 
 jobs:
-  build_masterci:
-    name: build master-ci
+  build___nightly:
+    name: build __nightly
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/commaai/openpilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
@@ -27,10 +27,10 @@ jobs:
       with:
         ref: master
         wait-interval: 30
-        running-workflow-name: 'build master-ci'
+        running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
         fetch-depth: 0
@@ -38,5 +38,5 @@ jobs:
       run: |
         git config --global --add safe.directory '*'
         git lfs pull
-    - name: Push master-ci
-      run: BRANCH=__nightly release/build_devel.sh
+    - name: Push __nightly
+      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -6,16 +6,16 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  BASE_IMAGE: sunnypilot-base
+  BUILD: release/ci/docker_build_sp.sh base
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
   update_translations:
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: ./.github/workflows/setup-with-retry
       - name: Update translations
         run: |
@@ -28,7 +28,7 @@ jobs:
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master-new"
+          base: "master"
           delete-branch: true
           labels: bot
 
@@ -36,13 +36,14 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/commaai/openpilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
     - name: uv lock
+      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
@@ -50,6 +51,7 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
+        git config submodule.tinygrad.update none
         git submodule update --remote
         git add .
     - name: update car docs
@@ -66,7 +68,7 @@ jobs:
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master-new
+        base: master
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -1,346 +0,0 @@
-name: selfdrive
-
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
-
-jobs:
-  build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
-    name: build release
-    runs-on:
-      - 'ubuntu-24.04'
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
-
-  build:
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-
-  static_analysis:
-    name: static analysis
-    runs-on:
-      - 'ubuntu-latest'
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
-      run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  process_replay:
-    name: process replay
-    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  test_cars:
-    name: cars
-    runs-on:
-      - 'ubuntu-24.04'
-    strategy:
-      fail-fast: false
-      matrix:
-        job: [0, 1, 2, 3]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
-      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-      env:
-        NUM_JOBS: 4
-        JOB_ID: ${{ matrix.job }}
-
-  car_docs_diff:
-    name: PR comments
-    runs-on: ubuntu-latest
-    #if: github.event_name == 'pull_request'
-    if: false  # TODO: run this in opendbc?
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          ref: ${{ github.event.pull_request.base.ref }}
-      - run: git lfs pull
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Get base car info
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          path: current
-      - run: cd current && git lfs pull
-      - name: Save car docs diff
-        id: save_diff
-        run: |
-          cd current
-          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
-          output="${output//$'\n'/'%0A'}"
-          echo "::set-output name=diff::$output"
-      - name: Find comment
-        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          body-includes: This PR makes changes to
-      - name: Update comment
-        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: "${{ steps.save_diff.outputs.diff }}"
-          edit-mode: replace
-      - name: Delete comment
-        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v7
-        with:
-          script: |
-            github.rest.issues.deleteComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              comment_id: ${{ steps.fc.outputs.comment-id }}
-            })
-
-  simulator_driving:
-    name: simulator driving
-    runs-on:
-      - 'ubuntu-24.04'
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_ui_report:
-    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
-    name: Create UI Report
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: caching frames
-        id: frames-cache
-        uses: actions/cache@v4
-        with:
-          path: .ci_cache/comma_download_cache
-          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
-        run: >
-            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                            source selfdrive/test/setup_xvfb.sh &&
-                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
-                            chmod -R 777 /tmp/comma_download_cache"
-      - name: Upload Test Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ env.REPORT_NAME }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/setup-with-retry/action.yaml

@@ -10,9 +10,17 @@ inputs:
     required: false
     default: 30
 
+outputs:
+  duration:
+    description: 'Duration of the setup process in seconds'
+    value: ${{ steps.get_duration.outputs.duration }}
+
 runs:
   using: "composite"
   steps:
+    - id: start_time
+      shell: bash
+      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
     - id: setup1
       uses: ./.github/workflows/setup
       continue-on-error: true
@@ -35,3 +43,10 @@ runs:
       uses: ./.github/workflows/setup
       with:
         is_retried: true
+    - id: get_duration
+      shell: bash
+      run: |
+        END_TIME=$(date +%s)
+        DURATION=$((END_TIME - START_TIME))
+        echo "Total duration: $DURATION seconds"
+        echo "duration=$DURATION" >> $GITHUB_OUTPUT

.github/workflows/stale.yaml

@@ -5,15 +5,15 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 24
   DAYS_BEFORE_PR_STALE_DRAFT: 30
 
 jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v9
+      - uses: actions/stale@v10
         with:
           exempt-all-milestones: true
 
@@ -34,7 +34,7 @@ jobs:
   stale_drafts:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v9
+      - uses: actions/stale@v10
         with:
           exempt-all-milestones: true
 

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

@@ -156,6 +156,8 @@ jobs:
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ github.workspace }}/selfdrive/modeld/models
+      - run: |
+          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
 
       - name: Build Model
         run: |

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

@@ -6,57 +6,121 @@ env:
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
+
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
-  
+  STAGING_SOURCE_BRANCH: 'master'
+
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-new, master-dev-c3-new ]
-    tags: [ '*' ]
+    branches: [ master, master-dev ]
+    tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
     inputs:
       wait_for_tests:
-        description: 'Wait for selfdrive_tests to finish'
+        description: 'Wait for tests to finish'
         required: false
         type: boolean
         default: false
 
 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
+            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+          fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          workflow: tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      version: ${{ steps.set-env.outputs.version }}
-      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
-      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -70,70 +134,21 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-              !(startsWith(github.ref, 'refs/tags/'))
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' && 
-                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' &&
-                !contains(github.event_name, 'pull_request') &&
-                steps.set_dev_configuration.outcome == 'skipped' && 
-                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-              steps.set_feature_configuration.outcome == 'skipped' &&
-              !contains(github.event_name, 'pull_request') &&
-              steps.set_staging_configuration.outcome == 'skipped' &&
-              startsWith(github.ref, 'refs/tags/')
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
       - name: Set environment variables
         id: set-env
         run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-          
+
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -165,6 +180,15 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          echo "Building sunnypilot's modeld..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
+          echo "Building sunnypilot's modeld_v2..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          echo "Building sunnypilot's locationd..."
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          echo "Building openpilot's locationd..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -176,37 +200,28 @@ jobs:
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
           rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
             --exclude='.sconsign.dblite' \
             --exclude='*.a' \
             --exclude='*.o' \
             --exclude='*.os' \
             --exclude='*.pyc' \
             --exclude='moc_*' \
-            --exclude='*.cc' \
+            --exclude='__pycache__' \
             --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
             --exclude='**/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
+            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
+            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
+            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
+            --exclude='third_party/*x86*' \
+            --exclude='third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -230,12 +245,15 @@ jobs:
 
   publish:
     concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build, prepare_strategy ]
     runs-on: ubuntu-24.04
-    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
 
@@ -267,8 +285,8 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
-          
+            "${{ needs.build.outputs.extra_version_identifier }}"
+
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
           echo ""
@@ -276,38 +294,60 @@ jobs:
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
 
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}
+
   notify:
-    needs: [ build, publish ]
+    needs:
+    - prepare_strategy
+    - build
+    - publish
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure())
+      && needs.publish.result == 'success'
+      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
 
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+      - name: Prepare notification message
+        id: message
         run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
-  
+          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
+          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
+          export branch_name="${{ env.SOURCE_BRANCH }}"
+          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
+          export commit_sha="${{ github.sha }}"
+          export commit_short_sha="${{ github.sha }}"
+          export commit_short_sha="${commit_short_sha:0:7}"
+          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
+          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
+
+          MESSAGE=$(cat << 'EOF' | envsubst
+          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
+          EOF
+          )
+
+          {
+            echo 'content<<EOFMARKER'
+            echo "$MESSAGE"
+            echo 'EOFMARKER'
+          } >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Post to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: "system"
+          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
+          message: ${{ steps.message.outputs.content }}
+
   manage-pr-labels:
     name: Remove prebuilt label
     runs-on: ubuntu-latest

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

@@ -1,9 +1,8 @@
-name: Build dev-c3-new
+name: Build dev
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
+  DEFAULT_SOURCE_BRANCH: "master"
+  DEFAULT_TARGET_BRANCH: "master-dev"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -11,23 +10,21 @@ on:
   push:
     branches:
       - master
-      - master-new    
   pull_request_target:
-    types: [ labeled ]  
-    branches:    
-      - 'master'        
-      - 'master-new'            
+    types: [ labeled ]
+    branches:
+      - 'master'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master-new'
+        default: 'master'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev-c3-new'
+        default: 'master-dev'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -43,24 +40,25 @@ jobs:
   reset-and-squash:
     runs-on: ubuntu-latest
     if: (
-            (github.event_name == 'workflow_dispatch')
-            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-        )
+      (github.event_name == 'workflow_dispatch')
+      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
+      )
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
+          persist-credentials: false
 
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
-                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
-            )
+          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
+          )
         with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          workflow: tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Configure Git
@@ -120,8 +118,8 @@ jobs:
         run: |
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
+            query($search_query:String!) {
+              search(query: $search_query, type:ISSUE, first:40) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -151,8 +149,9 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
 
+          PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -175,10 +174,37 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
+      - name: Restore workflows from source
         run: |
           TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+
+          # Ensure we are on the target branch
+          git checkout $TARGET_BRANCH
+
+          echo "Restoring .github/workflows from $SOURCE_BRANCH"
+          git checkout origin/$SOURCE_BRANCH -- .github/workflows
+
+          if ! git diff --cached --quiet; then
+            echo "Workflows differ. Committing restoration."
+            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
+          else
+            echo "Workflows match $SOURCE_BRANCH."
+          fi
+
+      - uses: actions/create-github-app-token@v2
+        id: ci-token
+        with:
+          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
+          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
+
+      - name: Push changes if there are diffs
+        id: push-changes
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          # Use the App Token to set the remote URL with authentication
+          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
 
           # Fetch the latest from remote
           git fetch origin $TARGET_BRANCH
@@ -190,7 +216,7 @@ jobs:
             exit 0
           fi
 
-          # If we get here, there are diffs, so push
+          # Push with the authenticated origin
           if ! git push origin $TARGET_BRANCH --force; then
             echo "Failed to push changes to $TARGET_BRANCH"
             exit 1
@@ -203,13 +229,13 @@ jobs:
         if: steps.push-changes.outputs.has_changes == 'true'
         run: |
           echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
 
           echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
           sleep 120
 
           echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
 
           echo "Watching run ID: $RUN_ID"
           gh run watch "$RUN_ID"

.github/workflows/test-discourse.yaml.yml

@@ -0,0 +1,78 @@
+name: Debug Discourse Posting
+
+on:
+  push:
+
+jobs:
+  test-discourse-post:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Post test message to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      
+      
+      - name: Create topic on Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          category-id: 4
+          title: "This is a test of a new topic instead of a reply"
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      - name: Display results
+        if: always()
+        run: |
+          echo "::notice::Discourse post test completed"
+          echo "Check your Discourse topic to verify the post appeared correctly"

.github/workflows/tests.yaml

@@ -0,0 +1,324 @@
+name: tests
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+
+concurrency:
+  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  PYTHONWARNINGS: error
+  BASE_IMAGE: sunnypilot-base
+  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  BUILD: release/ci/docker_build_sp.sh base
+
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    env:
+      STRIPPED_DIR: /tmp/releasepilot
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
+    - name: Build devel
+      timeout-minutes: 1
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "python3 system/manager/build.py"
+    - name: Run tests
+      timeout-minutes: 1
+      run: |
+        cd $STRIPPED_DIR
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Check submodules
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
+      run: |
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+          git fetch  origin master:refs/remotes/origin/master
+
+          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+            if git ls-files --stage "$path" | grep -q "^160000"; then
+              echo "$path"
+            fi
+          done | tr '\n' ' ')
+
+          if [ -n "$SUBMODULE_PATHS" ]; then
+            echo "Changed submodule paths: $SUBMODULE_PATHS"
+            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
+            export CHECK_PR_REFS=true
+          fi
+        fi
+        release/check-submodules.sh
+
+  build:
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - name: Setup docker push
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        $DOCKER_LOGIN
+    - uses: ./.github/workflows/setup-with-retry
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: 30
+
+  build_mac:
+    name: build macOS
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Homebrew cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        save: false # No need save here if we manually save it later conditionally
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
+        restore-keys: |
+          brew-macos-${{ hashFiles('tools/Brewfile') }}
+          brew-macos-
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        PYTHONWARNINGS: default  # package install has DeprecationWarnings
+        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
+    - name: Save Homebrew cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: ~/Library/Caches/Homebrew
+        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
+    - run: git lfs pull
+    - name: Getting scons cache
+      uses: ./.github/workflows/auto-cache
+      with:
+        save: false # No need save here if we manually save it later conditionally
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
+    - name: Save scons cache
+      uses: actions/cache/save@v4
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+
+  static_analysis:
+    name: static analysis
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    env:
+      PYTHONWARNINGS: default
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint/lint.sh"
+
+  unit_tests:
+    name: unit tests
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run unit tests
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
+                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
+                        chmod -R 777 /tmp/comma_download_cache"
+
+  process_replay:
+    name: process replay
+    if: false  # disable process_replay for forks
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v5
+      with:
+        path: .ci_cache/comma_download_cache
+        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run replay
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
+      run: |
+        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+                        chmod -R 777 /tmp/comma_download_cache"
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v6
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Upload reference logs
+      if: false # TODO: move this to github instead of azure
+      run: |
+        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+    - name: Run regen
+      if: false
+      timeout-minutes: 4
+      run: |
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+                        chmod -R 777 /tmp/comma_download_cache"
+
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    if: false  # FIXME: Started to timeout recently
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+      id: setup-step
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
+
+  create_raylib_ui_report:
+    name: Create raylib UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create raylib UI Report
+        run: >
+          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                          source selfdrive/test/setup_xvfb.sh &&
+                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
+      - name: Upload Raylib UI Report
+        uses: actions/upload-artifact@v6
+        with:
+          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
+
+  create_mici_raylib_ui_report:
+    name: Create mici raylib UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create mici raylib UI Report
+        run: >
+          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                          source selfdrive/test/setup_xvfb.sh &&
+                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
+      - name: Upload Raylib UI Report
+        uses: actions/upload-artifact@v6
+        with:
+          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/diff/report

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

@@ -4,7 +4,7 @@ inputs:
   workflow:
     description: 'The workflow file name to monitor'
     required: true
-    default: 'selfdrive_tests.yaml'
+    default: 'tests.yaml'
   branch:
     description: 'The branch to monitor (defaults to current branch)'
     required: false

.gitignore

@@ -10,12 +10,13 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-model2.png
 a.out
 .hypothesis
+.cache/
 
 /docs_site/
 
+*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -35,30 +36,23 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-*.qm
+*.mo
 *_pyx.cpp
+*.stats
 config.json
 clcache
 compile_commands.json
 compare_runtime*.html
 
-persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
-selfdrive/mapd/default_speeds_by_region.json
-system/proclogd/proclogd
 selfdrive/ui/translations/tmp
-selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 
-notebooks
-hyperthneed
-provisioning
-
 .coverage*
 coverage.xml
 htmlcov
@@ -75,6 +69,7 @@ sunnypilot/modeld*/thneed/compile
 sunnypilot/modeld*/models/*.thneed
 sunnypilot/modeld*/models/*.pkl
 
+# openpilot log files
 *.bz2
 *.zst
 
@@ -104,6 +99,10 @@ Pipfile
 .history
 .ionide
 
+.claude/
+PLAN.md
+TASK.md
+
 ### JetBrains ###
 !.idea/customTargets.xml
 !.idea/tools/*

.gitmodules

@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = https://github.com/commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
@@ -15,7 +15,7 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/tinygrad/tinygrad.git
+  url = https://github.com/commaai/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
   path = sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git

.run/Build_BIG_UI.run.xml

@@ -0,0 +1,26 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
+    <module name="sunnypilot" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="BIG" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
+    </method>
+  </configuration>
+</component>

.run/Build_SMALL_UI.run.xml

@@ -0,0 +1,23 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
+    <module name="sunnypilot" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
+    </method>
+  </configuration>
+</component>

.vscode/launch.json

@@ -23,6 +23,11 @@
       "id": "args",
       "description": "Arguments to pass to the process",
       "type": "promptString"
+    },
+    {
+      "id": "replayArg",
+      "type": "promptString",
+      "description": "Enter route or segment to replay."
     }
   ],
   "configurations": [
@@ -40,7 +45,41 @@
       "type": "cppdbg",
       "request": "launch",
       "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
+      "cwd": "${workspaceFolder}"
+    },
+    {
+      "name": "Attach LLDB to Replay drive",
+      "type": "lldb",
+      "request": "attach",
+      "pid": "${command:pickMyProcess}",
+      "initCommands": [
+        "script import time; time.sleep(3)"
+      ]
+    },
+    {
+      "name": "Replay drive",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
+      "args": [
+        "${input:replayArg}"
+      ],
+      "console": "integratedTerminal",
+      "justMyCode": false,
+      "env": {
+        "PYTHONPATH": "${workspaceFolder}"
+      },
+      "subProcess": true,
+      "stopOnEntry": false
+    }
+  ],
+  "compounds": [
+    {
+      "name": "Replay drive + Safety LLDB",
+      "configurations": [
+        "Replay drive",
+        "Attach LLDB to Replay drive"
+      ]
     }
   ]
 }

Dockerfile.openpilot

@@ -9,4 +9,6 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY . ${OPENPILOT_PATH}/
 
-RUN scons --cache-readonly -j$(nproc)
+ENV UV_BIN="/home/batman/.local/bin/"
+ENV PATH="$UV_BIN:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.sunnypilot

@@ -0,0 +1,12 @@
+FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+
+ENV PYTHONUNBUFFERED=1
+
+ENV OPENPILOT_PATH=/home/batman/openpilot
+
+RUN mkdir -p ${OPENPILOT_PATH}
+WORKDIR ${OPENPILOT_PATH}
+
+COPY . ${OPENPILOT_PATH}/
+
+RUN scons --cache-readonly -j$(nproc)

Dockerfile.sunnypilot_base

@@ -0,0 +1,83 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+    rsync \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export LOGPRINT=debug
+#export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -167,7 +167,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -178,20 +178,20 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
-        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
+      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
     if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
+          deviceStage("build nightly", "tizi-needs-can", [], [
             step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
+          deviceStage("build nightly-dev", "tizi-needs-can", [], [
             step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
           ])
         },
@@ -200,39 +200,30 @@ node {
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
-      // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
       'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
         ])
       },
-      'camerad AR0231': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
       'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
           step("test exposure", "pytest system/camerad/test/test_exposure.py"),
@@ -246,17 +237,13 @@ node {
         ])
       },
       'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
           step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
@@ -266,7 +253,6 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
           // TODO: enable once new AGNOS is available
           // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),

README.md

@@ -3,68 +3,23 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
-
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
-
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
-
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-
-> [!IMPORTANT]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
-
-> [!TIP]
-> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
-Pull requests should be against the most current `master-new` branch.
+Pull requests should be against the most current `master` branch.
 
 ## 📊 User Data
 

RELEASES.md

@@ -1,11 +1,49 @@
-Version 0.10.0 (2025-07-07)
+Version 0.10.4 (2026-02-17)
+========================
+* Lexus LS 2018 support thanks to Hacheoy!
+
+Version 0.10.3 (2025-12-17)
+========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
+
+Version 0.10.2 (2025-11-19)
+========================
+* comma four support
+
+Version 0.10.1 (2025-09-08)
+========================
+* New driving model #36276
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * VAE Compression Model: new architecture and training objective
+  * Driving Vision Model: trained on 4x the number of segments
+* New Driver Monitoring model #36198
+* Acura TLX 2021 support thanks to MVL!
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
+
+Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
-  * Lead car ground-truth fixes
-  * Ported over VAE from the MLSIM stack
-  * New training architecture described in CVPR paper
+  * New training architecture
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+  * Low-speed lead car ground-truth fixes
 * Enable live-learned steering actuation delay
 * Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
 
 Version 0.9.9 (2025-05-23)
 ========================

SConstruct

@@ -3,178 +3,51 @@ import subprocess
 import sys
 import sysconfig
 import platform
+import shlex
 import numpy as np
 
 import SCons.Errors
 
 SCons.Warnings.warningAsException(True)
 
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
-TICI = os.path.isfile('/TICI')
-AGNOS = TICI
-
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', int(os.cpu_count()/2))
-
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
+AddOption('--asan', action='store_true', help='turn on ASAN')
+AddOption('--ubsan', action='store_true', help='turn on UBSan')
+AddOption('--mutation', action='store_true', help='generate mutation-ready code')
+AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+# Detect platform
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
   brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
+elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
-
-lenv = {
-  "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-}
-
-rpath = lenv["LD_LIBRARY_PATH"].copy()
-
-if arch == "larch64":
-  cpppath = [
-    "#third_party/opencl/include",
-  ]
-
-  libpath = [
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  libpath += [
-    "#third_party/snpe/larch64",
-    "#third_party/libyuv/larch64/lib",
-    "/usr/lib/aarch64-linux-gnu"
-  ]
-  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  rpath += ["/usr/local/lib"]
-else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath += []
-
-  # MacOS
-  if arch == "Darwin":
-    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
-      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
-    ]
-    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
-  # Linux
-  else:
-    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-    if arch == "x86_64":
-      libpath += [
-        f"#third_party/snpe/{arch}"
-      ]
-      rpath += [
-        Dir(f"#third_party/snpe/{arch}").abspath,
-      ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
+assert arch in [
+  "larch64",  # linux tici arm64
+  "aarch64",  # linux pc arm64
+  "x86_64",   # linux pc x64
+  "Darwin",   # macOS arm64 (x86 not supported)
+]
 
 env = Environment(
-  ENV=lenv,
+  ENV={
+    "PATH": os.environ['PATH'],
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+  },
+  CC='clang',
+  CXX='clang++',
   CCFLAGS=[
     "-g",
     "-fPIC",
@@ -187,37 +60,31 @@ env = Environment(
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
     "-Wno-vla-cxx-extension",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
+  ],
+  CFLAGS=["-std=gnu11"],
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=[
     "#",
+    "#msgq",
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/snpe/include",
-    "#third_party",
-    "#msgq",
   ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
+  LIBPATH=[
+    "#common",
     "#msgq_repo",
     "#third_party",
     "#selfdrive/pandad",
-    "#common",
     "#rednose/helpers",
+    f"#third_party/libyuv/{arch}/lib",
+    f"#third_party/acados/{arch}/lib",
   ],
+  RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
@@ -225,30 +92,63 @@ env = Environment(
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
-if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
+# Arch-specific flags and paths
+if arch == "larch64":
+  env.Append(CPPPATH=["#third_party/opencl/include"])
+  env.Append(LIBPATH=[
+    "/usr/local/lib",
+    "/system/vendor/lib64",
+    "/usr/lib/aarch64-linux-gnu",
+  ])
+  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  env.Append(CCFLAGS=arch_flags)
+  env.Append(CXXFLAGS=arch_flags)
+elif arch == "Darwin":
+  env.Append(LIBPATH=[
+    f"{brew_prefix}/lib",
+    f"{brew_prefix}/opt/openssl@3.0/lib",
+    f"{brew_prefix}/opt/llvm/lib/c++",
+    "/System/Library/Frameworks/OpenGL.framework/Libraries",
+  ])
+  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CPPPATH=[
+    f"{brew_prefix}/include",
+    f"{brew_prefix}/opt/openssl@3.0/include",
+  ])
+else:
+  env.Append(LIBPATH=[
+    "/usr/lib",
+    "/usr/local/lib",
+  ])
 
-env.CompilationDatabase('compile_commands.json')
+# Sanitizers and extra CCFLAGS from CLI
+if GetOption('asan'):
+  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
+  env.Append(LINKFLAGS=["-fsanitize=address"])
+elif GetOption('ubsan'):
+  env.Append(CCFLAGS=["-fsanitize=undefined"])
+  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
+_extra_cc = shlex.split(GetOption('ccflags') or '')
+if _extra_cc:
+  env.Append(CCFLAGS=_extra_cc)
 
+# no --as-needed on mac linker
+if arch != "Darwin":
+  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
+
+# progress output
 node_interval = 5
 node_count = 0
 def progress_function(node):
   global node_count
   node_count += node_interval
   sys.stderr.write("progress: %d\n" % node_count)
-
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-# Cython build environment
+# ********** Cython build environment **********
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
@@ -257,84 +157,28 @@ envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+Export('env', 'arch')
 
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+# Setup cache dir
+default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-Export('env', 'qt_env', 'arch', 'real_arch')
+# ********** start building stuff **********
 
 # Build common module
 SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
+Import('_common')
 common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
+Export('common')
 
 # Build messaging (cereal + msgq + socketmaster + their dependencies)
 # Enable swaglog include in submodules
@@ -358,14 +202,8 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
-if arch != "Darwin":
-  SConscript([
-    'system/logcatd/SConscript',
-    'system/proclogd/SConscript',
-  ])
 
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
@@ -382,6 +220,5 @@ if Dir('#tools/cabana/').exists() and GetOption('extras'):
   if arch != "larch64":
     SConscript(['tools/cabana/SConscript'])
 
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])
+
+env.CompilationDatabase('compile_commands.json')

cereal/custom.capnp

@@ -25,8 +25,92 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
+# Same struct as Log.RadarState.LeadData
+struct LeadData {
+  dRel @0 :Float32;
+  yRel @1 :Float32;
+  vRel @2 :Float32;
+  aRel @3 :Float32;
+  vLead @4 :Float32;
+  dPath @6 :Float32;
+  vLat @7 :Float32;
+  vLeadK @8 :Float32;
+  aLeadK @9 :Float32;
+  fcw @10 :Bool;
+  status @11 :Bool;
+  aLeadTau @12 :Float32;
+  modelProb @13 :Float32;
+  radar @14 :Bool;
+  radarTrackId @15 :Int32 = -1;
+
+  aLeadDEPRECATED @5 :Float32;
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -69,6 +153,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
       navigation @1;
       vision @2;
       policy @3;
+      offPolicy @4;
     }
   }
 
@@ -101,7 +186,13 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
-  accelPersonality @1 :AccelerationPersonality;
+  longitudinalPlanSource @1 :LongitudinalPlanSource;
+  smartCruiseControl @2 :SmartCruiseControl;
+  speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
+  events @6 :List(OnroadEventSP.Event);
+  e2eAlerts @7 :E2eAlerts;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -114,10 +205,95 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
     }
   }
 
-  enum AccelerationPersonality {
-    sport @0;
-    normal @1;
-    eco @2;
+  struct SmartCruiseControl {
+    vision @0 :Vision;
+    map @1 :Map;
+
+    struct Vision {
+      state @0 :VisionState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      currentLateralAccel @3 :Float32;
+      maxPredictedLateralAccel @4 :Float32;
+      enabled @5 :Bool;
+      active @6 :Bool;
+    }
+
+    struct Map {
+      state @0 :MapState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      enabled @3 :Bool;
+      active @4 :Bool;
+    }
+
+    enum VisionState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on vision range.
+      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
+      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
+      overriding @5; # System overriding with manual control.
+    }
+
+    enum MapState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on map range.
+      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      overriding @3; # System overriding with manual control.
+    }
+  }
+
+  struct SpeedLimit {
+    resolver @0 :Resolver;
+    assist @1 :Assist;
+
+    struct Resolver {
+      speedLimit @0 :Float32;
+      distToSpeedLimit @1 :Float32;
+      source @2 :Source;
+      speedLimitOffset @3 :Float32;
+      speedLimitLast @4 :Float32;
+      speedLimitFinal @5 :Float32;
+      speedLimitFinalLast @6 :Float32;
+      speedLimitValid @7 :Bool;
+      speedLimitLastValid @8 :Bool;
+    }
+
+    struct Assist {
+      state @0 :AssistState;
+      enabled @1 :Bool;
+      active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
+    }
+
+    enum Source {
+      none @0;
+      car @1;
+      map @2;
+    }
+
+    enum AssistState {
+      disabled @0;
+      inactive @1; # No speed limit set or not enabled by parameter.
+      preActive @2;
+      pending @3; # Awaiting new speed limit.
+      adapting @4; # Reducing speed to match new speed limit.
+      active @5; # Cruising at speed limit.
+    }
+  }
+
+  enum LongitudinalPlanSource {
+    cruise @0;
+    sccVision @1;
+    sccMap @2;
+    speedLimitAssist @3;
+  }
+
+  struct E2eAlerts {
+    greenLightAlert @0 :Bool;
+    leadDepartAlert @1 :Bool;
   }
 }
 
@@ -158,12 +334,22 @@ struct OnroadEventSP @0xda96579883444c35 {
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
     pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
+    speedLimitPreActive @19;
+    speedLimitActive @20;
+    speedLimitChanged @21;
+    speedLimitPending @22;
+    e2eChime @23;
   }
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -181,10 +367,26 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
   params @1 :List(Param);
+  leadOne @2 :LeadData;
+  leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
 
   struct Param {
     key @0 :Text;
-    value @1 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
   }
 }
 
@@ -231,6 +433,7 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
 }
 
 struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;
 }
 
 struct LiveMapDataSP @0xf416ec09499d9d19 {
@@ -242,7 +445,14 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {
   roadName @5 :Text;
 }
 
-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
+
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {

cereal/log.capnp

@@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -127,7 +128,9 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
-    userFlag @95;
+    userBookmark @95;
+    excessiveActuation @96;
+    audioFeedback @97;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -492,7 +495,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   gpuTempC @27 :List(Float32);
   dspTempC @49 :Float32;
   memoryTempC @28 :Float32;
-  nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
@@ -568,6 +570,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   chargingDisabledDEPRECATED @18 :Bool;
   usbOnlineDEPRECATED @12 :Bool;
   ambientTempCDEPRECATED @30 :Float32;
+  nvmeTempCDEPRECATED @35 :List(Float32);
 }
 
 struct PandaState @0xa7649e2575e4591e {
@@ -583,9 +586,8 @@ struct PandaState @0xa7649e2575e4591e {
   heartbeatLost @22 :Bool;
   interruptLoad @25 :Float32;
   fanPower @28 :UInt8;
-  fanStallCount @34 :UInt8;
 
-  spiChecksumErrorCount @33 :UInt16;
+  spiErrorCount @33 :UInt16;
 
   harnessStatus @21 :HarnessStatus;
   sbu1Voltage @35 :Float32;
@@ -712,6 +714,7 @@ struct PandaState @0xa7649e2575e4591e {
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
   safetyParam2DEPRECATED @26 :UInt32;
+  fanStallCountDEPRECATED @34 :UInt8;
 }
 
 struct PeripheralState {
@@ -916,6 +919,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
    }
 
   struct LateralLQRState {
@@ -2144,13 +2149,10 @@ struct Joystick {
 struct DriverStateV2 {
   frameId @0 :UInt32;
   modelExecutionTime @1 :Float32;
-  dspExecutionTimeDEPRECATED @2 :Float32;
   gpuExecutionTime @8 :Float32;
   rawPredictions @3 :Data;
 
-  poorVisionProb @4 :Float32;
   wheelOnRightProb @5 :Float32;
-
   leftDriverData @6 :DriverData;
   rightDriverData @7 :DriverData;
 
@@ -2165,10 +2167,14 @@ struct DriverStateV2 {
     leftBlinkProb @7 :Float32;
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
-    occludedProb @10 :Float32;
-    readyProb @11 :List(Float32);
-    notReadyProb @12 :List(Float32);
+    phoneProb @13 :Float32;
+    notReadyProbDEPRECATED @12 :List(Float32);
+    occludedProbDEPRECATED @10 :Float32;
+    readyProbDEPRECATED @11 :List(Float32);
   }
+
+  dspExecutionTimeDEPRECATED @2 :Float32;
+  poorVisionProbDEPRECATED @4 :Float32;
 }
 
 struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
@@ -2220,7 +2226,10 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   hiStdCount @14 :UInt32;
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
+  uncertainCount @19 :UInt32;
 
+  phoneProbOffsetDEPRECATED @20 :Float32;
+  phoneProbValidCountDEPRECATED @21 :UInt32;
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
   eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
@@ -2467,7 +2476,7 @@ struct DebugAlert {
   alertText2 @1 :Text;
 }
 
-struct UserFlag {
+struct UserBookmark @0xfe346a9de48d9b50 {
 }
 
 struct SoundPressure @0xdc24138990726023 {
@@ -2485,6 +2494,11 @@ struct AudioData {
   sampleRate @1 :UInt32;
 }
 
+struct AudioFeedback {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+}
+
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2511,13 +2525,10 @@ struct Event {
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
-    gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
-    accelerometer2 @101 :SensorEventData;
     magnetometer @95 :SensorEventData;
     lightSensor @96 :SensorEventData;
     temperatureSensor @97 :SensorEventData;
-    temperatureSensor2 @123 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
@@ -2585,9 +2596,13 @@ struct Event {
     mapRenderState @105: MapRenderState;
 
     # UI services
-    userFlag @93 :UserFlag;
     uiDebug @102 :UIDebug;
 
+    # driving feedback
+    userBookmark @93 :UserBookmark;
+    bookmarkButton @148 :UserBookmark;
+    audioFeedback @149 :AudioFeedback;
+
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
@@ -2620,7 +2635,7 @@ struct Event {
     backupManagerSP @113 :Custom.BackupManagerSP;
     carStateSP @114 :Custom.CarStateSP;
     liveMapDataSP @115 :Custom.LiveMapDataSP;
-    customReserved9 @116 :Custom.CustomReserved9;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
@@ -2673,8 +2688,11 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
+    gyroscope2DEPRECATED @100 :SensorEventData;
+    accelerometer2DEPRECATED @101 :SensorEventData;
+    temperatureSensor2DEPRECATED @123 :SensorEventData;
   }
 }

cereal/messaging/__init__.py

@@ -1,10 +1,8 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 import msgq
-
 import os
 import capnp
 import time
@@ -13,11 +11,25 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
+def pub_sock(endpoint: str) -> PubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.pub_sock(endpoint, segment_size)
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
+                       timeout=timeout, segment_size=segment_size)
+
+
 def reset_context():
   msgq.context = Context()
 

cereal/messaging/bridge.cc

@@ -33,7 +33,8 @@ void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &i
   for (auto endpoint : endpoints) {
     auto pub_sock = new MSGQPubSocket();
     auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
+    size_t queue_size = services.at(endpoint).queue_size;
+    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);

cereal/messaging/msgq_to_zmq.cc

@@ -2,6 +2,7 @@
 
 #include <cassert>
 
+#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            size_t queue_size = services.at(pair.endpoint).queue_size;
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }

cereal/messaging/socketmaster.cc

@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  int freq = 0;
+  float freq = 0.0f;
   bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
@@ -187,7 +187,8 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(services.count(name) > 0);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
+    service serv = services.at(std::string(name));
+    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/messaging/tests/test_messaging.py

@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
@@ -177,8 +177,8 @@ class TestMessaging:
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     recvd = messaging.recv_one_retry(sub_sock)
     assert (time.monotonic() - start_time) >= sock_timeout*5
     assert isinstance(recvd, capnp._DynamicStructReader)

cereal/messaging/tests/test_pub_sub_master.py

@@ -86,7 +86,7 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
-        "userFlag": (None, None),
+        "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():

cereal/services.py

@@ -1,37 +1,44 @@
 #!/usr/bin/env python3
+from enum import IntEnum
 from typing import Optional
 
 
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
+
+
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
+    self.queue_size = queue_size
 
 
 _services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
   "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
   "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
@@ -43,7 +50,7 @@ _services: dict[str, tuple] = {
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
   "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15),
+  "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
@@ -65,20 +72,26 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
-  "userFlag": (True, 0., 1),
+  "userBookmark": (True, 0., 1),
   "soundPressure": (True, 10., 10),
   "rawAudioData": (False, 20.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),
+  "roadEncodeData": (False, 20., None, QueueSize.BIG),
+  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
+  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
+  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
@@ -86,21 +99,19 @@ _services: dict[str, tuple] = {
   "carControlSP": (True, 100., 10),
   "carStateSP": (True, 100., 10),
   "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
-  "roadEncodeData": (False, 20.),
-  "driverEncodeData": (False, 20.),
-  "wideRoadEncodeData": (False, 20.),
-  "qRoadEncodeData": (False, 20.),
   "livestreamWideRoadEncodeIdx": (False, 20.),
   "livestreamRoadEncodeIdx": (False, 20.),
   "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20.),
-  "livestreamRoadEncodeData": (False, 20.),
-  "livestreamDriverEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
@@ -118,13 +129,13 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
 
   h += "#endif\n"

common/SConscript

@@ -4,18 +4,12 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
+  'ratekeeper.cc',
   'clutil.cc',
 ]
 
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
+_common = env.Library('common', common_libs, LIBS="json11")
+Export('_common')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
@@ -25,11 +19,6 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
+common_python = [params_python]
 
 Export('common_python')

common/api/__init__.py

@@ -14,9 +14,13 @@ class Api:
   def post(self, *args, **kwargs):
     return self.service.post(*args, **kwargs)
 
-  def get_token(self, expiry_hours=1):
-    return self.service.get_token(expiry_hours)
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
+
+
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -1,18 +1,22 @@
 import jwt
+import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
+
 
 class BaseApi:
   def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
     self.dongle_id = dongle_id
     self.api_host = api_host
     self.user_agent = user_agent
-    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
-      self.private_key = f.read()
+    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
 
   def get(self, *args, **kwargs):
     return self.request('GET', *args, **kwargs)
@@ -23,7 +27,7 @@ class BaseApi:
   def request(self, method, endpoint, timeout=None, access_token=None, **params):
     return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
-  def _get_token(self, expiry_hours=1, **extra_payload):
+  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
     now = datetime.now(UTC).replace(tzinfo=None)
     payload = {
       'identity': self.dongle_id,
@@ -32,20 +36,22 @@ class BaseApi:
       'exp': now + timedelta(hours=expiry_hours),
       **extra_payload
     }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')
     return token
 
-  def get_token(self, expiry_hours=1):
-    return self._get_token(expiry_hours)
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self._get_token(payload_extra, expiry_hours)
 
   def remove_non_ascii_chars(self, text):
     normalized_text = unicodedata.normalize('NFD', text)
     ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
     return ascii_encoded_text.decode()
 
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
     headers = {}
     if access_token is not None:
       headers['Authorization'] = "JWT " + access_token
@@ -53,4 +59,14 @@ class BaseApi:
     version = self.remove_non_ascii_chars(get_version())
     headers['User-Agent'] = self.user_agent + version
 
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+    # TODO: add session to Api
+    req = requests if session is None else session
+    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+
+  @staticmethod
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+    for key in KEYS:
+      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+          return KEYS[key], private.read(), public.read()
+    return None, None, None

common/constants.py

@@ -1,6 +1,7 @@
 import numpy as np
 
-class Conversions:
+# conversions
+class CV:
   # Speed
   MPH_TO_KPH = 1.609344
   KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -17,3 +18,6 @@ class Conversions:
 
   # Mass
   LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

common/dict_helpers.py

@@ -1,9 +0,0 @@
-# remove all keys that end in DEPRECATED
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d

common/file_helpers.py

@@ -1,58 +0,0 @@
-import io
-import os
-import tempfile
-import contextlib
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
-
-
-class CallbackReader:
-  """Wraps a file, but overrides the read method to also
-  call a callback function with the number of bytes read so far."""
-  def __init__(self, f, callback, *args):
-    self.f = f
-    self.callback = callback
-    self.cb_args = args
-    self.total_read = 0
-
-  def __getattr__(self, attr):
-    return getattr(self.f, attr)
-
-  def read(self, *args, **kwargs):
-    chunk = self.f.read(*args, **kwargs)
-    self.total_read += len(chunk)
-    self.callback(*self.cb_args, self.total_read)
-    return chunk
-
-
-@contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
-                        overwrite: bool = False):
-  """Write to a file atomically using a temporary file in the same directory as the destination file."""
-  dir_name = os.path.dirname(path)
-
-  if not overwrite and os.path.exists(path):
-    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
-
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size

common/filter_simple.py

@@ -15,3 +15,20 @@ class FirstOrderFilter:
       self.initialized = True
       self.x = x
     return self.x
+
+
+class BounceFilter(FirstOrderFilter):
+  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
+    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
+    self.bounce = bounce
+    super().__init__(x0, rc, dt, initialized)
+
+  def update(self, x):
+    super().update(x)
+    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
+    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
+    self.velocity.update(0.0)
+    if abs(self.velocity.x) < 1e-5:
+      self.velocity.x = 0.0
+    self.x += self.velocity.x
+    return self.x

common/git.py

@@ -1,30 +1,30 @@
 from functools import cache
 import subprocess
-from openpilot.common.run import run_cmd, run_cmd_default
+from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/i2c.py

@@ -0,0 +1,81 @@
+import os
+import fcntl
+import ctypes
+
+# I2C constants from /usr/include/linux/i2c-dev.h
+I2C_SLAVE = 0x0703
+I2C_SLAVE_FORCE = 0x0706
+I2C_SMBUS = 0x0720
+
+# SMBus transfer types
+I2C_SMBUS_READ = 1
+I2C_SMBUS_WRITE = 0
+I2C_SMBUS_BYTE_DATA = 2
+I2C_SMBUS_I2C_BLOCK_DATA = 8
+
+I2C_SMBUS_BLOCK_MAX = 32
+
+
+class _I2cSmbusData(ctypes.Union):
+  _fields_ = [
+    ("byte", ctypes.c_uint8),
+    ("word", ctypes.c_uint16),
+    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
+  ]
+
+
+class _I2cSmbusIoctlData(ctypes.Structure):
+  _fields_ = [
+    ("read_write", ctypes.c_uint8),
+    ("command", ctypes.c_uint8),
+    ("size", ctypes.c_uint32),
+    ("data", ctypes.POINTER(_I2cSmbusData)),
+  ]
+
+
+class SMBus:
+  def __init__(self, bus: int):
+    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
+
+  def __enter__(self) -> 'SMBus':
+    return self
+
+  def __exit__(self, *args) -> None:
+    self.close()
+
+  def close(self) -> None:
+    if hasattr(self, '_fd') and self._fd >= 0:
+      os.close(self._fd)
+      self._fd = -1
+
+  def _set_address(self, addr: int, force: bool = False) -> None:
+    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
+    fcntl.ioctl(self._fd, ioctl_arg, addr)
+
+  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
+    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
+    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
+
+  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
+    return int(data.byte)
+
+  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    data.byte = value & 0xFF
+    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
+
+  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
+    self._set_address(addr, force)
+    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
+      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
+
+    data = _I2cSmbusData()
+    data.block[0] = length
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
+    read_len = int(data.block[0]) or length
+    read_len = min(read_len, length)
+    return [int(b) for b in data.block[1 : read_len + 1]]

common/model.h

@@ -1 +1 @@
-#define DEFAULT_MODEL "Tomb Raider 14 (Default)"
+#define DEFAULT_MODEL "CD210 (Default)"

common/params.cc

@@ -103,10 +103,10 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys(ParamKeyType type) const {
+std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    if (type == ALL || (p.second & type)) {
+    if (flag == ALL || (p.second.flags & flag)) {
       ret.push_back(p.first);
     }
   }
@@ -117,8 +117,16 @@ bool Params::checkKey(const std::string &key) {
   return keys.find(key) != keys.end();
 }
 
+ParamKeyFlag Params::getKeyFlag(const std::string &key) {
+  return static_cast<ParamKeyFlag>(keys[key].flags);
+}
+
 ParamKeyType Params::getKeyType(const std::string &key) {
-  return static_cast<ParamKeyType>(keys[key]);
+  return keys[key].type;
+}
+
+std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
+  return keys[key].default_value;
 }
 
 int Params::put(const char* key, const char* value, size_t value_size) {
@@ -197,17 +205,17 @@ std::map<std::string, std::string> Params::readAll() {
   return util::read_files_in_dir(getParamPath());
 }
 
-void Params::clearAll(ParamKeyType key_type) {
+void Params::clearAll(ParamKeyFlag key_flag) {
   FileLock file_lock(params_path + "/.lock");
 
-  // 1) delete params of key_type
+  // 1) delete params of key_flag
   // 2) delete files that are not defined in the keys.
   if (DIR *d = opendir(getParamPath().c_str())) {
     struct dirent *de = NULL;
     while ((de = readdir(d))) {
       if (de->d_type != DT_DIR) {
         auto it = keys.find(de->d_name);
-        if (it == keys.end() || (it->second & key_type)) {
+        if (it == keys.end() || (it->second.flags & key_flag)) {
           unlink(getParamPath(de->d_name).c_str());
         }
       }

common/params.h

@@ -2,6 +2,7 @@
 
 #include <future>
 #include <map>
+#include <optional>
 #include <string>
 #include <tuple>
 #include <utility>
@@ -9,17 +10,34 @@
 
 #include "common/queue.h"
 
-enum ParamKeyType {
+enum ParamKeyFlag {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
   CLEAR_ON_ONROAD_TRANSITION = 0x08,
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
-  BACKUP = 0x80,
+  CLEAR_ON_IGNITION_ON = 0x80,
+  BACKUP = 0x100,
   ALL = 0xFFFFFFFF
 };
 
+enum ParamKeyType {
+  STRING = 0, // must be utf-8 decodable
+  BOOL = 1,
+  INT = 2,
+  FLOAT = 3,
+  TIME = 4, // ISO 8601
+  JSON = 5,
+  BYTES = 6
+};
+
+struct ParamKeyAttributes {
+  uint32_t flags;
+  ParamKeyType type;
+  std::optional<std::string> default_value = std::nullopt;
+};
+
 class Params {
 public:
   explicit Params(const std::string &path = {});
@@ -28,16 +46,18 @@ public:
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys(ParamKeyType type = ALL) const;
+  std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
   bool checkKey(const std::string &key);
+  ParamKeyFlag getKeyFlag(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
+  std::optional<std::string> getKeyDefaultValue(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
     return params_path + params_prefix + (key.empty() ? "" : "/" + key);
   }
 
   // Delete a value
   int remove(const std::string &key);
-  void clearAll(ParamKeyType type);
+  void clearAll(ParamKeyFlag flag);
 
   // helpers for reading values
   std::string get(const std::string &key, bool block = false);

common/params.py

@@ -1,5 +1,6 @@
-from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
+from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
 assert Params
+assert ParamKeyFlag
 assert ParamKeyType
 assert UnknownKeyName
 

common/params_keys.h

@@ -3,212 +3,273 @@
 #include <string>
 #include <unordered_map>
 
-inline static std::unordered_map<std::string, uint32_t> keys = {
-    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT | BACKUP},
-    {"AlwaysOnDM", PERSISTENT | BACKUP},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_FirehoseStats", PERSISTENT},
-    {"AssistNowToken", PERSISTENT},
-    {"AthenadPid", PERSISTENT},
-    {"AthenadUploadQueue", PERSISTENT},
-    {"AthenadRecentlyViewedRoutes", PERSISTENT},
-    {"BootCount", PERSISTENT},
-    {"CalibrationParams", PERSISTENT},
-    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
-    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
-    {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsPersistent", PERSISTENT},
-    {"CarParamsPrevRoute", PERSISTENT},
-    {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CurrentBootlog", PERSISTENT},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT | BACKUP},
-    {"DisableUpdates", PERSISTENT | BACKUP},
-    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
-    {"DongleId", PERSISTENT},
-    {"DoReboot", CLEAR_ON_MANAGER_START},
-    {"DoShutdown", CLEAR_ON_MANAGER_START},
-    {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
-    {"ExperimentalMode", PERSISTENT | BACKUP},
-    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ForcePowerDown", PERSISTENT},
-    {"GitBranch", PERSISTENT},
-    {"GitCommit", PERSISTENT},
-    {"GitCommitDate", PERSISTENT},
-    {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT | BACKUP},
-    {"GithubUsername", PERSISTENT | BACKUP},
-    {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT | BACKUP},
-    {"GsmMetered", PERSISTENT | BACKUP},
-    {"GsmRoaming", PERSISTENT | BACKUP},
-    {"HardwareSerial", PERSISTENT},
-    {"HasAcceptedTerms", PERSISTENT},
-    {"InstallDate", PERSISTENT},
-    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
-    {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT | BACKUP},
-    {"IsMetric", PERSISTENT | BACKUP},
-    {"IsOffroad", CLEAR_ON_MANAGER_START},
-    {"IsOnroad", PERSISTENT},
-    {"IsRhdDetected", PERSISTENT},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
-    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT | BACKUP},
-    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
-    {"LastGPSPosition", PERSISTENT},
-    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-    {"LastUpdateException", CLEAR_ON_MANAGER_START},
-    {"LastUpdateTime", PERSISTENT},
-    {"LiveDelay", PERSISTENT | BACKUP},
-    {"LiveParameters", PERSISTENT},
-    {"LiveParametersV2", PERSISTENT},
-    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"LocationFilterInitialState", PERSISTENT},
-    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT | BACKUP},
-    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSignatures", CLEAR_ON_MANAGER_START},
-    {"PrimeType", PERSISTENT},
-    {"RecordAudio", PERSISTENT | BACKUP},
-    {"RecordFront", PERSISTENT | BACKUP},
-    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG | BACKUP},
-    {"RouteCount", PERSISTENT},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT | BACKUP},
-    {"TermsVersion", PERSISTENT},
-    {"TrainingVersion", PERSISTENT},
-    {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterAvailableBranches", PERSISTENT},
-    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
-    {"UpdaterLastFetchTime", PERSISTENT},
-    {"Version", PERSISTENT},
+#include "cereal/gen/cpp/log.capnp.h"
+
+inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
+    {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
+    {"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
+    {"ApiCache_Device", {PERSISTENT, STRING}},
+    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
+    {"AssistNowToken", {PERSISTENT, STRING}},
+    {"AthenadPid", {PERSISTENT, INT}},
+    {"AthenadUploadQueue", {PERSISTENT, JSON}},
+    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
+    {"BootCount", {PERSISTENT, INT}},
+    {"CalibrationParams", {PERSISTENT, BYTES}},
+    {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
+    {"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
+    {"CarBatteryCapacity", {PERSISTENT, INT}},
+    {"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
+    {"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"CarParamsPersistent", {PERSISTENT, BYTES}},
+    {"CarParamsPrevRoute", {PERSISTENT, BYTES}},
+    {"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
+    {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"CurrentBootlog", {PERSISTENT, STRING}},
+    {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
+    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DongleId", {PERSISTENT, STRING}},
+    {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
+    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
+    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
+    {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"ForcePowerDown", {PERSISTENT, BOOL}},
+    {"GitBranch", {PERSISTENT, STRING}},
+    {"GitCommit", {PERSISTENT, STRING}},
+    {"GitCommitDate", {PERSISTENT, STRING}},
+    {"GitDiff", {PERSISTENT, STRING}},
+    {"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
+    {"GithubUsername", {PERSISTENT | BACKUP, STRING}},
+    {"GitRemote", {PERSISTENT, STRING}},
+    {"GsmApn", {PERSISTENT | BACKUP, STRING}},
+    {"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
+    {"HardwareSerial", {PERSISTENT, STRING}},
+    {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
+    {"InstallDate", {PERSISTENT, TIME}},
+    {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsEngaged", {PERSISTENT, BOOL}},
+    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
+    {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsOnroad", {PERSISTENT, BOOL}},
+    {"IsRhdDetected", {PERSISTENT, BOOL}},
+    {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
+    {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"LastGPSPosition", {PERSISTENT, STRING}},
+    {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
+    {"LastUpdateTime", {PERSISTENT, TIME}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
+    {"LiveParameters", {PERSISTENT, JSON}},
+    {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
+    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
+    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
+    {"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"PrimeType", {PERSISTENT, INT}},
+    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
+    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
+    {"ShowDebugInfo", {PERSISTENT, BOOL}},
+    {"RouteCount", {PERSISTENT, INT, "0"}},
+    {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"TermsVersion", {PERSISTENT, STRING}},
+    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrainingVersion", {PERSISTENT, STRING}},
+    {"UbloxAvailable", {PERSISTENT, BOOL}},
+    {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
+    {"UpdaterAvailableBranches", {PERSISTENT, STRING}},
+    {"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
+    {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"AccelPersonality", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"AutoLaneChangeBsmDelay", PERSISTENT | BACKUP},
-    {"AutoLaneChangeTimer", PERSISTENT | BACKUP},
-    {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
-    {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
-    {"Brightness", PERSISTENT | BACKUP},
-    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsSPPersistent", PERSISTENT},
-    {"CarPlatformBundle", PERSISTENT | BACKUP},
-    {"ChevronInfo", PERSISTENT | BACKUP},
-    {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
-    {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
-    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
-    {"DeviceBootMode", PERSISTENT | BACKUP},
-    {"EnableGithubRunner", PERSISTENT | BACKUP},
-    {"InteractivityTimeout", PERSISTENT | BACKUP},
-    {"IsDevelopmentBranch", CLEAR_ON_MANAGER_START},
-    {"MaxTimeOffroad", PERSISTENT | BACKUP},
-    {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
-    {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"QuickBootToggle", PERSISTENT | BACKUP},
-    {"QuietMode", PERSISTENT | BACKUP},
-    {"ShowAdvancedControls", PERSISTENT | BACKUP},
-    {"VibePersonalityEnabled", PERSISTENT},
-    {"VibeAccelPersonalityEnabled", PERSISTENT},
-    {"VibeFollowPersonalityEnabled", PERSISTENT},
+    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
+    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
+    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
+    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"CarList", {PERSISTENT, JSON}},
+    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
+    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
+    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
+    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
+    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
+    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
+    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
+    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
+    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
+    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
+    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
+    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
+    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {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"}},
 
     // MADS params
-    {"Mads", PERSISTENT | BACKUP},
-    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsSteeringMode", PERSISTENT | BACKUP},
-    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
+    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
 
     // Model Manager params
-    {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_ClearCache", CLEAR_ON_MANAGER_START},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
+    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
+    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
     // Neural Network Lateral Control
-    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
+    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnylink params
-    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
-    {"SunnylinkCache_Roles", PERSISTENT},
-    {"SunnylinkCache_Users", PERSISTENT},
-    {"SunnylinkDongleId", PERSISTENT},
-    {"SunnylinkdPid", PERSISTENT},
-    {"SunnylinkEnabled", PERSISTENT},
+    {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
+    {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
+    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
+    {"SunnylinkDongleId", {PERSISTENT, STRING}},
+    {"SunnylinkdPid", {PERSISTENT, INT}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
 
     // Backup Manager params
-    {"BackupManager_CreateBackup", PERSISTENT},
-    {"BackupManager_RestoreVersion", PERSISTENT},
+    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
+    {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
 
     // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT | BACKUP},
+    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    {"DynamicExperimentalControl", PERSISTENT | BACKUP},
-    {"BlindSpot", PERSISTENT | BACKUP},
+    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    // model panel params
-    {"LagdToggle", PERSISTENT | BACKUP},
-    {"LagdToggleDesc", PERSISTENT},
-    {"LagdToggledelay", PERSISTENT | BACKUP},
+    // sunnypilot model params
+    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
+    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
+    {"ModeldSunny", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AlpamayoDriveFast", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // mapd
-    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"MapdVersion", PERSISTENT},
-    {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
-    {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START},  // mapd database update happens with device ON, reset on boot
-    {"OSMDownloadBounds", PERSISTENT},
-    {"OsmDownloadedDate", PERSISTENT},
-    {"OSMDownloadLocations", PERSISTENT},
-    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
-    {"OsmLocal", PERSISTENT},
-    {"OsmLocationName", PERSISTENT},
-    {"OsmLocationTitle", PERSISTENT},
-    {"OsmLocationUrl", PERSISTENT},
-    {"OsmStateName", PERSISTENT},
-    {"OsmStateTitle", PERSISTENT},
-    {"OsmWayTest", PERSISTENT},
-    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
+    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
+    {"MapdVersion", {PERSISTENT, STRING}},
+    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
+    {"OSMDownloadBounds", {PERSISTENT, STRING}},
+    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
+    {"OSMDownloadLocations", {PERSISTENT, JSON}},
+    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OsmLocal", {PERSISTENT, BOOL}},
+    {"OsmLocationName", {PERSISTENT, STRING}},
+    {"OsmLocationTitle", {PERSISTENT, STRING}},
+    {"OsmLocationUrl", {PERSISTENT, STRING}},
+    {"OsmStateName", {PERSISTENT, STRING, "All"}},
+    {"OsmStateTitle", {PERSISTENT, STRING}},
+    {"OsmWayTest", {PERSISTENT, STRING}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Speed Limit
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+
+    // Smart Cruise Control
+    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Torque lateral control custom params
+    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
+    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
+    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };

common/params_pyx.pyx

@@ -1,19 +1,35 @@
 # distutils: language = c++
 # cython: language_level = 3
+import builtins
+import datetime
+import json
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.optional cimport optional
+
+from openpilot.common.swaglog import cloudlog
 
 cdef extern from "common/params.h":
-  cpdef enum ParamKeyType:
+  cpdef enum ParamKeyFlag:
     PERSISTENT
     CLEAR_ON_MANAGER_START
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
+    CLEAR_ON_IGNITION_ON
     BACKUP
     ALL
 
+  cpdef enum ParamKeyType:
+    STRING
+    BOOL
+    INT
+    FLOAT
+    TIME
+    JSON
+    BYTES
+
   cdef cppclass c_Params "Params":
     c_Params(string) except + nogil
     string get(string, bool) nogil
@@ -24,10 +40,31 @@ cdef extern from "common/params.h":
     void putBoolNonBlocking(string, bool) nogil
     int putBool(string, bool) nogil
     bool checkKey(string) nogil
+    ParamKeyType getKeyType(string) nogil
+    optional[string] getKeyDefaultValue(string) nogil
     string getParamPath(string) nogil
-    void clearAll(ParamKeyType)
-    vector[string] allKeys(ParamKeyType)
+    void clearAll(ParamKeyFlag)
+    vector[string] allKeys(ParamKeyFlag)
 
+PYTHON_2_CPP = {
+  (str, STRING): lambda v: v,
+  (builtins.bool, BOOL): lambda v: "1" if v else "0",
+  (int, INT): str,
+  (float, FLOAT): str,
+  (datetime.datetime, TIME): lambda v: v.isoformat(),
+  (dict, JSON): json.dumps,
+  (list, JSON): json.dumps,
+  (bytes, BYTES): lambda v: v,
+}
+CPP_2_PYTHON = {
+  STRING: lambda v: v.decode("utf-8"),
+  BOOL: lambda v: v == b"1",
+  INT: int,
+  FLOAT: float,
+  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
+  JSON: json.loads,
+  BYTES: lambda v: v,
+}
 
 def ensure_bytes(v):
   return v.encode() if isinstance(v, str) else v
@@ -51,8 +88,8 @@ cdef class Params:
   def __dealloc__(self):
     del self.p
 
-  def clear_all(self, tx_type=ParamKeyType.ALL):
-    self.p.clearAll(tx_type)
+  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
+    self.p.clearAll(tx_flag)
 
   def check_key(self, key):
     key = ensure_bytes(key)
@@ -60,21 +97,38 @@ cdef class Params:
       raise UnknownKeyName(key)
     return key
 
-  def get(self, key, bool block=False, encoding=None):
+  def python2cpp(self, proposed_type, expected_type, value, key):
+    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
+    if cast:
+      return cast(value)
+    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
+
+  def _cpp2python(self, t, value, default, key):
+    if value is None:
+      return None
+    try:
+      return CPP_2_PYTHON[t](value)
+    except (KeyError, TypeError, ValueError):
+      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
+      return self._cpp2python(t, default, None, key)
+
+  def get(self, key, bool block=False, bool return_default=False):
     cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    cdef optional[string] default = self.p.getKeyDefaultValue(k)
     cdef string val
     with nogil:
       val = self.p.get(k, block)
 
+    default_val = (default.value() if default.has_value() else None) if return_default else None
     if val == b"":
       if block:
         # If we got no value while running in blocked mode
         # it means we got an interrupt while waiting
         raise KeyboardInterrupt
       else:
-        return None
-
-    return val if encoding is None else val.decode(encoding)
+        return self._cpp2python(t, default_val, None, key)
+    return self._cpp2python(t, val, default_val, key)
 
   def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
@@ -83,6 +137,11 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def _put_cast(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -91,7 +150,7 @@ cdef class Params:
     in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
+    cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
       self.p.put(k, dat_bytes)
 
@@ -102,7 +161,7 @@ cdef class Params:
 
   def put_nonblocking(self, key, dat):
     cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
+    cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
       self.p.putNonBlocking(k, dat_bytes)
 
@@ -120,5 +179,19 @@ cdef class Params:
     cdef string key_bytes = ensure_bytes(key)
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
-  def all_keys(self, type=ParamKeyType.ALL):
-    return self.p.allKeys(type)
+  def get_type(self, key):
+    return self.p.getKeyType(self.check_key(key))
+
+  def all_keys(self, flag=ParamKeyFlag.ALL):
+    return self.p.allKeys(flag)
+
+  def get_default_value(self, key):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    cdef optional[string] default = self.p.getKeyDefaultValue(k)
+    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
+
+  def cpp2python(self, key, value):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return self._cpp2python(t, value, None, key)

common/pid.py

@@ -2,23 +2,14 @@ import numpy as np
 from numbers import Number
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    self.k_f = k_f   # feedforward gain
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
+  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
 
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)
 
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
+    self.i_dt = 1.0 / rate
     self.speed = 0.0
 
     self.reset()
@@ -35,10 +26,6 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -46,25 +33,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
     self.speed = speed
+    self.p = self.k_p * float(error)
+    self.d = self.k_d * error_rate
+    self.f = feedforward
 
-    self.p = float(error) * self.k_p
-    self.f = feedforward * self.k_f
-    self.d = error_rate * self.k_d
+    if not freeze_integrator:
+      i = self.i + self.k_i * self.i_dt * error
 
-    if override:
-      self.i -= self.i_unwind_rate * float(np.sign(self.i))
-    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
-
-        # Clip i to prevent exceeding control limits
-        control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Don't allow windup if already clipping
+      test_control = self.p + i + self.d + self.f
+      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
+      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
+      self.i = np.clip(i, i_lowerbound, i_upperbound)
 
     control = self.p + self.i + self.d + self.f
-
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

common/prefix.h

@@ -13,7 +13,11 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/prefix.py

@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,20 +10,20 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
+    self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache
 
   def __enter__(self):
     self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
     os.environ['OPENPILOT_PREFIX'] = self.prefix
-    try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
+
+    if self.create_dirs_on_enter:
+      self.create_dirs()
 
     if self.shared_download_cache:
       os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -40,6 +41,13 @@ class OpenpilotPrefix:
       pass
     return False
 
+  def create_dirs(self):
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+
   def clean_dirs(self):
     symlink_path = Params().get_param_path()
     if os.path.exists(symlink_path):

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/retry.py

@@ -1,30 +0,0 @@
-import time
-import functools
-
-from openpilot.common.swaglog import cloudlog
-
-
-def retry(attempts=3, delay=1.0, ignore_failure=False):
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      for _ in range(attempts):
-        try:
-          return func(*args, **kwargs)
-        except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
-          time.sleep(delay)
-
-      if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
-      else:
-        raise Exception(f"{func.__name__} failed after retry")
-    return wrapper
-  return decorator
-
-
-if __name__ == "__main__":
-  @retry(attempts=10)
-  def abc():
-    raise ValueError("abc failed :(")
-  abc()

common/run.py

@@ -1,13 +0,0 @@
-import subprocess
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-

common/swaglog.cc

@@ -15,6 +15,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 class SwaglogState {
 public:
   SwaglogState() {
@@ -56,7 +58,7 @@ public:
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = COMMA_VERSION;
+    ctx_j["version"] = SUNNYPILOT_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }

common/tests/test_file_helpers.py

@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 
 
 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
       assert f.read() == "test"
     os.remove(path)
 
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)

common/tests/test_markdown.py

@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 

common/tests/test_params.py

@@ -1,10 +1,11 @@
 import pytest
+import datetime
 import os
 import threading
 import time
 import uuid
 
-from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
 class TestParams:
   def setup_method(self):
@@ -12,7 +13,7 @@ class TestParams:
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
-    assert self.params.get("DongleId") == b"cb38263377b873ee"
+    assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
@@ -20,7 +21,7 @@ class TestParams:
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", "test")
+    self.params.put("CarParams", b"test")
     self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
 
@@ -29,24 +30,24 @@ class TestParams:
       f.write("test")
     assert os.path.isfile(undefined_param)
 
-    self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
+    self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
     assert self.params.get("CarParams") is None
     assert self.params.get("DongleId") is not None
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
     self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", "123")
-    assert self.params.get("DongleId") == b"bob"
-    assert self.params.get("AthenadPid") == b"123"
+    self.params.put("AthenadPid", 123)
+    assert self.params.get("DongleId") == "bob"
+    assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", "test")
+      self.params.put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
-    assert self.params.get("CarParams", True) == b"test"
+    assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
     with pytest.raises(UnknownKeyName):
@@ -76,17 +77,17 @@ class TestParams:
     self.params.put_bool("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", "1")
+    self.params.put("IsMetric", True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", "0")
+    self.params.put("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", "test")
+      Params().put_nonblocking("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -107,3 +108,34 @@ class TestParams:
     assert len(keys) > 20
     assert len(keys) == len(set(keys))
     assert b"CarParams" in keys
+
+  def test_params_default_value(self):
+    self.params.remove("LanguageSetting")
+    self.params.remove("LongitudinalPersonality")
+    self.params.remove("LiveParameters")
+
+    assert self.params.get("LanguageSetting") is None
+    assert self.params.get("LanguageSetting", return_default=False) is None
+    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
+    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
+    assert self.params.get("LiveParameters") is None
+    assert self.params.get("LiveParameters", return_default=True) is None
+
+  def test_params_get_type(self):
+    # json
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
+
+    # int
+    self.params.put("BootCount", 1441)
+    assert self.params.get("BootCount") == 1441
+
+    # bool
+    self.params.put("AdbEnabled", True)
+    assert self.params.get("AdbEnabled")
+    assert isinstance(self.params.get("AdbEnabled"), bool)
+
+    # time
+    now = datetime.datetime.now(datetime.UTC)
+    self.params.put("InstallDate", now)
+    assert self.params.get("InstallDate") == now

common/tests/test_swaglog.cc

@@ -9,6 +9,8 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+#include "sunnypilot/common/version.h"
+
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
+    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);

common/transformations/SConscript

@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')

common/transformations/tests/test_coordinates.py

@@ -102,3 +102,36 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
+
+  def test_errors(self):
+    # Test wrong shape/type for geodetic2ecef
+    # numpy_wrap raises IndexError for scalar input
+    with np.testing.assert_raises(IndexError):
+      coord.geodetic2ecef(1.0)
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0])
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0, 0, 0])
+
+    with np.testing.assert_raises(TypeError):
+      coord.geodetic2ecef(['a', 'b', 'c'])
+
+    # Test LocalCoord constructor errors
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic([0, 0])
+
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic(1)
+
+    with np.testing.assert_raises(TypeError):
+      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
+
+    # Test wrong shape/type for ecef2geodetic
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2])
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2, 3, 4])
+    with np.testing.assert_raises(IndexError):
+      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
+
+  def test_inputs(self):
+    with pytest.raises(ValueError):
+      euler2quat([1, 2])
+
+    with pytest.raises(ValueError):
+      quat2rot([1, 2, 3])
+
+    with pytest.raises(IndexError):
+      rot2quat(np.zeros((2, 2)))
+
+  def test_euler_rot_consistency(self):
+    rpy = [0.1, 0.2, 0.3]
+    R = euler2rot(rpy)
+
+    # R -> q -> R
+    q = rot2quat(R)
+    R_new = quat2rot(q)
+    np.testing.assert_allclose(R, R_new, atol=1e-15)
+
+    # q -> R -> Euler (quat2euler) -> R
+    rpy_new = quat2euler(q)
+    R_new2 = euler2rot(rpy_new)
+    np.testing.assert_allclose(R, R_new2, atol=1e-15)
+
+    # R -> Euler (rot2euler) -> R
+    rpy_from_rot = rot2euler(R)
+    R_new3 = euler2rot(rpy_from_rot)
+    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -1,72 +0,0 @@
-# cython: language_level=3
-from libcpp cimport bool
-
-cdef extern from "orientation.cc":
-  pass
-
-cdef extern from "orientation.hpp":
-  cdef cppclass Quaternion "Eigen::Quaterniond":
-    Quaternion()
-    Quaternion(double, double, double, double)
-    double w()
-    double x()
-    double y()
-    double z()
-
-  cdef cppclass Vector3 "Eigen::Vector3d":
-    Vector3()
-    Vector3(double, double, double)
-    double operator()(int)
-
-  cdef cppclass Matrix3 "Eigen::Matrix3d":
-    Matrix3()
-    Matrix3(double*)
-
-    double operator()(int, int)
-
-  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(const Vector3 &)
-  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
-
-
-cdef extern from "coordinates.cc":
-  cdef struct ECEF:
-    double x
-    double y
-    double z
-
-  cdef struct NED:
-    double n
-    double e
-    double d
-
-  cdef struct Geodetic:
-    double lat
-    double lon
-    double alt
-    bool radians
-
-  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(const ECEF &)
-
-  cdef cppclass LocalCoord_c "LocalCoord":
-    Matrix3 ned2ecef_matrix
-    Matrix3 ecef2ned_matrix
-
-    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(const ECEF &)
-
-    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(const NED &)
-
-cdef extern from "coordinates.hpp":
-  pass

common/transformations/transformations.py

@@ -0,0 +1,342 @@
+import numpy as np
+
+
+# Constants
+a = 6378137.0
+b = 6356752.3142
+esq = 6.69437999014e-3
+e1sq = 6.73949674228e-3
+
+
+def geodetic2ecef_single(g):
+  """
+  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
+  """
+  try:
+    if len(g) != 3:
+      raise ValueError("Geodetic must be size 3")
+  except TypeError:
+    raise ValueError("Geodetic must be a sequence of length 3") from None
+
+  lat, lon, alt = g
+  lat = np.radians(lat)
+  lon = np.radians(lon)
+  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
+  return np.array([x, y, z])
+
+
+def ecef2geodetic_single(e):
+  """
+  Convert ECEF to geodetic coordinates using Ferrari's solution.
+  """
+  x, y, z = e
+  r = np.sqrt(x**2 + y**2)
+  Esq = a**2 - b**2
+  F = 54 * b**2 * z**2
+  G = r**2 + (1 - esq) * z**2 - esq * Esq
+  C = (esq**2 * F * r**2) / (G**3)
+  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
+  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
+  Q = np.sqrt(1 + 2 * esq**2 * P)
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
+  U = np.sqrt((r - esq * r_0)**2 + z**2)
+  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
+  Z_0 = b**2 * z / (a * V)
+  h = U * (1 - b**2 / (a * V))
+  lat = np.arctan((z + e1sq * Z_0) / r)
+  lon = np.arctan2(y, x)
+  return np.array([np.degrees(lat), np.degrees(lon), h])
+
+
+def euler2quat_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a quaternion.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
+  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
+  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
+
+  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
+  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
+  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
+  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def quat2euler_single(q):
+  """
+  Convert a quaternion to Euler angles (roll, pitch, yaw).
+  """
+  w, x, y, z = q
+  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+  sin_arg = 2 * (w * y - z * x)
+  sin_arg = np.clip(sin_arg, -1.0, 1.0)
+  theta = np.arcsin(sin_arg)
+  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+  return np.array([gamma, theta, psi])
+
+
+def quat2rot_single(q):
+  """
+  Convert a quaternion to a 3x3 rotation matrix.
+  """
+  w, x, y, z = q
+  xx, yy, zz = x * x, y * y, z * z
+  xy, xz, yz = x * y, x * z, y * z
+  wx, wy, wz = w * x, w * y, w * z
+
+  mat = np.array([
+    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
+    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
+    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
+  ])
+  return mat
+
+
+def rot2quat_single(rot):
+  """
+  Convert a 3x3 rotation matrix to a quaternion.
+  """
+  trace = np.trace(rot)
+  if trace > 0:
+    s = 0.5 / np.sqrt(trace + 1.0)
+    w = 0.25 / s
+    x = (rot[2, 1] - rot[1, 2]) * s
+    y = (rot[0, 2] - rot[2, 0]) * s
+    z = (rot[1, 0] - rot[0, 1]) * s
+  else:
+    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
+      w = (rot[2, 1] - rot[1, 2]) / s
+      x = 0.25 * s
+      y = (rot[0, 1] + rot[1, 0]) / s
+      z = (rot[0, 2] + rot[2, 0]) / s
+    elif rot[1, 1] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
+      w = (rot[0, 2] - rot[2, 0]) / s
+      x = (rot[0, 1] + rot[1, 0]) / s
+      y = 0.25 * s
+      z = (rot[1, 2] + rot[2, 1]) / s
+    else:
+      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
+      w = (rot[1, 0] - rot[0, 1]) / s
+      x = (rot[0, 2] + rot[2, 0]) / s
+      y = (rot[1, 2] + rot[2, 1]) / s
+      z = 0.25 * s
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def euler2rot_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  cx, sx = np.cos(phi), np.sin(phi)
+  cy, sy = np.cos(theta), np.sin(theta)
+  cz, sz = np.cos(psi), np.sin(psi)
+
+  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
+  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
+  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
+
+  return Rz @ Ry @ Rx
+
+
+def rot2euler_single(rot):
+  """
+  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
+  """
+  return quat2euler_single(rot2quat_single(rot))
+
+
+def rot_matrix(roll, pitch, yaw):
+  """
+  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
+  """
+  return euler2rot_single([roll, pitch, yaw])
+
+
+def axis_angle_to_rot(axis, angle):
+  """
+  Convert an axis-angle representation to a 3x3 rotation matrix.
+  """
+  c = np.cos(angle / 2)
+  s = np.sin(angle / 2)
+  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
+  return quat2rot_single(q)
+
+
+class LocalCoord:
+  """
+  A class to handle conversions between ECEF and local NED coordinates.
+  """
+  def __init__(self, geodetic=None, ecef=None):
+    """
+    Initialize LocalCoord with either geodetic or ECEF coordinates.
+    """
+    if geodetic is not None:
+      self.init_ecef = geodetic2ecef_single(geodetic)
+      lat, lon, _ = geodetic
+    elif ecef is not None:
+      self.init_ecef = np.array(ecef)
+      lat, lon, _ = ecef2geodetic_single(ecef)
+    else:
+      raise ValueError("Must provide geodetic or ecef")
+
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+
+    self.ned2ecef_matrix = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, geodetic):
+    """
+    Create a LocalCoord instance from geodetic coordinates.
+    """
+    return cls(geodetic=geodetic)
+
+  @classmethod
+  def from_ecef(cls, ecef):
+    """
+    Create a LocalCoord instance from ECEF coordinates.
+    """
+    return cls(ecef=ecef)
+
+  def ecef2ned_single(self, ecef):
+    """
+    Convert a single ECEF point to NED coordinates relative to the origin.
+    """
+    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
+
+  def ned2ecef_single(self, ned):
+    """
+    Convert a single NED point to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix @ ned + self.init_ecef
+
+  def geodetic2ned_single(self, geodetic):
+    """
+    Convert a single geodetic point to NED coordinates.
+    """
+    ecef = geodetic2ecef_single(geodetic)
+    return self.ecef2ned_single(ecef)
+
+  def ned2geodetic_single(self, ned):
+    """
+    Convert a single NED point to geodetic coordinates.
+    """
+    ecef = self.ned2ecef_single(ned)
+    return ecef2geodetic_single(ecef)
+
+  @property
+  def ned_from_ecef_matrix(self):
+    """
+    Returns the rotation matrix from ECEF to NED coordinates.
+    """
+    return self.ecef2ned_matrix
+
+  @property
+  def ecef_from_ned_matrix(self):
+    """
+    Returns the rotation matrix from NED to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix
+
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+  """
+  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent ECEF Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+  zero = np.array(ecef_init)
+
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  phi, theta, psi = ned_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
+
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+  """
+  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent NED Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  phi, theta, psi = ecef_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  zero = np.array(ecef_init)
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -1,173 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
-from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
-from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
-from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
-from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
-from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
-from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from openpilot.common.transformations.transformations cimport LocalCoord_c
-
-
-import numpy as np
-cimport numpy as np
-
-cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
-    return np.array([
-        [m(0, 0), m(0, 1), m(0, 2)],
-        [m(1, 0), m(1, 1), m(1, 2)],
-        [m(2, 0), m(2, 1), m(2, 2)],
-    ])
-
-cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
-    assert m.shape[0] == 3
-    assert m.shape[1] == 3
-    return Matrix3(<double*>m.data)
-
-cdef ECEF list2ecef(ecef):
-    cdef ECEF e
-    e.x = ecef[0]
-    e.y = ecef[1]
-    e.z = ecef[2]
-    return e
-
-cdef NED list2ned(ned):
-    cdef NED n
-    n.n = ned[0]
-    n.e = ned[1]
-    n.d = ned[2]
-    return n
-
-cdef Geodetic list2geodetic(geodetic):
-    cdef Geodetic g
-    g.lat = geodetic[0]
-    g.lon = geodetic[1]
-    g.alt = geodetic[2]
-    return g
-
-def euler2quat_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Quaternion q = euler2quat_c(e)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def quat2euler_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q)
-    return [e(0), e(1), e(2)]
-
-def quat2rot_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Matrix3 r = quat2rot_c(q)
-    return matrix2numpy(r)
-
-def rot2quat_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Quaternion q = rot2quat_c(r)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def euler2rot_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Matrix3 r = euler2rot_c(e)
-    return matrix2numpy(r)
-
-def rot2euler_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Vector3 e = rot2euler_c(r)
-    return [e(0), e(1), e(2)]
-
-def rot_matrix(roll, pitch, yaw):
-    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
-
-    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
-
-    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def geodetic2ecef_single(geodetic):
-    cdef Geodetic g = list2geodetic(geodetic)
-    cdef ECEF e = geodetic2ecef_c(g)
-    return [e.x, e.y, e.z]
-
-def ecef2geodetic_single(ecef):
-    cdef ECEF e = list2ecef(ecef)
-    cdef Geodetic g = ecef2geodetic_c(e)
-    return [g.lat, g.lon, g.alt]
-
-
-cdef class LocalCoord:
-    cdef LocalCoord_c * lc
-
-    def __init__(self, geodetic=None, ecef=None):
-        assert (geodetic is not None) or (ecef is not None)
-        if geodetic is not None:
-            self.lc = new LocalCoord_c(list2geodetic(geodetic))
-        elif ecef is not None:
-            self.lc = new LocalCoord_c(list2ecef(ecef))
-
-    @property
-    def ned2ecef_matrix(self):
-        return matrix2numpy(self.lc.ned2ecef_matrix)
-
-    @property
-    def ecef2ned_matrix(self):
-        return matrix2numpy(self.lc.ecef2ned_matrix)
-
-    @property
-    def ned_from_ecef_matrix(self):
-        return self.ecef2ned_matrix
-
-    @property
-    def ecef_from_ned_matrix(self):
-        return self.ned2ecef_matrix
-
-    @classmethod
-    def from_geodetic(cls, geodetic):
-        return cls(geodetic=geodetic)
-
-    @classmethod
-    def from_ecef(cls, ecef):
-        return cls(ecef=ecef)
-
-    def ecef2ned_single(self, ecef):
-        assert self.lc
-        cdef ECEF e = list2ecef(ecef)
-        cdef NED n = self.lc.ecef2ned(e)
-        return [n.n, n.e, n.d]
-
-    def ned2ecef_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef ECEF e = self.lc.ned2ecef(n)
-        return [e.x, e.y, e.z]
-
-    def geodetic2ned_single(self, geodetic):
-        assert self.lc
-        cdef Geodetic g = list2geodetic(geodetic)
-        cdef NED n = self.lc.geodetic2ned(g)
-        return [n.n, n.e, n.d]
-
-    def ned2geodetic_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef Geodetic g = self.lc.ned2geodetic(n)
-        return [g.lat, g.lon, g.alt]
-
-    def __dealloc__(self):
-        del self.lc

common/util.cc

@@ -1,4 +1,5 @@
 #include "common/util.h"
+#include "common/swaglog.h"
 
 #include <sys/ioctl.h>
 #include <sys/stat.h>
@@ -12,6 +13,7 @@
 #include <iomanip>
 #include <random>
 #include <sstream>
+#include <limits>
 
 #ifdef __linux__
 #include <sys/prctl.h>
@@ -78,8 +80,9 @@ std::string read_file(const std::string& fn) {
   std::ifstream f(fn, std::ios::binary | std::ios::in);
   if (f.is_open()) {
     f.seekg(0, std::ios::end);
-    int size = f.tellg();
-    if (f.good() && size > 0) {
+    std::streamsize size = f.tellg();
+    // seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
+    if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
       std::string result(size, '\0');
       f.seekg(0, std::ios::beg);
       f.read(result.data(), size);
@@ -149,11 +152,16 @@ int safe_fflush(FILE *stream) {
   return ret;
 }
 
-int safe_ioctl(int fd, unsigned long request, void *argp) {
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
   int ret;
   do {
     ret = ioctl(fd, request, argp);
   } while ((ret == -1) && (errno == EINTR));
+
+  if (ret == -1 && exception_msg) {
+    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
+    throw std::runtime_error(exception_msg);
+  }
   return ret;
 }
 

common/util.h

@@ -36,6 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 
@@ -88,7 +89,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp);
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
 
 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);

common/util.py

@@ -1,46 +0,0 @@
-import os
-import subprocess
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count

common/utils.py

@@ -0,0 +1,186 @@
+import io
+import os
+import tempfile
+import contextlib
+import subprocess
+import time
+import functools
+from subprocess import Popen, PIPE, TimeoutExpired
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
+
+class Timer:
+  """Simple lap timer for profiling sequential operations."""
+
+  def __init__(self):
+    self._start = self._lap = time.monotonic()
+    self._sections = {}
+
+  def lap(self, name):
+    now = time.monotonic()
+    self._sections[name] = now - self._lap
+    self._lap = now
+
+  @property
+  def total(self):
+    return time.monotonic() - self._start
+
+  def fmt(self, duration):
+    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
+    total = self.total
+    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
+    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+@contextlib.contextmanager
+def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                 overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)
+
+  if not overwrite and os.path.exists(path):
+    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
+
+  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
+    yield tmp_file
+    tmp_file_name = tmp_file.name
+  os.replace(tmp_file_name, path)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size
+
+
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
+
+@contextlib.contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          print(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        print(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.0"
+#define COMMA_VERSION "0.10.4"

common/watchdog.cc

@@ -1,12 +0,0 @@
-#include <string>
-
-#include "common/watchdog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
-
-bool watchdog_kick(uint64_t ts) {
-  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
-}

common/watchdog.h

@@ -1,5 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-bool watchdog_kick(uint64_t ts);

common/watchdog.py

@@ -1,22 +0,0 @@
-import os
-import time
-import struct
-from openpilot.system.hardware.hw import Paths
-
-WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
-_LAST_KICK = 0.0
-
-def kick_watchdog():
-  global _LAST_KICK
-  current_time = time.monotonic()
-
-  if current_time - _LAST_KICK < 1.0:
-    return
-
-  try:
-    with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
-      f.write(struct.pack('<Q', int(current_time * 1e9)))
-      f.flush()
-    _LAST_KICK = current_time
-  except OSError:
-    pass

docs/CARS.md

@@ -4,348 +4,362 @@
 
 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.
 
-# 319 Supported Cars
+# 335 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-18">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2019">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>|||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>|||
-|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>|||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>|||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Ford|Expedition 2022-24|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 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Expedition 2022-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
-|Ford|Explorer 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-24">Buy Here</a></sub></details>|||
-|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
-|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 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
-|Ford|Focus 2018[<sup>3</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>3</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=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 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Ford|Kuga Plug-in 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in 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 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Mustang Mach-E 2021-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|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 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Ranger 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
-|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>|||
-|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>|||
-|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>|||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>|||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>|||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
-|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
-|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
-|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
-|Honda|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-25">Buy Here</a></sub></details>|||
-|Honda|Pilot 2016-22|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>|||
-|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>|||
-|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>|||
-|Hyundai|Azera Hybrid 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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Custin 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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>|||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>|||
-|Hyundai|Tucson 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>|||
-|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>|||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>|||
-|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>|||
-|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
-|Kia|Niro EV (without HDA II) 2023-25[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
-|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>|||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>|||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
-|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>|||
-|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>|||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>|||
-|Lexus|IS 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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>|||
-|Lexus|IS 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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-24">Buy Here</a></sub></details>|||
-|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>|||
-|Lexus|RC 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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>|||
-|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
-|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 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=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 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
-|SEAT|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>|||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>|||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>|||
-|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>|||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
-|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|||
+|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 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
+|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Silverado 1500 2020-21|Safety 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=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
+|Chevrolet|Trailblazer 2021-22|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 Trailblazer 2021-22">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 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 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2019-20|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 2019-20">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2021-23|All|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 2021-23">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|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>|||
+|Ford|Escape 2023-24|Co-Pilot360 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 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 Escape 2023-24">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"></img></a>|
+|Ford|Escape Hybrid 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 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 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 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 Escape Hybrid 2023-24">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"></img></a>|
+|Ford|Escape Plug-in Hybrid 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 Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 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 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 Escape Plug-in Hybrid 2023-24">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"></img></a>|
+|Ford|Expedition 2022-24|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 Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Explorer 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 2020-24">Buy Here</a></sub></details>|||
+|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"></img></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"></img></a>|
+|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|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"></img></a>|
+|Ford|Kuga Plug-in 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 Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Plug-in 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 Plug-in 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"></img></a>|
+|Ford|Maverick 2022|LARIAT Luxury|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 Maverick 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick 2023-24|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 Maverick 2023-24">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|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 Maverick Hybrid 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2023-24|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 Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Ford|Mustang Mach-E 2021-24|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 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 Mustang Mach-E 2021-24">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"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|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 Ranger 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"></img></a>|
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 G70 2022-23">Buy Here</a></sub></details>|||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 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 G80 2017">Buy Here</a></sub></details>|||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 G80 2018-19">Buy Here</a></sub></details>|||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 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 G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 G90 2017-20">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Advanced Trim) 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 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=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 (2.5T Trim, without HDA II) 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 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=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 (Australia Only) 2022">Buy Here</a></sub></details>|||
+|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"></img></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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"></img></a>||
+|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|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"></img></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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"></img></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 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"></img></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"></img></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</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (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>|||
+|Honda|Passport 2026|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 Passport 2026">Buy Here</a></sub></details>|||
+|Honda|Pilot 2016-22|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 Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 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 Pilot 2023-25">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-25|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 Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Azera 2022">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Azera Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid 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 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 Azera Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Custin 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 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 Custin 2023">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G 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 Elantra 2019">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Elantra GT 2017-20">Buy Here</a></sub></details>|||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 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 Genesis 2015-16">Buy Here</a></sub></details>|||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 i30 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 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 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 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
+|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 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>|||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2019|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 Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 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 Kona 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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 Kona Electric 2018-21">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 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 Kona Electric 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 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 Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 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 Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Nexo 2021">Buy Here</a></sub></details>|||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 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 Santa Cruz 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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 Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Sonata 2018-19">Buy Here</a></sub></details>|||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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 Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Hyundai|Staria 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 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 Staria 2023">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Tucson 2021">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N 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 Tucson 2022">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2023-24|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 Hyundai N 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 Tucson 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 Tucson Diesel 2019">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Hybrid 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 Hyundai N 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 Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Plug-in 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 Hyundai N 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 Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 Veloster 2019-20">Buy Here</a></sub></details>|||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
+|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|EV6 (Southeast Asia only) 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 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=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (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 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=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (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 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=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
+|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K8 Hybrid (with HDA II) 2023|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=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Kia Optima 2017">Buy Here</a></sub></details>|||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|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=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|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=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-25|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 ES 2019-25">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|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=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2019-25|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 ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|GS F 2016|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=Lexus GS F 2016">Buy Here</a></sub></details>|||
+|Lexus|IS 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=Lexus IS 2017-19">Buy Here</a></sub></details>|||
+|Lexus|IS 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 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 IS 2022-24">Buy Here</a></sub></details>|||
+|Lexus|LC 2024-25|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 LC 2024-25">Buy Here</a></sub></details>|||
+|Lexus|LS 2018|All except Lexus Safety System+ A|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=Lexus LS 2018">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|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=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX 2020-21|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 NX 2020-21">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|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=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2020-21|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 NX Hybrid 2020-21">Buy Here</a></sub></details>|||
+|Lexus|RC 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=Lexus RC 2018-20">Buy Here</a></sub></details>|||
+|Lexus|RC 2023|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 RC 2023">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|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=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|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=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2020-22|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 RX 2020-22">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|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=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|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=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2020-22|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 RX Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|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"></img></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>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|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"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-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"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|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>|||
+|Toyota|Avalon 2017-18|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 Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|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 Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2022|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 Avalon 2022">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|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 Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2022|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 Avalon Hybrid 2022">Buy Here</a></sub></details>|||
+|Toyota|C-HR 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 2017-20">Buy Here</a></sub></details>|||
+|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
+|Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></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"></img></a>||
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>|||
+|Toyota|Corolla 2020-22|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 Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 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 Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 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 Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hatchback 2019-22|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 Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hybrid 2020-22|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 Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 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 Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander 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 Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2020-23|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 Highlander 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 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 Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2020-23|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 Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Mirai 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 Mirai 2021">Buy Here</a></sub></details>|||
+|Toyota|Prius 2016|Toyota Safety Sense P|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 Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 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 Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2021-22|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 Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 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 Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2021-22|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 Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius v 2017|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 Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 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 RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|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 RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2019-21|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 RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 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 2022">Buy Here</a></sub></details>|||
+|Toyota|RAV4 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 2023-25">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 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 RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|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 RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2019-21|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 RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
-<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>12</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>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 3X 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>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## 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/).
@@ -363,7 +377,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |

docs/CONTRIBUTING.md

@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 
 ### Getting Started
 
-* Setup your [development environment](../tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/DEBUGGING_SAFETY.md

@@ -0,0 +1,30 @@
+# Debugging Panda Safety with Replay Drive + LLDB
+
+## 1. Start the debugger in VS Code
+
+* Select **Replay drive + Safety LLDB**.
+* Enter the route or segment when prompted.
+[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
+
+## 2. Attach LLDB
+
+* When prompted, pick the running **`replay_drive` process**.
+* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
+
+> [!TIP]
+> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
+
+## 3. Set breakpoints in VS Code
+Breakpoints can be set directly in `modes/xxx.h` (or any C file).
+No extra LLDB commands are required — just place breakpoints in the editor.
+
+## 4. Resume execution
+Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
+
+> [!NOTE]
+> * Use short routes for quicker iteration.
+> * Pause `replay_drive` early to avoid wasting log messages.
+
+## Video
+
+View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578

docs/SAFETY.md

@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
+hardware-in-the-loop, and in-vehicle tests before each software release.
 
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,8 +29,18 @@ ensuring two main safety requirements.
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
 
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+---
 
+### Forks of openpilot
+
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* If your fork modifies any of the code in `opendbc/safety/`:
+   * your fork cannot use the openpilot trademark
+   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
+
+Failure to comply with these standards will get you and your users banned from comma.ai servers.
+
+**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**

docs/car-porting/car-state-signals.md

@@ -0,0 +1,65 @@
+# CarState signals
+
+## Required for basic lateral control
+
+* `brakePressed`
+* `cruiseState`
+* `doorOpen`
+* `espDisabled`
+* `gasPressed`
+* `gearShifter`
+* `leftBlinker` / `rightBlinker`
+* `seatbeltUnlatched`
+* `standstill`
+* `steeringAngleDeg`
+* `steeringPressed`
+* `steeringTorque`
+* `steerFaultPermanent`
+* `steerFaultTemporary`
+* `vCruise`
+* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
+speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
+
+## Recommended / Required for openpilot longitudinal control
+
+* `accFaulted`
+* `espActive`
+* `parkingBrake`
+
+## Application Dependent
+
+* `blockPcmEnable`
+* `buttonEnable`
+* `brakeHoldActive`
+* `carFaultedNonCritical`
+* `invalidLkasSetting`
+* `lowSpeedAlert`
+* `regenBraking`
+* `steeringAngleOffsetDeg`
+* `steeringDisengage`
+* `steeringTorqueEps`
+* `stockLkas`
+* `vCruiseCluster`
+* `vEgoCluster`
+* `vehicleSensorsInvalid`
+
+## Automatically populated
+
+* `buttonEvents`
+
+These values are populated automatically by `parse_wheel_speeds`:
+
+* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
+* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
+* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
+
+## Optional
+
+* `brake`
+* `charging`
+* `fuelGauge`
+* `leftBlindspot` / `rightBlindspot`
+* `steeringRateDeg`
+* `stockAeb`
+* `stockFcw`
+* `yawRate`