[MICI] sunnylink: rebase the pairing dialog on the new mici QR widget

* Enable Experimental Mode by default without confirmation

* Update toggles.py

* Fix formatting in End-to-End Longitudinal Control description

.gitattributes

@@ -3,7 +3,7 @@
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
-openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
 openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -50,7 +50,7 @@ st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
 *.stats
 *.pkl
 *.pkl*
-!openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+!openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl
 !openpilot/sunnypilot/modeld_v2/models/*.pkl
 config.json
 compile_commands.json

Jenkinsfile

@@ -161,6 +161,14 @@ def step(String name, String cmd, Map args = [:]) {
   return [name, cmd, args]
 }
 
+def chestnutStage(String name = "chestnut") {
+  deviceStage(name, "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
+    step("build", "./openpilot/selfdrive/test/chestnut.sh"),
+    step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+    step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
+  ])
+}
+
 node {
   env.CI = "1"
   env.PYTHONWARNINGS = "error"
@@ -171,6 +179,36 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
+  if (env.JOB_BASE_NAME == 'chestnut-stresstest') {
+    sh 'git fetch --no-tags origin nightly-chestnut'
+    env.GIT_COMMIT = sh(script: 'git show FETCH_HEAD:git_src_commit', returnStdout: true).trim()
+    if (!(env.GIT_COMMIT ==~ /[0-9a-f]{40}/)) {
+      error("invalid nightly-chestnut source commit")
+    }
+    def results = []
+    try {
+      timeout(time: 12, unit: 'HOURS') {
+        for (int run = 1; run <= 100; run++) {
+          results << "run ${run}: INCOMPLETE"
+          try {
+            chestnutStage("chestnut ${run}/100")
+            results[run - 1] = "run ${run}: PASS"
+          } catch (hudson.AbortException e) {
+            results[run - 1] = "run ${run}: FAIL"
+            echo e.toString()
+          }
+        }
+      }
+    } finally {
+      writeFile file: 'chestnut_stress_report.txt', text: "commit: ${env.GIT_COMMIT}\ncompleted: ${results.count { !it.endsWith('INCOMPLETE') }}/100\n" + results.join('\n') + '\n'
+      archiveArtifacts artifacts: 'chestnut_stress_report.txt'
+    }
+    if (results.any { !it.endsWith('PASS') }) {
+      error("chestnut stress test failed")
+    }
+    return
+  }
+
   def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
                          'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
@@ -204,9 +242,18 @@ node {
     }
 
     if (env.BRANCH_NAME == '__nightly-chestnut') {
-      deviceStage("build nightly-chestnut", "mici-chestnut-ci", [], [
-        step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
-      ])
+      parallel (
+        'nightly-chestnut': {
+          deviceStage("build nightly-chestnut", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+        'nightly-chestnut-dev': {
+          deviceStage("build nightly-chestnut-dev", "mici-chestnut-ci", ["CHESTNUT=1"], [
+            step("build nightly-chestnut-dev", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut-dev $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+          ])
+        },
+      )
     }
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
@@ -261,12 +308,7 @@ node {
         ])
       },
       'chestnut': {
-        deviceStage("chestnut", "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
-          step("build", "./openpilot/selfdrive/test/chestnut.sh"),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
-          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
-          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
-        ])
+        chestnutStage()
       },
 
     )

SConstruct

@@ -20,7 +20,7 @@ SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2)
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
+release = not os.path.exists(File('#.gitmodules').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
@@ -316,8 +316,6 @@ def count_scons_nodes(nodes):
     if node in seen:
       continue
     seen.add(node)
-    if hasattr(node, 'has_builder') and node.has_builder():
-      build_product_nodes.add(node)
     executor = node.get_executor()
     if executor is not None:
       stack += executor.get_all_prerequisites() + executor.get_all_children()
@@ -326,7 +324,6 @@ def count_scons_nodes(nodes):
 
 progress_interval = 5
 progress_count = 0
-build_product_nodes = set()
 progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
 
 def progress_function(node):
@@ -342,13 +339,3 @@ def progress_function(node):
 
 Progress(progress_function, interval=progress_interval)
 AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
-
-def check_build_product_size(target, source, env):
-  limit = 50 * 1024 * 1024  # GitHub max size
-  for t in target:
-    if str(t).endswith('.pkl'):  # chunked during release packaging
-      continue
-    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
-      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
-if not GetOption('extras'):
-  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))

docs/CARS.md

@@ -4,10 +4,11 @@
 
 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.
 
-# 345 Supported Cars
+# 351 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|ADX 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">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 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
@@ -16,12 +17,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,8 +34,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -86,7 +87,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -111,7 +112,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>|||
+|Honda|Pilot 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 Pilot 2026">Buy Here</a></sub></details>|||
+|Honda|Prelude 2026|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-26|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 2017-26">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>|||
@@ -163,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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|Ceed Plug-in Hybrid 2021|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 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 Ceed Plug-in Hybrid 2021">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>|||
@@ -197,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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|Sportage Plug-in 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 Plug-in 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" /></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>|||
@@ -225,51 +230,52 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 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 IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Mazda[<sup>6</sup>](#footnotes)|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[<sup>6</sup>](#footnotes)|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf IC 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 IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>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 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>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 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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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 Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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 Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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 XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
+|Rivian|R1S 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 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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 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 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](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/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 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 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](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>8</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 Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](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>8</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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](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>8</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 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)|Stock|0 mph|0 mph|[![star](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>8</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>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 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>8</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>8</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>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 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>8</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 XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<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 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 HW2.5) 2019">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 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>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 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>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -282,8 +288,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -315,44 +321,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
-|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
@@ -360,18 +366,19 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <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>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>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>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>17</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>18</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/).

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7"
+  export AGNOS_VERSION="19.9"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

openpilot/cereal/log.capnp

@@ -128,6 +128,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     personalityChanged @91;
     aeb @92;
     userBookmark @95;
+    userBookmarkNotPaired @104;
     excessiveActuation @96;
     bigModelLoading @100;
     bigModelFailed @102;
@@ -166,12 +167,7 @@ struct InitData {
   gitSrcCommit @23 :Text;
   gitSrcCommitDate @24 :Text;
 
-  androidProperties @16 :Map(Text, Text);
-
-  pandaInfo @8 :PandaInfo;
-
   dirty @9 :Bool;
-  passive @12 :Bool;
   params @17 :Map(Text, Data);
 
   commands @19 :Map(Text, Data);
@@ -189,6 +185,17 @@ struct InitData {
     mici @7;  # comma four
   }
 
+  deprecated :group {
+    gctx @1 :Text;
+    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
+    androidSensors @6 :List(Deprecated.AndroidSensor);
+    chffrAndroidExtra @7 :ChffrAndroidExtra;
+    pandaInfo @8 :PandaInfo;
+    passive @12 :Bool;
+    iosBuildInfo @14 :Deprecated.IosBuildInfo;
+    androidProperties @16 :Map(Text, Text);
+  }
+
   struct PandaInfo {
     hasPanda @0 :Bool;
     dongleId @1 :Text;
@@ -199,14 +206,6 @@ struct InitData {
   struct ChffrAndroidExtra {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
-
-  deprecated :group {
-    gctx @1 :Text;
-    androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
-    androidSensors @6 :List(Deprecated.AndroidSensor);
-    chffrAndroidExtra @7 :ChffrAndroidExtra;
-    iosBuildInfo @14 :Deprecated.IosBuildInfo;
-  }
 }
 
 struct FrameData {
@@ -572,6 +571,9 @@ struct PandaState @0xa7649e2575e4591e {
   controlsAllowedLateral @38 :Bool;
   controlsAllowedLongitudinal @39 :Bool;
 
+  nmiReset @40 :Bool;
+  hardfaultReset @41 :Bool;
+
   enum FaultStatus {
     none @0;
     faultTemp @1;
@@ -694,6 +696,7 @@ struct PeripheralState {
 
 struct UsbState {
   devices @0 :List(Device);
+  connected @1 :Bool;
 
   struct Device {
     busnum @0 :UInt8;
@@ -1237,6 +1240,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   shouldStop @37: Bool;
   allowThrottle @38: Bool;
   allowBrake @39: Bool;
+  accelBoost @40 :Float32;
 
 
   solverExecutionTime @35 :Float32;
@@ -2234,6 +2238,7 @@ struct DriverMonitoringState {
       pose @0: Bool;
       eye @1: Bool;
       phone @2: Bool;
+      sleep @3: Bool;
     }
 
     struct Pose {

openpilot/common/file_chunker.py

@@ -1,75 +0,0 @@
-#!/usr/bin/env python3
-import io
-import sys
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def _chunk_paths(path, num_chunks):
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def get_chunk_targets(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return _chunk_paths(path, num_chunks)
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  actual_num_chunks = max(1, math.ceil(os.path.getsize(path) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  Path(manifest_path).unlink(missing_ok=True)
-  with open(path, 'rb') as f:
-    for chunk_path in chunk_paths:
-      with open(chunk_path, 'wb') as out:
-        out.write(f.read(CHUNK_SIZE))
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-class ChunkStream(io.RawIOBase):
-  def __init__(self, paths):
-    self._paths = iter(paths)
-    self._f = None
-
-  def readable(self):
-    return True
-
-  def readinto(self, b):
-    n = 0
-    view = memoryview(b)
-    while n < len(b):
-      if self._f is None:
-        p = next(self._paths, None)
-        if p is None:
-          break
-        self._f = open(p, 'rb')
-      count = self._f.readinto(view[n:])
-      if not count:
-        self._f.close()
-        self._f = None
-        continue
-      n += count
-    return n
-
-def open_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(path):
-    paths = [path]
-  elif os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    paths = [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-  else:
-    raise FileNotFoundError(path)
-  return io.BufferedReader(ChunkStream(paths))
-
-
-if __name__ == "__main__":
-  path = sys.argv[1]
-  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
-  chunk_file(path, chunk_paths)

openpilot/common/hardware/comma/agnos.json

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

openpilot/common/hardware/comma/power_monitor.py

@@ -9,25 +9,22 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.filter_simple import FirstOrderFilter
 
 
-def read_power(panda=None):
-  if panda is not None and panda.get_type() == panda.HW_TYPE_CUATRO:
-    health = panda.health()
-    return health['voltage'] * health['current'] / 1e6
+def read_power():
   with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
     return int(f.read()) / 1e6
 
-def sample_power(seconds=5, panda=None) -> list[float]:
+def sample_power(seconds=5) -> list[float]:
   rate = 123
   rk = Ratekeeper(rate, print_delay_threshold=None)
 
   pwrs = []
   for _ in range(rate*seconds):
-    pwrs.append(read_power(panda))
+    pwrs.append(read_power())
     rk.keep_time()
   return pwrs
 
-def get_power(seconds=5, panda=None):
-  pwrs = sample_power(seconds, panda)
+def get_power(seconds=5):
+  pwrs = sample_power(seconds)
   return np.mean(pwrs)
 
 def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):

openpilot/common/hardware/comma/updater

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6a7adb302d378dda7b1788a841b89e4f905c872550a70a76650dcde977b4ece0
-size 24709209
+oid sha256:f92c0a9b41613e063b6a1cd086729f5555d9df6482249e171ed1e276272cad7d
+size 24709520

openpilot/common/hardware/usb.py

@@ -36,6 +36,10 @@ def read_int(path: Path, base: int = 10) -> int:
     return 0
 
 
+def cable_connected() -> bool:
+  return read_int(TYPEC_CC_ORIENTATION_PATH) != 0
+
+
 def usb_devices() -> list[Path]:
   try:
     devices = (d for d in USB_DEVICES_PATH.glob("*") if (d / "idVendor").exists())
@@ -91,3 +95,4 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
       chestnut_present = True
 
   device_state.chestnutPresent = chestnut_present
+  device_state.usbState.connected = cable_connected()

openpilot/common/params_keys.h

@@ -40,8 +40,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
     {"DriverLockoutCount", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, INT, "0"}},
     {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
-    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
+    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitBranch", {PERSISTENT, STRING}},
@@ -93,16 +92,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutModelError", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
-    {"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutUsbSlow", {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_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_Pairing", {CLEAR_ON_MANAGER_START, 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}},
@@ -111,6 +111,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
     {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PairingEmail", {PERSISTENT, STRING}},
+    {"PairingProvider", {PERSISTENT, STRING}},
     {"PrimeType", {PERSISTENT, INT}},
     {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
     {"RecordFront", {PERSISTENT | BACKUP, BOOL}},

openpilot/common/version.py

@@ -13,8 +13,8 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
+RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly', 'nightly-chestnut']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev', 'nightly-chestnut-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
 
 CHESTNUT_BRANCHES = {
   "staging": "staging-chestnut",

openpilot/selfdrive/assets/icons_mici/longitudinal/car.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0936a3d890a3ad68ffe021e4905b9b9e59ffc2ae19ee9c703daa3e7c92e7c78
+size 1793

openpilot/selfdrive/assets/icons_mici/longitudinal/car_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57c7ba72642b0350ee764c924586fa66ff94915be4aba1813797e67eb4b74376
+size 33215

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_1.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71dc069bd3dc5b11ba8e1b52eb3a1025ee0ad8c82834f94b4b2269ec0d401920
+size 237

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_1_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73a6fe02cf19105c0051a6664a424c1bf2ede364c6cf3791f235c86ffa203f39
+size 10348

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_2.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f500f118dca3eedbd86fc6cc943ad8be67fe5d4f7b474d5b452cd757ad805c3
+size 282

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_2_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a49996f0ce069a048abe94ba9424de655dcff53745676ab35e045204af88a3c
+size 12103

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_3.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8542374779f1908dc52c8a126bc041efea4c4d605afdd34e3bf8e520a7e78bf2
+size 320

openpilot/selfdrive/assets/icons_mici/longitudinal/distance_3_green.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21e656b387c1a7e8de54d3e1b1c246f442cffe3c5e0924273d6d6d897c00b568
+size 13868

openpilot/selfdrive/assets/icons_mici/onroad/bookmark.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fd91685bf656e828648acf035a4737acb2c4709e8514cf0aa0a10fa470a9bb60
-size 11580
+oid sha256:92431d37a844206570d73d48f39dd8d934539a89668fe8d5f4cccae38f7b301b
+size 11530

openpilot/selfdrive/assets/icons_mici/onroad/bookmark_fill.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efe7d12ae82e0f5a1bd773129cf1eafe3c8c36ff5cba43a6c95f295706062b5
+size 19724

openpilot/selfdrive/assets/icons_mici/settings/device/apple.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb645e59636687d61d20283bae65b68ddda6f7b2d4fda01a6e613a842e3b41f
+size 823

openpilot/selfdrive/assets/icons_mici/settings/device/commacare.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df07383a6ddfe8cd7eeb2f22271cbd13068327ca0978873f8d10368860562e40
+size 111083

openpilot/selfdrive/assets/icons_mici/settings/device/github.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7518f3409e2ff8f7e99fb7f0c06afa8bdf0b0a506147b5cf9d4931b820a1a75
+size 1107

openpilot/selfdrive/assets/icons_mici/settings/device/google.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a18e3de5f455b4089a824da8d5d78d5d532ef71facb05cc75c178b24d5beeb7
+size 920

openpilot/selfdrive/assets/icons_mici/settings/device/green_cell.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710e74b526adb5bbac15cd8915a828dd673dd8ce15b2fd694c64c182eef6f56f
+size 13744

openpilot/selfdrive/assets/icons_mici/settings/device/green_settings.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25db08a9038b5faa3b200ef5625cb216d7f4b31ea3d49fb0395f9b726bfaf8e6
+size 13135

openpilot/selfdrive/assets/icons_mici/settings/device/paired_apple.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:547f466cc59d29647f3bf131d8444d7f22b63b186bcea55ceb8109c68ca74fe8
+size 2345

openpilot/selfdrive/assets/icons_mici/settings/device/paired_github.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55050096cd98e7f4ea3e843d927c18815e458dfbd5e7d100b503db92075d061b
+size 2373

openpilot/selfdrive/assets/icons_mici/settings/device/paired_google.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c439ed89bc0357e86c005d5dbb6f1ad2b8d72cdc0890e3201d842d8c3928f1
+size 2443

openpilot/selfdrive/assets/icons_mici/settings/device/phone.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aeccd3e0d8517f74eb34f7d73632c0b29b0ad5df5b9686c0f509bb6b136561e
+size 1728

openpilot/selfdrive/assets/sounds/dm_critical_max.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4699e3a456a0df2bbfac7ab1eb8972fc8bd970296133fd322e214c61884407
+size 52374

openpilot/selfdrive/controls/lib/accel_boost.py

@@ -0,0 +1,39 @@
+import numpy as np
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+
+ACCEL_BOOST_MAX = 0.2
+ACCEL_BOOST_RATE = 0.025
+ACCEL_BOOST_PER_OVERRIDE = 0.05
+ACCEL_BOOST_MIN_SPEED = 10 * CV.MPH_TO_MS
+
+
+class AccelBoost:
+  def __init__(self):
+    self.total_boost = 0.0
+    self.boost_this_override = 0.0
+    self.boost_eligible = False
+
+  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
+    enabled = sm['selfdriveState'].enabled
+    gas_pressed = sm['carState'].gasPressed
+    v_ego = sm['carState'].vEgo
+    speed_scale = np.interp(v_ego, [ACCEL_BOOST_MIN_SPEED, 2 * ACCEL_BOOST_MIN_SPEED], [0.0, 1.0])
+    boost_scale = speed_scale * np.interp(output_a_target_e2e, [-1.0, -0.5, 5.0], [0.0, 1.0, 1.0], right=0.0)
+    model_limited = (sm['selfdriveState'].experimentalMode and
+                     output_a_target_e2e + self.total_boost * boost_scale < min(output_a_target_mpc, a_cruise) - 0.1)
+
+    if not enabled or not gas_pressed:
+      self.boost_this_override = 0.0
+      # Latch eligibility before the override changes the lead plan.
+      self.boost_eligible = enabled and model_limited
+
+    if not enabled:
+      self.total_boost = 0.0
+    elif gas_pressed and self.boost_eligible:
+      increase = min(ACCEL_BOOST_RATE * DT_MDL * speed_scale,
+                     ACCEL_BOOST_PER_OVERRIDE - self.boost_this_override, ACCEL_BOOST_MAX - self.total_boost)
+      self.total_boost += increase
+      self.boost_this_override += increase
+
+    return output_a_target_e2e + self.total_boost * boost_scale

openpilot/selfdrive/controls/lib/latcontrol_curvature.py

@@ -1,11 +1,13 @@
 import math
+import numpy as np
+from collections import deque
 
 from openpilot.cereal import log
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
 
-CURVATURE_SATURATION_THRESHOLD = 1e-3  # 1/m
+LAT_ACCEL_SATURATION_THRESHOLD = 0.5  # m/s^2
 
 
 class LatControlCurvature(LatControl):
@@ -20,6 +22,8 @@ class LatControlCurvature(LatControl):
     else:
       self.pid = None
       self.kf = 1.
+    self.desired_curvature_buffer_len = int(1. / self.dt)
+    self.desired_curvature_buffer = deque([0.] * self.desired_curvature_buffer_len, maxlen=self.desired_curvature_buffer_len)
 
   def reset(self):
     super().reset()
@@ -30,6 +34,9 @@ class LatControlCurvature(LatControl):
     curvature_log = log.ControlsState.LateralCurvatureState.new_message()
     actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
     error = desired_curvature - actual_curvature
+    self.desired_curvature_buffer.append(desired_curvature)
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.desired_curvature_buffer_len))
+    expected_curvature = self.desired_curvature_buffer[-delay_frames]
 
     if not active:
       output_curvature = 0.0
@@ -53,6 +60,6 @@ class LatControlCurvature(LatControl):
     curvature_log.actualCurvature = float(actual_curvature)
     curvature_log.desiredCurvature = float(desired_curvature)
     curvature_log.output = float(output_curvature)
-    curvature_log.saturated = bool(self._check_saturation(abs(error) > CURVATURE_SATURATION_THRESHOLD, CS,
+    curvature_log.saturated = bool(self._check_saturation(abs(expected_curvature - actual_curvature) * CS.vEgo ** 2 > LAT_ACCEL_SATURATION_THRESHOLD, CS,
                                                           False, curvature_limited))
     return 0.0, float(output_curvature), curvature_log

openpilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -8,6 +8,7 @@ from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
@@ -63,6 +64,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
+    self.accel_boost = AccelBoost()
 
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.a_cruise = init_a
@@ -145,6 +147,8 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
                                      accel_coast, self.allow_throttle)
     cruise_should_stop = should_stop(v_ego, self.a_cruise)
 
+    output_a_target_e2e = self.accel_boost.update(sm, output_a_target_e2e, output_a_target_mpc, self.a_cruise)
+
     candidates = [(output_a_target_mpc, self.mpc.source, output_should_stop_mpc),
                   (self.a_cruise, LongitudinalPlanSource.cruise, cruise_should_stop)]
     if is_e2e:
@@ -175,6 +179,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.aTarget = float(self.output_a_target)
+    longitudinalPlan.accelBoost = float(self.accel_boost.total_boost)
     longitudinalPlan.shouldStop = bool(self.output_should_stop)
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = bool(self.allow_throttle)

openpilot/selfdrive/controls/tests/test_latcontrol.py

@@ -8,12 +8,14 @@ from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
 from opendbc.car.gm.values import CAR as GM
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_deviceMotion
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -22,7 +24,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 class TestLatControl(OpenpilotTestCase):
 
   @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
-                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque),
+                         (VOLKSWAGEN.VOLKSWAGEN_ID4_MK2, LatControlCurvature)])
   def test_saturation(self, car_name, controller):
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)

openpilot/selfdrive/locationd/models/pose_kf.py

@@ -40,7 +40,7 @@ class PoseKalman(KalmanFilter):
   initial_P = np.diag([0.01**2, 0.01**2, 0.01**2,
                        10**2, 10**2, 10**2,
                        1**2, 1**2, 1**2,
-                       1**2, 1**2, 1**2,
+                       0.1**2, 0.1**2, 0.1**2,
                        100**2, 100**2, 100**2,
                        0.01**2, 0.01**2, 0.01**2])
 

openpilot/selfdrive/modeld/SConscript

@@ -1,14 +1,20 @@
+import ctypes.util
 import glob
 import os
-import time
 from SCons.Script import Action, Value
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.selfdrive.modeld.helpers import chestnut_present
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 
 
 Import('env', 'arch')
+
+# TODO: add GCC support to tinygrad?
+# tinygrad's CPU:LLVM backend requires libLLVM, skip the build on PC if it's not available
+if arch not in ('comma_arm64', 'Darwin') and ctypes.util.find_library('LLVM') is None:
+  print("\033[93mmodeld: LLVM not found, skipping tinygrad model compilation. Install LLVM to compile models.\033[0m")
+  Return()
+
 lenv = env.Clone()
 lenv.PrependENVPath('PYTHONPATH', Dir('#tinygrad_repo').abspath)
 
@@ -24,38 +30,18 @@ else:
   # JIT=2 disables graph batching, which produces incorrect outputs after buffers change.
   tg_flags = 'DEV=METAL JIT=2' if arch == 'Darwin' else 'DEV=CPU:LLVM'
 
-CHESTNUT = chestnut_present()
-if CHESTNUT:
-  chestnut_tg_flags = 'DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32'
-  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
-  chestnut_lock = File("models/.chestnut.lock").abspath
-
 # tinygrad calls brew which needs a $HOME in the env
 mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
 
 warp_deps = [File("#openpilot/system/camerad/cameras/nv12_info.py")]
 compiler = Dir('#tinygrad_repo/examples/openpilot').abspath
-# CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
-taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
-
-def chestnut_action(command):
-  def do_compile(target, source, env):
-    from openpilot.system.hardware.chestnut.flash import link_up
-    # chestnut can enumerate before its PCIe link is up due to varying 12V power behavior across cars
-    for _ in range(10):
-      if link_up():
-        break
-      time.sleep(1)
-    else:
-      print("Chestnut not ready, skipping warp build")
-      return
-    return env.Execute(command)
-  return Action(do_compile, "  [CHESTNUT] $TARGET")
+# build on all cores
+taskset = 'taskset -c 0-7 ' if arch == 'comma_arm64' else ''
 
 def compile_model(onnx_path, pkl_path):
   onnx_path, target_pkl_path = File(onnx_path).abspath, File(pkl_path).abspath
   cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_onnx.py" '
-         f'"{onnx_path}" "{target_pkl_path}" --device-input "*" --out-of-band --benchmark-runs 1')
+         f'"{onnx_path}" "{target_pkl_path}" --out-of-band --benchmark-runs 1')
   lenv.Command(
     target_pkl_path,
     tinygrad_files + [onnx_path, Value(cmd)],
@@ -66,19 +52,14 @@ compile_model('models/dmonitoring_model.onnx', 'models/dmonitoring_model_tinygra
 compile_model('models/driving_supercombo.onnx', 'models/driving_tinygrad.pkl')
 
 model_w, model_h = MEDMODEL_INPUT_SIZE
-for chestnut in [False, True] if CHESTNUT else [False]:
-  file_prefix, cmd_flags = ('big_', chestnut_tg_flags) if chestnut else ('', tg_flags)
-  for cam_w, cam_h in camera_configs:
-    warp_pkl_path = File(f"models/{file_prefix}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
-    stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
-    cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
-           f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
-           f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
-           f'--output {warp_pkl_path}')
-    action = chestnut_action(cmd) if chestnut else cmd
-    node = lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], action)
-    if chestnut:
-      lenv.SideEffect(chestnut_lock, node)
+for cam_w, cam_h in camera_configs:
+  warp_pkl_path = File(f"models/driving_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
+  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+  cmd = (f'{tg_flags} {mac_brew_string} {taskset}python3 "{compiler}/compile_warp.py" '
+         f'--frame {cam_w},{cam_h},{stride},{y_height},{uv_height},{stride * (y_height + uv_height)} '
+         f'--warp-to {model_w}x{model_h} --layout yuv420 --frames 2 '
+         f'--output {warp_pkl_path}')
+  lenv.Command(warp_pkl_path, tinygrad_files + warp_deps + [Value(cmd)], cmd)
 
 dm_w, dm_h = DM_INPUT_SIZE
 for cam_w, cam_h in camera_configs:

openpilot/selfdrive/modeld/dmonitoringmodeld.py

@@ -16,7 +16,6 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -28,7 +27,7 @@ class ModelState:
   output: np.ndarray
 
   def __init__(self, cam_w: int, cam_h: int):
-    jits = load_oob(open_file_chunked(MODEL_PKL_PATH))
+    jits = load_oob(MODEL_PKL_PATH)
     self.DEV = jits['input_specs']['input_img'][2]
     self.input_shapes = jits['metadata']['input_shapes']
     self.output_slices = pickle.loads(base64.b64decode(jits['metadata']['metadata']['output_slices']))

openpilot/selfdrive/modeld/helpers.py

@@ -1,9 +1,8 @@
-import io
-import pickle
-import struct
+import sys
+import time
 from pathlib import Path
 
-from openpilot.common.file_chunker import get_manifest_path
+from openpilot.common.hardware import AGNOS
 from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH, is_chestnut_usb_id
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
@@ -13,15 +12,12 @@ def modeld_pkl_path(chestnut: bool):
   prefix = 'big_' if chestnut else ''
   return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
 
-def load_oob(f):
-  opcodes = f.read(struct.unpack('<q', f.read(8))[0])
-  def buffers():
-    while (h := f.read(8)):
-      pb = pickle.PickleBuffer(bytearray(struct.unpack('<q', h)[0]))
-      if f.readinto(pb) != pb.raw().nbytes:
-        raise EOFError("incomplete model buffer")
-      yield pb
-  return pickle.load(io.BytesIO(opcodes), buffers=buffers())
+def load_oob(path, chestnut=False):
+  from tinygrad import Context
+  device = 'USB+AMD:LLVM' if chestnut else 'QCOM' if AGNOS else 'METAL' if sys.platform == 'darwin' else 'CPU:LLVM'
+  with Context(DEV=device):
+    from tinygrad_repo.examples.openpilot.helpers import load_pickle
+    return load_pickle(path, out_of_band=True)
 
 def chestnut_present() -> bool:
   for d in USB_DEVICES_PATH.glob("*"):
@@ -34,7 +30,15 @@ def chestnut_present() -> bool:
       pass
   return False
 
+def wait_for_chestnut(timeout: float = 10.) -> None:
+  # the cable is detected before chestnut enumerates
+  st = time.monotonic()
+  while not chestnut_present():
+    if time.monotonic() - st > timeout:
+      raise TimeoutError("chestnut did not enumerate")
+    time.sleep(0.1)
+
 def chestnut_compiled() -> bool:
   path = modeld_pkl_path(chestnut=True)
-  return (path.is_file() or Path(get_manifest_path(path)).is_file()) and all(
+  return path.is_file() and all(
     (MODELS_DIR / f'big_driving_warp_{size}_tinygrad.pkl').is_file() for size in ('1344x760', '1928x1208'))

openpilot/selfdrive/modeld/modeld.py

@@ -2,11 +2,14 @@
 from collections.abc import Callable
 import base64
 import ctypes
+import gc
 from functools import cached_property
 import os
 os.environ['GMMU'] = '0' # for chestnut fast loading, noop for qcom
+os.environ.setdefault('AM_POWER_LIMIT', '100')
 from tinygrad.device import Buffer, Device
 from tinygrad.dtype import DType, dtypes
+from tinygrad.engine.realize import lower_and_compile
 from tinygrad.tensor import Tensor
 from tinygrad.helpers import round_up
 from tinygrad.uop.ops import UOp
@@ -25,6 +28,7 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
+from openpilot.common.hardware.usb import cable_connected
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
@@ -34,9 +38,8 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, should_stop, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_driving_model_data, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import open_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob
+from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob, wait_for_chestnut
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
@@ -77,6 +80,12 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                 shouldStop=bool(stop))
 
 
+def drop_chestnut() -> None:
+  if "AMD" in Device._opened_devices:
+    for d in Device._opened_devices:
+      Device[d].pending.pop(Device["AMD"], None)
+
+
 class ChestnutGpuState:
   # GPU metrics require modeld's GPU context
   def __init__(self, pm: PubMaster, big: bool):
@@ -143,7 +152,7 @@ class ModelState(ModelStateBase):
 
   def __init__(self, cam_w: int, cam_h: int, chestnut: bool):
     ModelStateBase.__init__(self)
-    jits = load_oob(open_file_chunked(modeld_pkl_path(chestnut)))
+    jits = load_oob(modeld_pkl_path(chestnut), chestnut)
     self.model_device = jits['input_specs']['new_img'][2]
     self.input_shapes = {name: (shape, np.dtype(dtype)) for name, (shape, dtype, _) in jits['input_specs'].items()}
     self.state_pairs = {name: f'next_{name}' for name in self.input_shapes if f'next_{name}' in jits['metadata']['output_shapes']}
@@ -158,7 +167,9 @@ class ModelState(ModelStateBase):
     self.pack_inputs()
     with open(MODELS_DIR / f'{"big_" if chestnut else ""}driving_warp_{cam_w}x{cam_h}_tinygrad.pkl', 'rb') as f:
       self.run_warp = pickle.load(f)['run']
+    self.run_warp.captured._linear = lower_and_compile(self.run_warp.captured._linear)
     self.run_model = jits['run']
+    self.run_model.captured._linear = lower_and_compile(self.run_model.captured._linear)
     self.outputs = {name: Tensor(np.zeros(shape, dtype=dtype), device=device).realize() for name, (shape, dtype, device) in jits['output_specs'].items()}
     for name, next_name in self.state_pairs.items():
       state = self.input_queues[name]
@@ -228,14 +239,15 @@ class ModelState(ModelStateBase):
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  CHESTNUT = chestnut_present() and chestnut_compiled()
+  CHESTNUT = chestnut_compiled() and (chestnut_present() or cable_connected())
   if CHESTNUT:
-    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
+    from tinygrad.runtime.ops_amd import AMDDevice
+    AMDDevice.wait_timeout_ms = 3000
   params = Params()
   params.put_bool("ChestnutLoading", CHESTNUT)
   params.remove("ChestnutActive")
 
-  config_realtime_process(7, 54)
+  gc.disable()
 
   # visionipc clients
   while True:
@@ -268,6 +280,7 @@ def main(demo=False):
     def load_big():
       nonlocal big_model
       try:
+        wait_for_chestnut()
         m = ModelState(vipc_client_main.width, vipc_client_main.height, True)
         m.warmup()
         big_model = m
@@ -278,6 +291,8 @@ def main(demo=False):
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
     params.put_bool("ChestnutActive", model is not None)
+    if model is None:
+      drop_chestnut()
 
   small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
   if model is None:
@@ -286,6 +301,8 @@ def main(demo=False):
   params.put_bool("ChestnutLoading", False)
   cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
+  config_realtime_process(7, 54)
+
   # messaging
   pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutGpuState"] if CHESTNUT else [])
   pm = PubMaster(pub_socks)
@@ -407,10 +424,11 @@ def main(demo=False):
                        run_count % round(ModelConstants.MODEL_RUN_FREQ / SERVICE_LIST['chestnutGpuState'].frequency) == 0)
       model_output = model.run(bufs, transforms, inputs, chestnut_state.send if send_chestnut else None)
     except Exception:
-      if not params.get_bool("ChestnutActive"):
+      if not model.chestnut:
         raise
       # fallback to small model
       cloudlog.exception("big model failed, fall back to small")
+      drop_chestnut()
       params.put_bool("ChestnutActive", False)
       assert small_model is not None
       model = small_model

openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:76cc0a9bc3af7a318889483dcbe126337f8d338f5abcbe664a8988c9b18b6639
-size 776634338
+oid sha256:cc75858d5e007b725b6264e194da4321d7874a212dc631b8f40a215dfd172cd2
+size 799992286

openpilot/selfdrive/modeld/models/big_driving_warp_1344x760_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e80410f65706472e72150cfdcb0087595782e8aa366149286672511a6224ef54
+size 864120

openpilot/selfdrive/modeld/models/big_driving_warp_1928x1208_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54dff4bc4a64a8615823bb4906429a9db30f4b9fca9b8a56e9c84100227608bb
+size 863864

openpilot/selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2
-size 7497335
+oid sha256:dee5a294e8afaacc9295ac5d100e00733ecac278e79264b96331e40a3ede1b04
+size 7844499

openpilot/selfdrive/monitoring/policy.py

@@ -51,6 +51,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
     self._PHONE_THRESH = 0.5
+    self._SLEEP_THRESH = 0.75
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
     self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
@@ -138,6 +139,7 @@ class DriverMonitoring:
     self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
     self.phone_prob = 0.
+    self.sleep_prob = 0.
 
     self.alert_level = AlertLevel.none
     self.always_on = always_on
@@ -240,6 +242,7 @@ class DriverMonitoring:
     self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold))
     self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD)
     self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH)
+    self.distracted_types['sleep'] = bool(self.sleep_prob > self.settings._SLEEP_THRESH)
 
   def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.):
     rhd_pred = driver_state.wheelOnRightProb
@@ -277,6 +280,7 @@ class DriverMonitoring:
     self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
                       * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.phone_prob = driver_data.phoneProb
+    self.sleep_prob = driver_data.sleepProb
 
     self._get_distracted_types()
     self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
@@ -406,6 +410,7 @@ class DriverMonitoring:
     dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose']
     dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye']
     dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone']
+    dm.visionPolicyState.distractedTypes.sleep = self.distracted_types['sleep']
     dm.visionPolicyState.faceDetected = self.face_detected
     dm.visionPolicyState.pose.pitch = self.pose.pitch
     dm.visionPolicyState.pose.yaw = self.pose.yaw

openpilot/selfdrive/monitoring/test_monitoring.py

@@ -28,6 +28,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
   ds.leftDriverData.phoneProb = 0.
+  ds.leftDriverData.sleepProb = 0.
   return ds
 
 

openpilot/selfdrive/pandad/pandad.cc

@@ -139,6 +139,8 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setInterruptLoad(health.interrupt_load_pkt / 255.0f);
   ps.setFanPower(health.fan_power);
   ps.setSafetyRxChecksInvalid((health.flags_pkt & HEALTH_FLAG_SAFETY_RX_CHECKS_INVALID) != 0U);
+  ps.setNmiReset((health.flags_pkt & HEALTH_FLAG_NMI_RESET) != 0U);
+  ps.setHardfaultReset((health.flags_pkt & HEALTH_FLAG_HARDFAULT_RESET) != 0U);
   ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);

openpilot/selfdrive/pandad/spi.cc

@@ -29,12 +29,6 @@ enum SpiError {
 
 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
-// TODO: fix SPI turnaround synchronization at the protocol level.
-static uint64_t spi_last_bus_activity_ns = 0;  // protected by hw_lock
-
-static void wait_for_spi_turnaround(uint64_t start_ns) {
-  while ((nanos_since_boot() - start_ns) < 400000) {}
-}
 
 class LockEx {
 public:
@@ -325,8 +319,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   assert(tx_len < SPI_BUF_SIZE);
   assert(max_rx_len < SPI_BUF_SIZE);
 
-  wait_for_spi_turnaround(spi_last_bus_activity_ns);
-
   xfer_count++;
   header = {
     .sync = SPI_SYNC,
@@ -355,7 +347,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   if (ret < 0) {
     goto fail;
   }
-  wait_for_spi_turnaround(nanos_since_boot());
 
   // Send data
   if (tx_data != NULL) {
@@ -398,7 +389,6 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     memcpy(rx_data, rx_buf + 3, rx_data_len);
   }
 
-  spi_last_bus_activity_ns = nanos_since_boot();
   return rx_data_len;
 
 fail:
@@ -413,7 +403,6 @@ fail:
     }
   }
 
-  spi_last_bus_activity_ns = nanos_since_boot();
   if (ret >= 0) ret = -1;
   return ret;
 }

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -21,6 +21,10 @@
     "text": "Chestnut detected! Switch to the %1 branch to use chestnut-class models.",
     "severity": -1
   },
+  "Offroad_ChestnutModelError": {
+    "text": "Chestnut model error. Restart the car to retry.",
+    "severity": 0
+  },
   "Offroad_ChestnutNotDetected": {
     "text": "Chestnut not detected. Check USB and 12V connections.",
     "severity": 0
@@ -33,10 +37,6 @@
     "text": "%1",
     "severity": 0
   },
-  "Offroad_ChestnutUncompiled": {
-    "text": "Chestnut model not compiled. Keep ignition on and reboot the comma.",
-    "severity": 0
-  },
   "Offroad_ChestnutUpdateFailed": {
     "text": "Chestnut update failed. Check the USB cable.",
     "severity": 0
@@ -74,5 +74,10 @@
     "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
     "severity": 1,
     "_comment": "Set extra field to the current branch name."
+  },
+  "Offroad_Pairing": {
+    "text": "Finish setup. Pair your device with comma connect to view recent drives and bookmarked routes.",
+    "severity": -2,
+    "icon": "icons_mici/settings/device/green_settings.png"
   }
 }

openpilot/selfdrive/selfdrived/events.py

@@ -833,6 +833,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   EventName.userBookmark: {
     ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
   },
+
+  EventName.userBookmarkNotPaired: {
+    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", "pair to connect\nto view", duration=1.5),
+  },
 }
 
 

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -236,7 +236,9 @@ class SelfdriveD(CruiseHelper):
 
     # Check for user bookmark press
     if self.sm.updated['userBookmark']:
-      self.events.add(EventName.userBookmark)
+      prime_type = self.params.get("PrimeType")
+      paired = prime_type is not None and int(prime_type) >= 0
+      self.events.add(EventName.userBookmark if paired else EventName.userBookmarkNotPaired)
 
     # Don't add any more events while in dashcam mode
     if self.CP.passive:

openpilot/selfdrive/test/process_replay/model_replay.py

@@ -80,6 +80,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.sleepProb), "leftDriverData.sleepProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
 

openpilot/selfdrive/test/process_replay/test_processes.py

@@ -36,7 +36,7 @@ source_segments = [
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
-  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),       # TESLA.TESLA_MODEL_Y
+  ("TESLA", "aebd8f1d4ea16066|000002d8--5850d3ea5c--2"),       # TESLA.TESLA_MODEL_Y
 
   # Enable when port is tested and dashcamOnly is no longer set
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
@@ -60,7 +60,7 @@ segments = [
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
   ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
   ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
-  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
+  ("TESLA", "aebd8f1d4ea16066|000002d8--5850d3ea5c--2"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -74,11 +74,19 @@ EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  ref_log_msgs = list(LogReader(ref_log_path))
+  ref_error = None
+  try:
+    ref_log_msgs = list(LogReader(ref_log_path))
+  except Exception:
+    # New routes have no ref yet, still replay and publish new refs.
+    ref_log_msgs = []
+    ref_error = f"Failed to load reference {ref_log_path}:\n{traceback.format_exc()}"
   lr = LogReader.from_bytes(lr_dat)
   res, log_msgs = test_process(cfg, lr, segment, ref_log_msgs, cur_log_fn, args.ignore_fields, args.ignore_msgs)
   # save logs so we can update refs
   save_log(cur_log_fn, log_msgs)
+  if ref_error is not None:
+    return (segment, cfg.proc_name, ref_error, ref_error)
   try:
     diff_data = diff_process(cfg, ref_log_msgs, log_msgs)
   except Exception:

openpilot/selfdrive/test/test_power_draw.py

@@ -5,8 +5,6 @@ import time
 import unittest
 import numpy as np
 from dataclasses import dataclass
-from panda import Panda
-from openpilot.common.hardware import HARDWARE
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import tabulate
 
@@ -16,14 +14,11 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.common.hardware.comma.power_monitor import get_power
-from openpilot.selfdrive.modeld.helpers import chestnut_present
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 
 SAMPLE_TIME = 2       # seconds to sample power
 MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
-MICI = HARDWARE.get_device_type() == "mici"
-CHESTNUT = chestnut_present()
 
 @dataclass
 class Proc:
@@ -38,10 +33,9 @@ class Proc:
     return '+'.join(self.procs)
 
 
-# MICI readings exclude the separately powered Chestnut GPU.
 PROCS = [
-  Proc(['camerad'], 0.85 if MICI else 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
-  Proc(['modeld'], 0.45 if MICI and CHESTNUT else 1.5, atol=0.2, msgs=['modelV2']),
+  Proc(['camerad'], 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
+  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
@@ -52,13 +46,6 @@ class TestPowerDraw(OpenpilotTestCase):
 
   def setup_method(self):
     Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
-    self.panda = None
-    if MICI:
-      HARDWARE.reset_internal_panda()
-      self.addCleanup(HARDWARE.reset_internal_panda)
-      Panda.wait_for_panda(None, 30)
-      self.panda = Panda(cli=False)
-      self.addCleanup(self.panda.close)
 
   def teardown_method(self):
     manager_cleanup()
@@ -91,7 +78,7 @@ class TestPowerDraw(OpenpilotTestCase):
     start_time = time.monotonic()
 
     while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
-      power = get_power(1, self.panda)
+      power = get_power(1)
       iteration_msg_counts = {}
       for msg,sock in socks.items():
         iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
@@ -110,7 +97,7 @@ class TestPowerDraw(OpenpilotTestCase):
 
   @mock_messages(['deviceMotion'])
   def test_camera_procs(self, subtests):
-    baseline = get_power(panda=self.panda)
+    baseline = get_power()
 
     prev = baseline
     used = {}

openpilot/selfdrive/ui/layouts/settings/toggles.py

@@ -3,10 +3,8 @@ from openpilot.common.params import Params, UnknownKeyName
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
 from openpilot.selfdrive.ui.ui_state import ui_state
 
 if gui_app.sunnypilot_ui():
@@ -216,32 +214,11 @@ class TogglesLayout(Widget):
     icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
     self._toggles["ExperimentalMode"].set_icon(icon)
 
-  def _handle_experimental_mode_toggle(self, state: bool):
-    confirmed = self._params.get_bool("ExperimentalModeConfirmed")
-    if state and not confirmed:
-      def confirm_callback(result: DialogResult):
-        if result == DialogResult.CONFIRM:
-          self._params.put_bool("ExperimentalMode", True, block=True)
-          self._params.put_bool("ExperimentalModeConfirmed", True, block=True)
-        else:
-          self._toggles["ExperimentalMode"].action_item.set_state(False)
-        self._update_experimental_mode_icon()
-
-      # show confirmation dialog
-      content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
-                 f"<p>{self._toggles['ExperimentalMode'].description}</p>")
-      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
-      gui_app.push_widget(dlg)
-    else:
-      self._update_experimental_mode_icon()
-      self._params.put_bool("ExperimentalMode", state, block=True)
-
   def _toggle_callback(self, state: bool, param: str):
-    if param == "ExperimentalMode":
-      self._handle_experimental_mode_toggle(state)
-      return
-
     self._params.put_bool(param, state, block=True)
+    if param == "ExperimentalMode":
+      self._update_experimental_mode_icon()
+
     if self._toggle_defs[param][3]:
       self._params.put_bool("OnroadCycleRequested", True, block=True)
 

openpilot/selfdrive/ui/lib/prime_state.py

@@ -10,6 +10,7 @@ from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 
 
 class PrimeType(IntEnum):
@@ -22,6 +23,10 @@ class PrimeType(IntEnum):
   MAGENTA_NEW = 4
   PURPLE = 5
 
+class Provider(str):
+  GOOGLE = "google"
+  GITHUB = "github"
+  APPLE = "apple"
 
 class PrimeState:
   FETCH_INTERVAL = 5.0  # seconds between API calls
@@ -33,6 +38,13 @@ class PrimeState:
     self._lock = threading.Lock()
     self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
     self.prime_type: PrimeType = self._load_initial_state()
+    self._prime_trial_available = False
+    pairing_provider = os.getenv("PAIRING_PROVIDER") or self._params.get("PairingProvider")
+    self._pairing_provider: Provider | None = Provider(pairing_provider) if pairing_provider is not None else None
+    self._pairing_email: str | None = self._params.get("PairingEmail")
+    self._commacare = False
+
+    set_offroad_alert("Offroad_Pairing", self.prime_type <= PrimeType.UNPAIRED)
 
     self._running = False
     self._thread = None
@@ -56,18 +68,80 @@ class PrimeState:
       response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
       if response.status_code == 200:
         data = response.json()
+
         is_paired = data.get("is_paired", False)
         prime_type = data.get("prime_type", 0)
         self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+        if not is_paired:
+          self.set_provider(None, None)
+
+        prime_trial_available = data.get("trial_claimed") is False and data.get("eligible_features", {}).get("prime", False)
+        self.set_prime_trial_available(prime_trial_available)
+
+        commacare = data.get("commacare", False)
+        self.set_commacare(commacare)
     except Exception as e:
       cloudlog.error(f"Failed to fetch prime status: {e}")
 
+  def _fetch_pairing_provider(self) -> None:
+    dongle_id = self._params.get("DongleId")
+    if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+      return
+
+    try:
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1/devices/{dongle_id}/owner", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
+      if response.status_code == 200:
+        data = response.json()
+        user_id = data.get("user_id", "")
+        provider = Provider(user_id.partition("_")[0])
+        email = data.get("email")
+        self.set_provider(provider, email)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch pairing provider: {e}")
+
   def set_type(self, prime_type: PrimeType) -> None:
     with self._lock:
       if prime_type != self.prime_type:
         self.prime_type = prime_type
         self._params.put("PrimeType", int(prime_type))
         cloudlog.info(f"Prime type updated to {prime_type}")
+        set_offroad_alert("Offroad_Pairing", self.prime_type <= PrimeType.UNPAIRED)
+
+  def set_provider(self, provider: Provider | None, email: str | None):
+    with self._lock:
+      if self.prime_type <= PrimeType.UNPAIRED:
+        provider = None
+        email = None
+      email = email or None # if data.get(email) returns "" instead of None
+
+      if self._pairing_provider != provider:
+        self._pairing_provider = provider
+        if provider is None:
+          self._params.remove("PairingProvider")
+        else:
+          self._params.put("PairingProvider", str(provider))
+
+      if self._pairing_email != email:
+        self._pairing_email = email
+        if email is None:
+          self._params.remove("PairingEmail")
+        else:
+          self._params.put("PairingEmail", email)
+
+  def set_commacare(self, has_commacare: bool):
+    with self._lock:
+      if self.prime_type <= PrimeType.UNPAIRED:
+        self._commacare = False
+      else:
+        self._commacare = has_commacare
+
+  def set_prime_trial_available(self, prime_trail_available: bool):
+    with self._lock:
+      if self.prime_type <= PrimeType.UNPAIRED:
+        self._prime_trial_available = False
+      else:
+        self._prime_trial_available = prime_trail_available
 
   def _worker_thread(self) -> None:
     drop_realtime()
@@ -75,6 +149,7 @@ class PrimeState:
     while self._running:
       if not ui_state.started and device._awake:
         self._fetch_prime_status()
+        self._fetch_pairing_provider()
 
       for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
         if not self._running:
@@ -109,5 +184,25 @@ class PrimeState:
     with self._lock:
       return self.prime_type > PrimeType.UNPAIRED
 
+  def can_claim_prime_trial(self) -> bool:
+    with self._lock:
+      return self._prime_trial_available
+
+  def has_commacare(self) -> bool:
+    with self._lock:
+      return self._commacare
+
+  def get_pairing_provider(self) -> str | None:
+    with self._lock:
+      return self._pairing_provider
+
+  def get_pairing_account(self) -> str:
+    with self._lock:
+      if not self._pairing_provider:
+        return "unknown"
+      elif self._pairing_provider == Provider.GITHUB or not self._pairing_email:
+        return f"{self._pairing_provider} account"
+      return self._pairing_email
+
   def __del__(self):
     self.stop()

openpilot/selfdrive/ui/mici/layouts/home.py

@@ -173,7 +173,7 @@ class MiciHomeLayout(Widget):
     if self._mouse_down_t is not None:
       if time.monotonic() - self._mouse_down_t > 0.5:
         # long gating for experimental mode - only allow toggle if longitudinal control is available
-        if ui_state.has_longitudinal_control and ui_state.experimental_mode_confirmed:
+        if ui_state.has_longitudinal_control:
           ui_state.experimental_mode = not ui_state.experimental_mode
           ui_state.params.put("ExperimentalMode", ui_state.experimental_mode, block=True)
         self._mouse_down_t = None

openpilot/selfdrive/ui/mici/layouts/main.py

@@ -73,6 +73,8 @@ class MiciMainLayout(Scroller):
     return self._body_onroad_layout if ui_state.is_body else self._car_onroad_layout
 
   def _setup_callbacks(self):
+    self._alerts_layout.set_enabled(lambda: self.enabled)
+    self._alerts_layout.set_pairing_callback(self._settings_layout.show_pairing)
     self._home_layout.set_callbacks(
       on_settings=lambda: gui_app.push_widget(self._settings_layout),
       on_alerts=lambda: self._scroll_to(self._alerts_layout),

openpilot/selfdrive/ui/mici/layouts/offroad_alerts.py

@@ -4,6 +4,7 @@ import pyray as rl
 import re
 import threading
 import time
+from collections.abc import Callable
 from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
@@ -232,6 +233,11 @@ class MiciOffroadAlerts(Scroller):
   def scrolling(self):
     return self._scroller.scroll_panel.is_touch_valid()
 
+  def set_pairing_callback(self, callback: Callable[[], None]):
+    for alert_item in self.alert_items:
+      if alert_item.alert_data.key == "Offroad_Pairing":
+        alert_item.set_click_callback(callback)
+
   def _build_alerts(self):
     """Build sorted list of alerts from OFFROAD_ALERTS."""
     self.sorted_alerts = []

openpilot/selfdrive/ui/mici/layouts/onboarding.py

@@ -3,7 +3,7 @@ import numpy as np
 import pyray as rl
 from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.qrcode import make_texture
+from openpilot.selfdrive.ui.mici.widgets.qr import QR
 from openpilot.system.ui.lib.application import FontWeight, gui_app, TextAlignment
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import SmallCircleIconButton
@@ -277,23 +277,6 @@ class TrainingGuide(NavWidget):
     self._steps[0].render(self._rect)
 
 
-class QRCodeWidget(Widget):
-  def __init__(self, url: str, size: int = 170):
-    super().__init__()
-    self.set_rect(rl.Rectangle(0, 0, size, size))
-    self._size = size
-    self._qr_texture = make_texture(url, inverted=True)
-
-  def _render(self, _):
-    if self._qr_texture:
-      scale = self._size / self._qr_texture.height
-      rl.draw_texture_ex(self._qr_texture, rl.Vector2(round(self._rect.x), round(self._rect.y)), 0.0, scale, rl.WHITE)
-
-  def __del__(self):
-    if self._qr_texture and self._qr_texture.id != 0:
-      rl.unload_texture(self._qr_texture)
-
-
 class TermsPage(Scroller):
   def __init__(self, on_accept, on_decline):
     super().__init__()
@@ -310,7 +293,7 @@ class TermsPage(Scroller):
       self._terms_header,
       GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
                     gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
-      QRCodeWidget("https://sunnypilot.ai/terms"),
+      QR("https://sunnypilot.ai/terms"),
       self._must_accept_card,
       self._accept_button,
       self._decline_button,

openpilot/selfdrive/ui/mici/layouts/settings/device/device_layout.py

@@ -6,17 +6,16 @@ from typing import Union
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.mici.layouts.settings.device.prime import PrimeScroller
 from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
+from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog
-from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.html_render import HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
@@ -91,70 +90,56 @@ class EngagedConfirmationButton(BigButton):
     self.set_click_callback(lambda: _engaged_confirmation_click(callback, action_text, icon, exit_on_confirm=exit_on_confirm, red=red))
 
 
-class DeviceInfoLayoutMici(Widget):
+class DeviceInfoLayoutMici(InfoLayoutMici):
   def __init__(self):
-    super().__init__()
-
-    self.set_rect(rl.Rectangle(0, 0, 360, 180))
-
     params = Params()
-    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
-    max_width = int(self._rect.width - 20)
-    self._dongle_id_label = UnifiedLabel("device ID", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
-    self._dongle_id_text_label = UnifiedLabel(params.get("DongleId") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
-                                              font_weight=FontWeight.ROMAN, wrap_text=False)
-
-    self._serial_number_label = UnifiedLabel("serial", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
-    self._serial_number_text_label = UnifiedLabel(params.get("HardwareSerial") or 'N/A', 32, max_width=max_width, text_color=subheader_color,
-                                                  font_weight=FontWeight.ROMAN, wrap_text=False)
-
-  def _render(self, _):
-    self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
-    self._dongle_id_label.render()
-
-    self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
-    self._dongle_id_text_label.render()
-
-    self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
-    self._serial_number_label.render()
-
-    self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
-    self._serial_number_text_label.render()
+    super().__init__("device ID", params.get("DongleId") or 'N/A', "serial", params.get("HardwareSerial") or 'N/A', width=380)
 
 
 class PairBigButton(BigButton):
   def __init__(self):
-    super().__init__("pair", "connect.comma.ai", gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60))
-
-  def _get_label_font_size(self):
-    return 64
+    self._commacare_badge = gui_app.texture("icons_mici/settings/device/commacare.png", 27, 32)
+    self._show_commacare = False
+    self._comma_icon = gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)
+    self._provider_icons = {provider: gui_app.texture(f"icons_mici/settings/device/paired_{provider}.png", 64, 64)
+                           for provider in ("github", "google", "apple")}
+    super().__init__("pair to connect", "connect.comma.ai", self._comma_icon)
 
   def _update_state(self):
     super()._update_state()
 
+    self._show_commacare = (ui_state.prime_state.is_paired() and ui_state.prime_state.is_prime()
+                            and ui_state.prime_state.has_commacare())
     if ui_state.prime_state.is_paired():
+      self.set_icon(self._provider_icons.get(ui_state.prime_state.get_pairing_provider(), self._comma_icon))
       self.set_text("paired")
       if ui_state.prime_state.is_prime():
-        self.set_value("subscribed")
+        self.set_value("prime" if ui_state.prime_state.is_full_prime() else "prime lite")
       else:
-        self.set_value("upgrade to prime")
+        self.set_value("claim prime trial" if ui_state.prime_state.can_claim_prime_trial() else "upgrade to prime")
     else:
-      self.set_text("pair")
+      self.set_icon(self._comma_icon)
+      self.set_text("pair to connect")
       self.set_value("connect.comma.ai")
 
+  def _draw_subtitle(self, rect: rl.Rectangle):
+    if self._show_commacare:
+      y = rect.y + rect.height - self._commacare_badge.height
+      rl.draw_texture_v(self._commacare_badge, rl.Vector2(rect.x, y), rl.WHITE)
+      offset = self._commacare_badge.width + 14
+      rect = rl.Rectangle(rect.x + offset, rect.y, rect.width - offset, rect.height)
+    super()._draw_subtitle(rect)
+
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
 
-    # TODO: show ad dialog when clicked if not prime
-    if ui_state.prime_state.is_paired():
-      return
-    dlg: BigDialog | PairingDialog
+    dlg: BigDialog | PrimeScroller
     if not system_time_valid():
       dlg = BigDialog("", tr("Please connect to Wi-Fi to complete initial pairing."))
     elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
       dlg = BigDialog("", tr("Device must be registered with the comma.ai backend to pair."))
     else:
-      dlg = PairingDialog()
+      dlg = PrimeScroller()
     gui_app.push_widget(dlg)
 
 
@@ -163,6 +148,8 @@ class DeviceLayoutMici(NavScroller):
     super().__init__()
 
     self._fcc_dialog: MiciFccModal | None = None
+    self._pairing_button = PairBigButton()
+    self._pending_pairing_grow_animation = False
 
     def power_off_callback():
       ui_state.params.put_bool("DoShutdown", True, block=True)
@@ -207,7 +194,7 @@ class DeviceLayoutMici(NavScroller):
 
     self._scroller.add_widgets([
       DeviceInfoLayoutMici(),
-      PairBigButton(),
+      self._pairing_button,
       review_training_guide_btn,
       cabin_cam_btn,
       terms_btn,
@@ -217,6 +204,31 @@ class DeviceLayoutMici(NavScroller):
       self._power_off_btn,
     ])
 
+  def _update_state(self):
+    super()._update_state()
+    if self._pending_pairing_grow_animation:
+      btn_right = self._pairing_button.rect.x + self._pairing_button.rect.width
+      visible_right = self._rect.x + self._rect.width
+      if btn_right < visible_right + 50:
+        self._pending_pairing_grow_animation = False
+        self._pairing_button.trigger_grow_animation()
+
+  def show_event(self):
+    super().show_event()
+    if not ui_state.prime_state.is_paired():
+      self.set_shown_callback(self._pairing_button.trigger_grow_animation)
+
+  def hide_event(self):
+    super().hide_event()
+    self.set_shown_callback(None)
+    self._pending_pairing_grow_animation = False
+
+  def scroll_to_pairing(self):
+    self._scroller._layout()
+    offset = (self._pairing_button.rect.x + self._pairing_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
+    self._scroller.scroll_to(offset, smooth=True, block_interrupt=True, block_widget_interaction=True)
+    self._pending_pairing_grow_animation = True
+
   def _on_regulatory(self):
     if not self._fcc_dialog:
       self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "openpilot/selfdrive/assets/offroad/mici_fcc.html"))

openpilot/selfdrive/ui/mici/layouts/settings/device/prime.py

@@ -0,0 +1,171 @@
+import pyray as rl
+import time
+
+from openpilot.common.api import Api
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, GreyBigButton
+from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici
+from openpilot.selfdrive.ui.mici.widgets.qr import QR
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+
+class PairingInfoLayout(InfoLayoutMici):
+  def __init__(self):
+    super().__init__("account", "", "status", "")
+    self._commacare_badge = gui_app.texture("icons_mici/settings/device/commacare.png", 27, 32)
+    self._provider_icons = {provider: gui_app.texture(f"icons_mici/settings/device/{provider}.png", 32, 32)
+                           for provider in ("github", "google", "apple")}
+
+  def _update_state(self):
+    super()._update_state()
+    self.subtext1.set_text(ui_state.prime_state.get_pairing_account())
+    self.subtext2.set_text(self._get_prime_status())
+    self._provider_icon = self._provider_icons.get(ui_state.prime_state.get_pairing_provider())
+    self._show_commacare = ui_state.prime_state.has_commacare()
+
+  @staticmethod
+  def _get_prime_status() -> str:
+    if ui_state.prime_state.is_prime():
+      return "prime" if ui_state.prime_state.is_full_prime() else "prime lite"
+    return "not subscribed"
+
+  def _layout(self):
+    super()._layout()
+    provider_offset = self._provider_icon.width + 14 if self._provider_icon else 0
+    commacare_offset = self._commacare_badge.width + 14 if self._show_commacare else 0
+    self.subtext1.set_position(self.subtext1.rect.x + provider_offset, self.subtext1.rect.y)
+    self.subtext1.set_max_width(int(self._rect.width - provider_offset - (40 if self._provider_icon else 20)))
+    self.subtext2.set_position(self.subtext2.rect.x + commacare_offset, self.subtext2.rect.y)
+    self.subtext2.set_max_width(int(self._rect.width - commacare_offset - (40 if self._show_commacare else 20)))
+
+  def _render(self, rect: rl.Rectangle):
+    super()._render(rect)
+
+    if self._provider_icon:
+      icon_pos = rl.Vector2(self._rect.x + 20, self.subtext1.rect.y + (self.subtext1.rect.height - self._provider_icon.height) / 2)
+      rl.draw_texture_v(self._provider_icon, icon_pos, self._subheader_color)
+    if self._show_commacare:
+      icon_pos = rl.Vector2(self._rect.x + 20, self.subtext2.rect.y + (self.subtext2.rect.height - self._commacare_badge.height) / 2 + 4)
+      rl.draw_texture_v(self._commacare_badge, icon_pos, rl.WHITE)
+
+
+class PrimeManagementScroller(NavScroller):
+  """Prime subscription management and upgrade information."""
+
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+
+    can_claim_trial = ui_state.prime_state.can_claim_prime_trial()
+
+    self._prime_icon = gui_app.texture("icons_mici/settings/device/green_cell.png", 64, 64)
+    self._phone_icon = gui_app.texture("icons_mici/settings/device/phone.png", 85, 64)
+    self._prime_adverts = [
+      QR(self._get_prime_url()),
+      GreyBigButton(
+        "try prime for\n30 days" if can_claim_trial else "upgrade to prime",
+        "scan to claim trial" if can_claim_trial else "scan to manage\nprime status",
+        self._prime_icon
+      ),
+      GreyBigButton("", "prime adds 24/7 LTE to device and 1 year of cloud storage in connect.",),
+      GreyBigButton("", "prime lets you view live video and GPS location remotely in connect.",),
+      GreyBigButton("", "prime also includes commacare extended device warranty.",),
+    ]
+    self._prime_management = [
+      QR(self._get_prime_url()),
+      GreyBigButton(
+        "manage prime",
+        "scan to open\ndevice prime settings",
+        self._phone_icon
+      ),
+    ]
+    self._scroller.add_widgets(self._prime_management if ui_state.prime_state.is_prime() else self._prime_adverts)
+
+  def _get_prime_url(self) -> str:
+    if dongle_id := self._params.get("DongleId"):
+      return f"https://connect.comma.ai/{dongle_id}/prime"
+    return "https://connect.comma.ai"
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.prime_state.is_paired():
+      self.dismiss()
+
+
+class PrimeScroller(NavScroller):
+  """Pairing flow or paired account information with access to prime management."""
+
+  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
+
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self.initial_is_paired = ui_state.prime_state.is_paired()
+    self._last_pairing_qr_generation = float("-inf")
+
+    self._manage_icon = gui_app.texture("icons_mici/settings/comma_icon.png", 33, 60)
+    if not ui_state.prime_state.is_prime():
+      title = "claim\nprime trial" if ui_state.prime_state.can_claim_prime_trial() else "upgrade\nto prime"
+      self._manage_prime = BigButton(title, icon=self._manage_icon)
+    else:
+      self._manage_prime = BigButton("manage prime", icon=self._manage_icon)
+    self._manage_prime.set_click_callback(lambda: gui_app.push_widget(PrimeManagementScroller()))
+
+    if self.initial_is_paired:
+      self._scroller.add_widgets([
+        PairingInfoLayout(),
+        self._manage_prime,
+      ])
+    else:
+      self._qr = QR(self._get_pairing_url())
+      self._scroller.scroll_indicator_start_after = self._qr
+      self._scroller.add_widgets([
+        self._qr,
+        GreyBigButton("finish setup", "scan QR code or visit connect.comma.ai",
+                      gui_app.texture("icons_mici/settings/device/green_settings.png", 64, 64)),
+        GreyBigButton("", "connect lets you review recent driving footage and bookmark events."),
+      ])
+
+  def _get_pairing_url(self) -> str:
+    try:
+      dongle_id = self._params.get("DongleId") or ""
+      token = Api(dongle_id).get_token({'pair': True})
+    except Exception as e:
+      cloudlog.warning(f"Failed to get pairing token: {e}")
+      token = ""
+    return f"https://connect.comma.ai/?pair={token}"
+
+  def _update_layout_rects(self):
+    super()._update_layout_rects()
+    if not self.initial_is_paired:
+      self._qr.set_rect(rl.Rectangle(self._qr.rect.x, self._qr.rect.y, self._rect.height, self._rect.height))
+
+  def _render(self, rect: rl.Rectangle):
+    if not self.initial_is_paired:
+      current_time = time.monotonic()
+      if current_time - self._last_pairing_qr_generation >= self.QR_REFRESH_INTERVAL:
+        self._qr._url = self._get_pairing_url()
+        if self._qr._texture and self._qr._texture.id != 0:
+          rl.unload_texture(self._qr._texture)
+        self._qr._texture = self._qr._generate_qr_code()
+        self._last_pairing_qr_generation = current_time
+    super()._render(rect)
+
+  def _update_state(self):
+    super()._update_state()
+    if self.initial_is_paired != ui_state.prime_state.is_paired() and gui_app.get_active_widget() is self:
+      self.dismiss()
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = PrimeScroller()
+  gui_app.push_widget(pairing)
+  try:
+    for _ in gui_app.render():
+      pass
+  finally:
+    del pairing

openpilot/selfdrive/ui/mici/layouts/settings/network/network_layout.py

@@ -30,7 +30,7 @@ class NetworkLayoutMici(NavScroller):
       self._wifi_manager.set_tethering_active(checked)
 
     self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback,
-                                           description="Share the device’s internet connection through a Wi-Fi hotspot.")
+                                           description="Share the device's internet connection through a Wi-Fi hotspot.")
 
     def tethering_password_callback(password: str):
       if password:
@@ -61,7 +61,7 @@ class NetworkLayoutMici(NavScroller):
     # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
     # TODO: disable when not connected
     self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback,
-                                               description="Metered prevents large uploads on this Wi-Fi connection. Default uses the network’s detected " +
+                                               description="Metered prevents large uploads on this Wi-Fi connection. Default uses the network's detected " +
                                                            "setting.")
     self._network_metered_btn.set_enabled(False)
 

openpilot/selfdrive/ui/mici/layouts/settings/settings.py

@@ -3,7 +3,7 @@ from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import DeviceLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.software import SoftwareLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
@@ -28,9 +28,9 @@ class SettingsLayout(NavScroller):
     network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
     network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
 
-    device_panel = DeviceLayoutMici()
-    device_btn = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
-    device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))
+    self._device_panel = DeviceLayoutMici()
+    self._device_button = SettingsBigButton("device", "", gui_app.texture("icons_mici/settings/device_icon.png", 72, 58))
+    self._device_button.set_click_callback(lambda: gui_app.push_widget(self._device_panel))
 
     software_panel = SoftwareLayoutMici()
     software_btn = SettingsBigButton("software", "", gui_app.texture("icons_mici/settings/software.png", 64, 75))
@@ -47,10 +47,28 @@ class SettingsLayout(NavScroller):
     self._scroller.add_widgets([
       toggles_btn,
       network_btn,
-      device_btn,
+      self._device_button,
       software_btn,
       firehose_btn,
       developer_btn,
     ])
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
+
+  def show_pairing(self):
+    gui_app.push_widget(self)
+    # add settings in the back stack without showing its entrance animation.
+    self._y_pos_filter.x = 0.0
+    self.set_visible(lambda: self.enabled or self._device_panel.is_dismissing)
+    self.set_shown_callback(self._scroll_to_device)
+    gui_app.push_widget(self._device_panel)
+    self._device_panel.set_shown_callback(self._on_pairing_shown)
+
+  def _scroll_to_device(self):
+    self._scroller._layout()
+    offset = (self._device_button.rect.x + self._device_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
+    self._scroller.scroll_to(offset, smooth=False)
+
+  def _on_pairing_shown(self):
+    self.set_visible(True)
+    self._device_panel.scroll_to_pairing()

openpilot/selfdrive/ui/mici/layouts/settings/software.py

@@ -5,14 +5,13 @@ from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.selfdrive.ui.mici.layouts.settings.device import EngagedConfirmationButton
+from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import EngagedConfirmationButton
+from openpilot.selfdrive.ui.mici.widgets.info import InfoLayoutMici
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import NavScroller
 
 UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
@@ -33,44 +32,21 @@ class UpdaterState(IntEnum):
   UPDATER_RESPONDING = 2
 
 
-class SoftwareInfoLayoutMici(Widget):
+class SoftwareInfoLayoutMici(InfoLayoutMici):
   def __init__(self):
-    super().__init__()
-
-    self.set_rect(rl.Rectangle(0, 0, 360, 180))
-
-    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
-    max_width = int(self._rect.width - 20)
-    self._version_label = UnifiedLabel("version", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
-    self._version_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
-                                            font_weight=FontWeight.ROMAN, wrap_text=False)
-
-    self._branch_label = UnifiedLabel("branch", 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
-    self._branch_text_label = UnifiedLabel("", 32, max_width=max_width, text_color=subheader_color,
-                                           font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
+    super().__init__("version", "", "branch", "")
 
   def _update_state(self):
+    super()._update_state()
+
     desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
     if desc is not None:
       version, branch, commit, date = desc
-      self._version_text_label.set_text(f"{version} ({date})")
-      self._branch_text_label.set_text(f"{branch} ({commit})")
+      self.subtext1.set_text(f"{version} ({date})")
+      self.subtext2.set_text(f"{branch} ({commit})")
     else:
-      self._version_text_label.set_text(ui_state.params.get("Version") or "N/A")
-      self._branch_text_label.set_text(ui_state.params.get("GitBranch") or "N/A")
-
-  def _render(self, _):
-    self._version_label.set_position(self._rect.x + 20, self._rect.y - 10)
-    self._version_label.render()
-
-    self._version_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
-    self._version_text_label.render()
-
-    self._branch_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
-    self._branch_label.render()
-
-    self._branch_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
-    self._branch_text_label.render()
+      self.subtext1.set_text(ui_state.params.get("Version") or "N/A")
+      self.subtext2.set_text(ui_state.params.get("GitBranch") or "N/A")
 
 
 class CheckUpdateButton(BigButton):

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -1,10 +1,7 @@
-from collections.abc import Callable
-
 from openpilot.cereal import log
 
 from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle, BigToggle, GreyBigButton
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationCircleButton
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -12,31 +9,6 @@ from openpilot.selfdrive.ui.ui_state import ui_state
 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
 
 
-class ExperimentalModeConfirmPage(NavScroller):
-  def __init__(self, on_confirm: Callable[[], None]):
-    super().__init__()
-
-    accept = BigConfirmationCircleButton("enable\nexperimental mode",
-                                         gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 64, 64),
-                                         lambda: self.dismiss(on_confirm))
-
-    self._scroller.add_widgets([
-      GreyBigButton("enabling\nexperimental mode", "scroll to continue",
-                    gui_app.texture("icons_mici/setup/warning.png", 64, 64)),
-      GreyBigButton("", "openpilot defaults to driving in chill mode."),
-      GreyBigButton("", "Experimental mode enables alpha-level features that aren't ready for chill mode."),
-      GreyBigButton("End-to-End Longitudinal Control"),
-      GreyBigButton("", "Let the driving model control the gas and brakes."),
-      GreyBigButton("", "openpilot will drive as it thinks a human would, including stopping for red lights and stop signs."),
-      GreyBigButton("", "The set speed will only act as an upper bound."),
-      GreyBigButton("", "This is an alpha quality feature; mistakes should be expected."),
-      GreyBigButton("New Driving Visualization"),
-      GreyBigButton("", "The path will change colors to communicate acceleration intent."),
-      GreyBigButton("", "Red for braking, green for acceleration, and gray for coasting."),
-      accept,
-    ])
-
-
 class TogglesLayoutMici(NavScroller):
   def __init__(self):
     super().__init__()
@@ -46,8 +18,8 @@ class TogglesLayoutMici(NavScroller):
                                                                "Aggressive follows closer, with firmer gas and braking.\n" +
                                                                "Relaxed leaves more space.\n" +
                                                                "Use the steering wheel distance button on supported cars.")
-    self._experimental_btn = BigToggle("experimental mode", description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
-                                       initial_state=ui_state.params.get_bool("ExperimentalMode"), toggle_callback=self._on_experimental_mode,
+    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode",
+                                       description_icon=gui_app.texture("icons_mici/experimental_mode.png", 64, 64),
                                        description="Let the driving model control gas and brakes.\n" +
                                                    "Includes stopping for red lights and stop signs.\n" +
                                                    "Set speed is a maximum, not a target.\n" +
@@ -133,17 +105,3 @@ class TogglesLayoutMici(NavScroller):
     # Refresh toggles from params to mirror external changes
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
-
-  def _on_experimental_mode(self, state: bool):
-    if state and not ui_state.params.get_bool("ExperimentalModeConfirmed"):
-      # Don't show enabled state until confirm
-      self._experimental_btn.set_checked(False)
-
-      def on_confirm():
-        ui_state.params.put_bool("ExperimentalModeConfirmed", True)
-        ui_state.params.put_bool("ExperimentalMode", True)
-        self._experimental_btn.set_checked(True)
-
-      gui_app.push_widget(ExperimentalModeConfirmPage(on_confirm))
-    else:
-      ui_state.params.put_bool("ExperimentalMode", state)

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -8,13 +8,14 @@ from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
 from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.mici.onroad.long_indicator import LongIndicator
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, TextAlignment, TextAlignmentVertical
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
-from openpilot.common.filter_simple import BounceFilter
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 from enum import IntEnum
@@ -35,14 +36,14 @@ class BookmarkState(IntEnum):
   DRAGGING = 1
   TRIGGERED = 2
 
-WIDE_CAM_MAX_SPEED = 5.0  # m/s (10 mph)
-ROAD_CAM_MIN_SPEED = 10  # m/s (25 mph)
+WIDE_CAM_MAX_SPEED = 5.0  # m/s (11 mph)
+ROAD_CAM_MIN_SPEED = 10.0  # m/s (22 mph)
 
 CAM_Y_OFFSET = 20
 
 
 class BookmarkIcon(Widget):
-  PEEK_THRESHOLD = 50  # If icon peeks out this much, snap it fully visible
+  PEEK_THRESHOLD = 150 # If icon peeks out this much, snap it fully visible
   FULL_VISIBLE_OFFSET = 200  # How far onscreen when fully visible
   HIDDEN_OFFSET = -50  # How far offscreen when hidden
 
@@ -50,7 +51,9 @@ class BookmarkIcon(Widget):
     super().__init__()
     self._bookmark_callback = bookmark_callback
     self._icon = gui_app.texture("icons_mici/onroad/bookmark.png", 180, 180)
+    self._filled_icon = gui_app.texture("icons_mici/onroad/bookmark_fill.png", 180, 180)
     self._offset_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._active_alpha = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
     # State
     self._interacting = False
@@ -60,6 +63,8 @@ class BookmarkIcon(Widget):
     self._is_swiping = False
     self._is_swiping_left: bool = False
     self._triggered_time: float = 0.0
+    self._triggered_duration = 1.5
+    self._swipe_expired = False
 
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
@@ -70,18 +75,25 @@ class BookmarkIcon(Widget):
     return interacting
 
   def _update_state(self):
+    if self._state == BookmarkState.TRIGGERED and rl.get_time() - self._triggered_time >= self._triggered_duration:
+      self._state = BookmarkState.HIDDEN
+      self._swipe_expired = self._is_swiping
+
+    swipe_offset = self._swipe_start_x - self._swipe_current_x
+    armed = self._state == BookmarkState.DRAGGING and swipe_offset > self.PEEK_THRESHOLD
     if self._state == BookmarkState.DRAGGING:
-      # Allow pulling past activated position with rubber band effect
-      swipe_offset = self._swipe_start_x - self._swipe_current_x
+      # Snap to the released position when armed, while allowing further dragging or cancellation.
+      if armed:
+        swipe_offset += self.FULL_VISIBLE_OFFSET - self.PEEK_THRESHOLD
       swipe_offset = min(swipe_offset, self.FULL_VISIBLE_OFFSET + 50)
       self._offset_filter.update(swipe_offset)
 
     elif self._state == BookmarkState.TRIGGERED:
-      # Continue animating to fully visible
-      self._offset_filter.update(self.FULL_VISIBLE_OFFSET)
-      # Stay in TRIGGERED state for 1 second
-      if rl.get_time() - self._triggered_time >= 1.5:
-        self._state = BookmarkState.HIDDEN
+      # Let another left swipe move the same bookmark.
+      offset = self.FULL_VISIBLE_OFFSET
+      if self._is_swiping and self._is_swiping_left:
+        offset += min(swipe_offset, 50)
+      self._offset_filter.update(offset)
 
     elif self._state == BookmarkState.HIDDEN:
       self._offset_filter.update(self.HIDDEN_OFFSET)
@@ -89,17 +101,23 @@ class BookmarkIcon(Widget):
       if self._offset_filter.x < 1e-3:
         self._interacting = False
 
+    self._active_alpha.update(float(armed or self._state == BookmarkState.TRIGGERED))
+
   def _handle_mouse_event(self, mouse_event: MouseEvent):
     if not ui_state.started:
       return
 
     if mouse_event.left_pressed:
+      if self._state == BookmarkState.TRIGGERED:
+        self._triggered_time = rl.get_time()
+        self._triggered_duration = 0.5
+
       # Store relative position within widget
       self._swipe_start_x = mouse_event.pos.x
       self._swipe_current_x = mouse_event.pos.x
       self._is_swiping = True
       self._is_swiping_left = False
-      self._state = BookmarkState.DRAGGING
+      self._swipe_expired = False
 
     elif mouse_event.left_down and self._is_swiping:
       self._swipe_current_x = mouse_event.pos.x
@@ -107,30 +125,34 @@ class BookmarkIcon(Widget):
       self._is_swiping_left = swipe_offset > 0
       if self._is_swiping_left:
         self._interacting = True
+        if self._state == BookmarkState.HIDDEN and not self._swipe_expired:
+          self._state = BookmarkState.DRAGGING
 
     elif mouse_event.left_released:
-      if self._is_swiping:
+      if self._is_swiping and self._state == BookmarkState.DRAGGING:
         swipe_distance = self._swipe_start_x - self._swipe_current_x
 
         # If peeking past threshold, transition to animating to fully visible and bookmark
         if swipe_distance > self.PEEK_THRESHOLD:
           self._state = BookmarkState.TRIGGERED
           self._triggered_time = rl.get_time()
+          self._triggered_duration = 1.5
           self._bookmark_callback()
         else:
           # Otherwise, transition back to hidden
           self._state = BookmarkState.HIDDEN
 
-        # Reset swipe state
-        self._is_swiping = False
-        self._is_swiping_left = False
+      # Reset swipe state
+      self._is_swiping = False
+      self._is_swiping_left = False
 
   def _render(self, _):
     """Render the bookmark icon."""
     if self._offset_filter.x > 0:
       icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
       icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
-      rl.draw_texture_ex(self._icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.WHITE)
+      for icon, alpha in ((self._icon, 1.0 - self._active_alpha.x), (self._filled_icon, self._active_alpha.x)):
+        rl.draw_texture_ex(icon, rl.Vector2(icon_x, icon_y), 0.0, 1.0, rl.Color(255, 255, 255, round(255 * alpha)))
 
 
 class AugmentedRoadView(CameraView):
@@ -153,6 +175,7 @@ class AugmentedRoadView(CameraView):
 
     self._model_renderer = ModelRenderer()
     self._hud_renderer = HudRenderer()
+    self._long_indicator = LongIndicator()
     self._alert_renderer = AlertRenderer()
     self._driver_state_renderer = DriverStateRenderer()
     self._confidence_ball = ConfidenceBall()
@@ -229,6 +252,8 @@ class AugmentedRoadView(CameraView):
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
     self._driver_state_renderer.render()
+    self._long_indicator.set_should_draw(not self._hud_renderer.drawing_top_icons())
+    self._long_indicator.render(self._content_rect)
 
     self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
     self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and

openpilot/selfdrive/ui/mici/onroad/long_indicator.py

@@ -0,0 +1,89 @@
+import pyray as rl
+from openpilot.cereal import log
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+HIGHLIGHT_TIME = 2.5  # seconds
+
+
+class LongIndicator(Widget):
+  def __init__(self):
+    super().__init__()
+    self._txt_lead_car = (self._texture('car', 35, 27), self._texture('car_green', 50, 42))
+    self._txt_distance = [(self._texture('distance_1', 32, 7), self._texture('distance_1_green', 60, 35)),
+                          (self._texture('distance_2', 40, 9), self._texture('distance_2_green', 68, 37)),
+                          (self._texture('distance_3', 48, 11), self._texture('distance_3_green', 76, 39))]
+    self._alpha_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    # crossfade between states, a white and a green filter per icon
+    self._lead_car_filters = (FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps), FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps))
+    self._distance_filters = [(FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps), FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps))
+                              for _ in range(3)]
+    self._personality: int | None = None
+    self._personality_changed_time = -HIGHLIGHT_TIME
+    self._should_draw = False
+
+  @staticmethod
+  def _texture(name: str, width: int, height: int) -> rl.Texture:
+    return gui_app.texture(f'icons_mici/longitudinal/{name}.png', width, height, keep_aspect_ratio=False)
+
+  def set_should_draw(self, should_draw: bool):
+    self._should_draw = should_draw
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    if sm.recv_frame['selfdriveState'] < ui_state.started_frame or not sm['selfdriveState'].enabled or not ui_state.has_longitudinal_control:
+      self._personality = None
+      self._personality_changed_time = -HIGHLIGHT_TIME
+      self._alpha_filter.x = 0.0
+      return
+
+    # hidden under alerts and set speed
+    visible = self._should_draw and sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none
+    alpha = self._alpha_filter.update(visible)
+    self._draw_lead_car(rect, alpha)
+    self._draw_distance_bars(rect, alpha, visible)
+
+  def _draw_lead_car(self, rect: rl.Rectangle, alpha: float) -> None:
+    sm = ui_state.sm
+    plan = sm['longitudinalPlan']
+    has_lead = sm.alive['longitudinalPlan'] and plan.hasLead
+
+    e2e = has_lead and plan.longitudinalPlanSource == log.LongitudinalPlan.LongitudinalPlanSource.e2e
+    white_f, green_f = self._lead_car_filters
+    white_alpha = white_f.update(0.0 if e2e else 0.9 if has_lead else 0.35)
+    green_alpha = green_f.update(float(e2e))
+
+    white, green = self._txt_lead_car
+    self._draw_centered(white, rect, 100, white_alpha * alpha)
+    self._draw_centered(green, rect, 100, green_alpha * alpha)
+
+  def _draw_distance_bars(self, rect: rl.Rectangle, alpha: float, visible: bool) -> None:
+    sm = ui_state.sm
+    now = rl.get_time()
+    personality = sm['selfdriveState'].personality.raw
+    if self._personality is not None and personality != self._personality:
+      self._personality_changed_time = now
+    self._personality = personality
+    # the personality alert covers the bars, hold the highlight until they show
+    if not visible and now - self._personality_changed_time < HIGHLIGHT_TIME:
+      self._personality_changed_time = now
+    highlight = now - self._personality_changed_time < HIGHLIGHT_TIME
+
+    # blink at double the turn signal rate (2.67 Hz) while overriding the gas
+    overriding = any(e.name == log.OnroadEvent.EventName.gasPressedOverride for e in sm['onroadEvents'])
+    blink = 0.35 / 0.9 if overriding and now % 0.375 > 0.1875 else 1.0
+
+    count = personality + 1
+    for i, ((white, green), y, (active_f, green_f)) in enumerate(zip(self._txt_distance, (122, 136, 152), self._distance_filters, strict=True)):
+      active = active_f.update(float(i < count))
+      green_alpha = green_f.update(float(highlight and i == count - 1))
+      # only lit bars blink on override
+      self._draw_centered(white, rect, y, (0.35 * (1 - active) + 0.9 * (active - green_alpha) * blink) * alpha)
+      self._draw_centered(green, rect, y, green_alpha * blink * alpha)
+
+  @staticmethod
+  def _draw_centered(texture: rl.Texture, rect: rl.Rectangle, y: float, alpha: float) -> None:
+    pos = rl.Vector2(rect.x + 46 - texture.width / 2, rect.y + y - texture.height / 2)
+    rl.draw_texture_ex(texture, pos, 0.0, 1.0, rl.Color(255, 255, 255, round(255 * alpha)))

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -1,11 +1,12 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from openpilot.cereal import messaging
+from openpilot.cereal import log, messaging
 from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import blend_colors
@@ -18,6 +19,8 @@ from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LI
 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
 MAX_DRAW_DISTANCE = 100.0
+LEAD_BAR_LENGTH = 12.0  # px
+LEAD_BAR_WIDTH = 1.8  # m
 
 THROTTLE_COLORS = [
   rl.Color(13, 248, 122, 102),   # HSLF(148/360, 0.94, 0.51, 0.4)
@@ -45,11 +48,12 @@ class ModelPoints:
   projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
 
 
-@dataclass
 class LeadVehicle:
-  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[tuple[float, float]] = field(default_factory=list)
-  fill_alpha: int = 0
+  def __init__(self):
+    self.bar = np.empty((0, 2), dtype=np.float32)
+    self.d_filter = FirstOrderFilter(0.0, 0.2, 1 / gui_app.target_fps, initialized=False)
+    self.y_filter = FirstOrderFilter(0.0, 0.2, 1 / gui_app.target_fps, initialized=False)
+    self.fade_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
 
 
 class ModelRenderer(Widget, ModelRendererSP):
@@ -145,8 +149,6 @@ class ModelRenderer(Widget, ModelRendererSP):
         return
 
       self._update_model(lead_one, path_x_array)
-      if render_lead_indicator:
-        self._update_leads(radar_state, path_x_array)
       self._transform_dirty = False
 
     # Draw elements (hide when disengaged)
@@ -154,8 +156,11 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_lane_lines()
       self._draw_path(sm)
 
-    # if render_lead_indicator and radar_state:
-    #   self._draw_lead_indicator()
+    if render_lead_indicator:
+      self._update_leads(sm)
+      self._draw_lead_indicator()
+    else:
+      self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
 
   def _update_raw_points(self, model):
     """Update raw 3D points from model data"""
@@ -171,21 +176,45 @@ class ModelRenderer(Widget, ModelRendererSP):
     self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
     self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
 
-  def _update_leads(self, radar_state, path_x_array):
-    """Update positions of lead vehicles"""
-    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
-    leads = [radar_state.leadOne, radar_state.leadTwo]
+  def _update_leads(self, sm):
+    plan = sm['longitudinalPlan']
+    if plan.longitudinalPlanSource == log.LongitudinalPlan.LongitudinalPlanSource.e2e and len(sm['modelV2'].leadsV3) > 1:
+      leads = [(lead.prob > 0.5, lead.x[0], -lead.y[0]) for lead in list(sm['modelV2'].leadsV3)[:2]]
+    else:
+      radar = sm['radarState']
+      leads = [(lead.present, lead.dRel + RADAR_TO_CAMERA, lead.yRel) for lead in (radar.leadOne, radar.leadTwo)]
 
-    for i, lead_data in enumerate(leads):
-      if lead_data and lead_data.present:
-        d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
-        idx = self._get_path_length_idx(path_x_array, d_rel)
+    # both leads can be the same vehicle
+    if leads[0][0] and abs(leads[1][1] - leads[0][1]) < 3.0:
+      leads[1] = (False, 0.0, 0.0)
 
-        # Get z-coordinate from path at the lead vehicle position
-        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
-        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
-        if point:
-          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
+    ss, cs = sm['selfdriveState'], sm['carState']
+    # braking disengages without making openpilot unavailable
+    available = ss.enabled or ss.engageable or cs.brakePressed
+    lane = self._path.raw_points
+    opacity = 0.4 if ui_state.status == UIStatus.DISENGAGED else 0.8
+    for lead, (present, d_rel, y_rel) in zip(self._lead_vehicles, leads, strict=True):
+      visible = available and present and d_rel < MAX_DRAW_DISTANCE and len(lane) > 0
+      # snap to a new vehicle instead of sliding over
+      if not visible or abs(y_rel - lead.y_filter.x) > 3.0:
+        lead.d_filter.initialized = lead.y_filter.initialized = False
+      lead.fade_filter.update(opacity if visible else 0.0)
+      if visible:
+        lead.bar = self._get_lead_bar(lane, lead.d_filter.update(d_rel), lead.y_filter.update(y_rel))
+
+  def _get_lead_bar(self, lane, d_rel, y_rel):
+    # bar on the road behind the lead, following the lane
+    x = np.array([d_rel, d_rel - min(6.0, 0.25 * d_rel)])
+    y = np.interp(x, lane[:, 0], lane[:, 1]) - np.interp(d_rel, lane[:, 0], lane[:, 1]) - y_rel
+    z = np.interp(x, self._path.raw_points[:, 0], self._path.raw_points[:, 2]) + self._path_offset_z
+    corners = np.vstack((np.column_stack((x, y + LEAD_BAR_WIDTH / 2, z)), np.column_stack((x, y - LEAD_BAR_WIDTH / 2, z))[::-1]))
+    pts = self._car_space_transform @ corners.T
+    bar = (pts[:2] / pts[2]).T
+
+    far, near = bar[[0, 3]], bar[[1, 2]]
+    length = np.linalg.norm(near.mean(axis=0) - far.mean(axis=0))
+    bar[[1, 2]] = far + (near - far) * np.clip(length, 3.0, LEAD_BAR_LENGTH) / length
+    return bar.astype(np.float32)
 
   def _update_model(self, lead, path_x_array):
     """Update model visualization data based on model message"""
@@ -270,30 +299,6 @@ class ModelRenderer(Widget, ModelRendererSP):
     self._exp_gradient.colors = segment_colors
     self._exp_gradient.stops = gradient_stops
 
-  def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
-    speed_buff, lead_buff = 10.0, 40.0
-
-    # Calculate fill alpha
-    fill_alpha = 0
-    if d_rel < lead_buff:
-      fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
-      if v_rel < 0:
-        fill_alpha += 255 * (-1 * (v_rel / speed_buff))
-      fill_alpha = min(fill_alpha, 255)
-
-    # Calculate size and position
-    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 1
-    x = np.clip(point[0], 0.0, rect.width - sz / 2)
-    y = min(point[1], rect.height - sz * 0.6)
-
-    g_xo = sz / 5
-    g_yo = sz / 10
-
-    glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
-    chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
-
-    return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha))
-
   def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
     alpha = np.clip(prob, 0.0, 0.7)
     if adjacent:
@@ -375,13 +380,9 @@ class ModelRenderer(Widget, ModelRendererSP):
         draw_polygon(self._rect, path_pts, gradient=gradient)
 
   def _draw_lead_indicator(self):
-    # Draw lead vehicles if available
+    offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
     for lead in self._lead_vehicles:
-      if not lead.glow or not lead.chevron:
-        continue
-
-      rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
-      rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
+      draw_polygon(self._rect, lead.bar + offset, rl.Color(255, 255, 255, int(255 * lead.fade_filter.x)))
 
   @staticmethod
   def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
@@ -391,22 +392,6 @@ class ModelRenderer(Widget, ModelRendererSP):
     indices = np.where(pos_x_array <= path_height)[0]
     return indices[-1] if indices.size > 0 else 0
 
-  def _map_to_screen(self, in_x, in_y, in_z):
-    """Project a point in car space to screen space"""
-    input_pt = np.array([in_x, in_y, in_z])
-    pt = self._car_space_transform @ input_pt
-
-    if abs(pt[2]) < 1e-6:
-      return None
-
-    x, y = pt[0] / pt[2], pt[1] / pt[2]
-
-    clip = self._clip_region
-    if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
-      return None
-
-    return (x, y)
-
   def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
     """Convert 3D line to 2D polygon for rendering."""
     if line.shape[0] == 0:

openpilot/selfdrive/ui/mici/tests/test_widget_leaks.py

@@ -19,7 +19,7 @@ KNOWN_LEAKS = {
   "openpilot.system.ui.widgets.button.Button",
   "openpilot.system.ui.widgets.html_render.HtmlRenderer",
   "openpilot.system.ui.widgets.nav_widget.NavBar",
-  "openpilot.selfdrive.ui.mici.layouts.settings.device.MiciFccModal",
+  "openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout.MiciFccModal",
   "openpilot.system.ui.widgets.inputbox.InputBox",
   "openpilot.system.ui.widgets.scroller_tici.Scroller",
   "openpilot.system.ui.widgets.label.UnifiedLabel",
@@ -52,9 +52,9 @@ class TestWidgetLeaks(OpenpilotTestCase):
     # mici dialogs
     from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
     from openpilot.selfdrive.ui.mici.onroad.cabin_camera_dialog import CabinCameraDialog as MiciCabinCameraDialog
-    from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+    from openpilot.selfdrive.ui.mici.layouts.settings.device.prime import PrimeScroller
     from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialog, BigInputDialog
-    from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+    from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import MiciFccModal
 
     # tici dialogs
     from openpilot.selfdrive.ui.onroad.cabin_camera_dialog import CabinCameraDialog as TiciCabinCameraDialog
@@ -71,7 +71,7 @@ class TestWidgetLeaks(OpenpilotTestCase):
 
     for ctor in (
       # mici
-      MiciCabinCameraDialog, MiciPairingDialog,
+      MiciCabinCameraDialog, PrimeScroller,
       lambda: MiciTrainingGuide(lambda: None),
       lambda: MiciOnboardingWindow(lambda: None),
       lambda: BigDialog("test", "test"),

openpilot/selfdrive/ui/mici/widgets/button.py

@@ -241,6 +241,9 @@ class BigButton(BaseButton):
     btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
     return txt_bg, btn_x, btn_y, scale
 
+  def _draw_subtitle(self, rect: rl.Rectangle):
+    self._sub_label.render(rect)
+
   def _draw_content(self, btn_y: float):
     # LABEL ------------------------------------------------------------------
     label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
@@ -255,7 +258,7 @@ class BigButton(BaseButton):
       label_y = label_rect.y + self._label.get_content_height(int(label_rect.width))
       sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
       sub_label_rect = rl.Rectangle(label_x, label_y, self._subtitle_width_hint(), sub_label_height)
-      self._sub_label.render(sub_label_rect)
+      self._draw_subtitle(sub_label_rect)
 
     # ICON -------------------------------------------------------------------
     if self._txt_icon:

openpilot/selfdrive/ui/mici/widgets/dialog.py

@@ -183,7 +183,7 @@ class BigInputDialog(BigDialogBase):
     # draw gradient on left side to indicate more text
     if text_size.x > text_field_rect.width:
       rl.draw_rectangle_gradient_ex(rl.Rectangle(text_field_rect.x, text_field_rect.y, 80, text_field_rect.height),
-                                    rl.BLACK, rl.BLANK, rl.BLANK, rl.BLACK)
+                                    rl.BLACK, rl.BLACK, rl.BLANK, rl.BLANK)
 
     # draw cursor
     blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2

openpilot/selfdrive/ui/mici/widgets/info.py

@@ -0,0 +1,31 @@
+import pyray as rl
+
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+
+
+class InfoLayoutMici(Widget):
+  def __init__(self, title1: str, subtext1: str, title2: str, subtext2: str, *, width: int = 360):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, width, 180))
+
+    max_width = int(self._rect.width - 20)
+    self._subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+
+    self.title1 = UnifiedLabel(title1, 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self.subtext1 = UnifiedLabel(subtext1, 36, max_width=max_width, text_color=self._subheader_color,
+                                font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
+    self.title2 = UnifiedLabel(title2, 48, max_width=max_width, font_weight=FontWeight.DISPLAY, wrap_text=False)
+    self.subtext2 = UnifiedLabel(subtext2, 36, max_width=max_width, text_color=self._subheader_color,
+                                font_weight=FontWeight.ROMAN, wrap_text=False, scroll=True)
+
+  def _layout(self):
+    self.title1.set_position(self._rect.x + 20, self._rect.y - 10)
+    self.subtext1.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self.title2.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self.subtext2.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+
+  def _render(self, rect: rl.Rectangle):
+    for widget in [self.title1, self.subtext1, self.title2, self.subtext2]:
+      widget.render()

openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py

@@ -1,95 +0,0 @@
-import pyray as rl
-import time
-
-from openpilot.common.api import Api
-from openpilot.common.qrcode import make_texture
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.params import Params
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.widgets.nav_widget import NavWidget
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import UnifiedLabel
-
-
-class PairingDialog(NavWidget):
-  """Dialog for device pairing with QR code."""
-
-  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
-
-  def __init__(self):
-    super().__init__()
-    self._params = Params()
-    self._qr_texture: rl.Texture | None = None
-    self._last_qr_generation = float("-inf")
-
-    self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
-    self._pair_label = UnifiedLabel("pair with comma connect", font_size=48, font_weight=FontWeight.BOLD, line_height=0.8)
-
-  def _get_pairing_url(self) -> str:
-    try:
-      dongle_id = self._params.get("DongleId") or ""
-      token = Api(dongle_id).get_token({'pair': True})
-    except Exception as e:
-      cloudlog.warning(f"Failed to get pairing token: {e}")
-      token = ""
-    return f"https://connect.comma.ai/?pair={token}"
-
-  def _generate_qr_code(self) -> None:
-    try:
-      if self._qr_texture and self._qr_texture.id != 0:
-        rl.unload_texture(self._qr_texture)
-      self._qr_texture = make_texture(self._get_pairing_url(), inverted=True)
-    except Exception as e:
-      cloudlog.warning(f"QR code generation failed: {e}")
-      self._qr_texture = None
-
-  def _check_qr_refresh(self) -> None:
-    current_time = time.monotonic()
-    if current_time - self._last_qr_generation >= self.QR_REFRESH_INTERVAL:
-      self._generate_qr_code()
-      self._last_qr_generation = current_time
-
-  def _update_state(self):
-    super()._update_state()
-    if ui_state.prime_state.is_paired() and not self.is_dismissing:
-      self.dismiss()
-
-  def _render(self, rect: rl.Rectangle):
-    self._check_qr_refresh()
-
-    self._render_qr_code()
-
-    label_x = self._rect.x + 8 + self._rect.height + 24
-    self._pair_label.set_max_width(int(self._rect.width - label_x))
-    self._pair_label.set_position(label_x, self._rect.y + 16)
-    self._pair_label.render()
-
-    rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
-                       0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
-
-  def _render_qr_code(self) -> None:
-    if not self._qr_texture:
-      error_font = gui_app.font(FontWeight.BOLD)
-      rl.draw_text_ex(
-        error_font, "QR Code Error", rl.Vector2(self._rect.x + 20, self._rect.y + self._rect.height // 2 - 15), 30, 0.0, rl.RED
-      )
-      return
-
-    scale = self._rect.height / self._qr_texture.height
-    pos = rl.Vector2(round(self._rect.x + 8), round(self._rect.y))
-    rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)
-
-  def __del__(self):
-    if self._qr_texture and self._qr_texture.id != 0:
-      rl.unload_texture(self._qr_texture)
-
-
-if __name__ == "__main__":
-  gui_app.init_window("pairing device")
-  pairing = PairingDialog()
-  gui_app.push_widget(pairing)
-  try:
-    for _ in gui_app.render():
-      pass
-  finally:
-    del pairing

openpilot/selfdrive/ui/mici/widgets/qr.py

@@ -0,0 +1,37 @@
+import pyray as rl
+
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import Label
+from openpilot.common.qrcode import make_texture
+
+
+class QR(Widget):
+  def __init__(self, url: str, width: int = 170):
+    super().__init__()
+    self._url = url
+
+    self._texture = self._generate_qr_code()
+
+    self.set_rect(rl.Rectangle(0, 0, width, width))
+    self._error = Label("QR Code Error", font_size=30, font_weight=FontWeight.BOLD, text_color=rl.RED)
+
+  def _generate_qr_code(self):
+    try:
+      return make_texture(self._url, inverted=True)
+    except Exception as e:
+      cloudlog.warning(f"QR code generation failed: {e}")
+      return None
+
+  def _render(self, rect: rl.Rectangle):
+    if not self._texture:
+      self._error.render(rect)
+      return
+    scale = rect.height / self._texture.height
+    pos = rl.Vector2(round(rect.x), round(rect.y))
+    rl.draw_texture_ex(self._texture, pos, 0.0, scale, rl.WHITE)
+
+  def __del__(self):
+    if self._texture and self._texture.id != 0:
+      rl.unload_texture(self._texture)

openpilot/selfdrive/ui/onroad/augmented_road_view.py

@@ -33,8 +33,8 @@ BORDER_COLORS = {
   **BORDER_COLORS_SP,
 }
 
-WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)
-ROAD_CAM_MIN_SPEED = 15.0  # m/s (34 mph)
+WIDE_CAM_MAX_SPEED = 5.0  # m/s (11 mph)
+ROAD_CAM_MIN_SPEED = 10.0  # m/s (22 mph)
 INF_POINT = np.array([1000.0, 0.0, 0.0])
 
 

openpilot/selfdrive/ui/onroad/exp_button.py

@@ -34,7 +34,7 @@ class ExpButton(Widget):
 
   def _handle_mouse_release(self, _):
     super()._handle_mouse_release(_)
-    if self._is_toggle_allowed():
+    if ui_state.has_longitudinal_control:
       new_mode = not self._experimental_mode
       self._params.put_bool("ExperimentalMode", new_mode)
 
@@ -61,10 +61,3 @@ class ExpButton(Widget):
       self._hold_end_time = self._held_mode = None
 
     return self._experimental_mode
-
-  def _is_toggle_allowed(self):
-    if not self._params.get_bool("ExperimentalModeConfirmed"):
-      return False
-
-    # Mirror exp mode toggle using persistent car params
-    return ui_state.has_longitudinal_control

openpilot/selfdrive/ui/soundd.py

@@ -20,7 +20,8 @@ SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
 MAX_VOLUME = 1.0
 MIN_VOLUME = 0.1
-ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
+ALERT_RAMP_TIME = 4 # seconds to ramp critical alerts to max volume
+ALERT_MAX_TIME = 8 # seconds before critical alerts switch to the max sound
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
@@ -34,6 +35,7 @@ if HARDWARE.get_device_type() == "tizi":
 
 AudibleAlert = log.SelfdriveState.AudibleAlert
 AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
+CRITICAL_MAX = -1 # internal sound key, not an AudibleAlert
 
 
 sound_list_sp: dict[int, tuple[str, int | None, float]] = {
@@ -58,6 +60,7 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 
   **sound_list_sp,
+  CRITICAL_MAX: ("dm_critical_max.wav", None, MAX_VOLUME),
 }
 
 def check_selfdrive_timeout_alert(sm):
@@ -77,6 +80,7 @@ class Soundd(QuietMode):
     self.load_sounds()
 
     self.current_alert = AudibleAlert.none
+    self.current_sound = AudibleAlert.none
     self.current_volume = MIN_VOLUME
     self.current_sound_frame = 0
 
@@ -109,7 +113,7 @@ class Soundd(QuietMode):
 
     if self.should_play_sound(self.current_alert):
       num_loops = sound_list[self.current_alert][1]
-      sound_data = self.loaded_sounds[self.current_alert]
+      sound_data = self.loaded_sounds[self.current_sound]
       written_frames = 0
 
       current_sound_frame = self.current_sound_frame % len(sound_data)
@@ -136,7 +140,7 @@ class Soundd(QuietMode):
     data_out[:frames, 0] = self.get_sound_data(frames)
 
   def update_alert(self, new_alert):
-    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_sound])
     # let looping sounds finish the current loop instead of cutting off mid tone
     if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
       if current_alert_played_once:
@@ -147,10 +151,11 @@ class Soundd(QuietMode):
       return
     self.pending_stop = False
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
-      if new_alert == AudibleAlert.warningImmediate:
+      if new_alert in (AudibleAlert.warningSoft, AudibleAlert.warningImmediate):
         self.ramp_start_volume = self.current_volume
         self.ramp_start_time = time.monotonic()
       self.current_alert = new_alert
+      self.current_sound = new_alert
       self.current_sound_frame = 0
 
   def get_audible_alert(self, sm):
@@ -199,11 +204,13 @@ class Soundd(QuietMode):
 
         self.get_audible_alert(sm)
 
-        # Ramp up immediate warning sound over 4s
-        if self.current_alert == AudibleAlert.warningImmediate:
+        if self.current_alert in (AudibleAlert.warningSoft, AudibleAlert.warningImmediate):
           elapsed = time.monotonic() - self.ramp_start_time
           ramp_vol = float(np.interp(elapsed, [0, ALERT_RAMP_TIME], [self.ramp_start_volume, MAX_VOLUME]))
           self.current_volume = max(self.current_volume, ramp_vol)
+          if elapsed >= ALERT_MAX_TIME and self.current_sound != CRITICAL_MAX:
+            self.current_sound = CRITICAL_MAX
+            self.current_sound_frame = 0
 
         rk.keep_time()
 

openpilot/selfdrive/ui/sunnypilot/mici/layouts/settings.py

@@ -6,7 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsBigButton
-from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device.device_layout import DeviceLayoutMici
 from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialog, BigDialog
 from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici

openpilot/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py

@@ -7,8 +7,9 @@ See the LICENSE.md file in the root directory for more details.
 import base64
 
 import pyray as rl
+from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
+from openpilot.selfdrive.ui.mici.widgets.qr import QR
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.lib.multilang import tr
@@ -16,15 +17,20 @@ from openpilot.system.ui.widgets.nav_widget import NavWidget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 
 
-class SunnylinkPairingDialog(PairingDialog):
-  """Dialog for device pairing with QR code."""
+class SunnylinkPairingDialog(NavWidget):
+  """Dialog for sunnylink pairing with QR code."""
 
   def __init__(self, sponsor_pairing: bool = False):
-    PairingDialog.__init__(self)
+    super().__init__()
+    self._params = Params()
     self._sponsor_pairing = sponsor_pairing
+
+    self._qr = self._child(QR(self._get_pairing_url()))
+    self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
+
     label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
-    self._pair_label = UnifiedLabel(label_text, font_size=48, font_weight=FontWeight.BOLD,
-                                    text_color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=0.8)
+    self._pair_label = self._child(UnifiedLabel(label_text, font_size=48, font_weight=FontWeight.BOLD,
+                                                text_color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=0.8))
 
   def _get_pairing_url(self) -> str:
     qr_string = "https://github.com/sponsors/sunnyhaibin"
@@ -42,8 +48,21 @@ class SunnylinkPairingDialog(PairingDialog):
     return qr_string
 
   def _update_state(self):
+    # Sunnylink pairing is not comma prime, so this never auto-dismisses on prime pairing.
     NavWidget._update_state(self)
 
+  def _render(self, _):
+    qr_rect = rl.Rectangle(self._rect.x + 8, self._rect.y, self._rect.height, self._rect.height)
+    self._qr.render(qr_rect)
+
+    label_x = self._rect.x + 8 + self._rect.height + 24
+    self._pair_label.set_max_width(int(self._rect.width - label_x))
+    self._pair_label.set_position(label_x, self._rect.y + 16)
+    self._pair_label.render()
+
+    rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
+                       0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
+
 
 if __name__ == "__main__":
   gui_app.init_window("pairing device")

openpilot/selfdrive/ui/ui_state.py

@@ -12,7 +12,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.hardware import HARDWARE, PC
-from openpilot.common.hardware.usb import TYPEC_CC_ORIENTATION_PATH, get_usb_state, is_chestnut_usb_id, read_int
+from openpilot.common.hardware.usb import cable_connected, get_usb_state, is_chestnut_usb_id
 from openpilot.selfdrive.modeld.helpers import chestnut_compiled
 
 from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
@@ -91,7 +91,6 @@ class UIState(UIStateSP):
     self.is_release = False  # self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode: bool = self.params.get_bool("ExperimentalMode")
-    self.experimental_mode_confirmed: bool = self.params.get_bool("ExperimentalModeConfirmed")
     self.chestnut_present: bool = False
     self.chestnut_compiled: bool = chestnut_compiled()
     self.chestnut_active: bool | None = None
@@ -210,7 +209,7 @@ class UIState(UIStateSP):
         self.status = UIStatus.DISENGAGED
         self.started_frame = self.sm.frame
         self.started_time = time.monotonic()
-        self.chestnut_present = self.sm["deviceState"].chestnutPresent
+        self.chestnut_present = self.sm["deviceState"].chestnutPresent or (self.chestnut_compiled and self.usb_connected)
 
       for callback in self._offroad_transition_callbacks:
         callback()
@@ -230,10 +229,10 @@ class UIState(UIStateSP):
       self.chestnut_state = ChestnutState.DISCONNECTED
     elif not self.chestnut_compiled:
       self.chestnut_state = ChestnutState.UNCOMPILED
-    elif self.chestnut_state == ChestnutState.FAILED or not detected or (model_seen and (not self.sm.alive["modelV2"] or not self.sm["modelV2"].big)):
-      self.chestnut_state = ChestnutState.FAILED
     elif self.chestnut_loading or not model_seen:
       self.chestnut_state = ChestnutState.LOADING
+    elif self.chestnut_state == ChestnutState.FAILED or not detected or (model_seen and (not self.sm.alive["modelV2"] or not self.sm["modelV2"].big)):
+      self.chestnut_state = ChestnutState.FAILED
     elif self.chestnut_active is False:
       self.chestnut_state = ChestnutState.FAILED
     else:
@@ -254,13 +253,10 @@ class UIState(UIStateSP):
     self.is_metric = self.params.get_bool("IsMetric")
     self.always_on_dm = self.params.get_bool("AlwaysOnDM")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.experimental_mode_confirmed = self.params.get_bool("ExperimentalModeConfirmed")
-    if not self.chestnut_compiled:
-      self.chestnut_compiled = chestnut_compiled()
     self.chestnut_active = self.params.get("ChestnutActive")
     self.chestnut_loading = self.params.get_bool("ChestnutLoading")
     now = time.monotonic()
-    if read_int(TYPEC_CC_ORIENTATION_PATH) != 0:
+    if cable_connected():
       self.usb_disconnected_ts = None
       if not self.usb_connected:
         self.usb_connected = True

openpilot/selfdrive/ui/widgets/offroad_alerts.py

@@ -263,6 +263,8 @@ class OffroadAlert(AbstractAlert):
   def _build_alerts(self):
     self.sorted_alerts = []
     for key, config in sorted(OFFROAD_ALERTS.items(), key=lambda x: x[1].get("severity", 0), reverse=True):
+      if key == "Offroad_Pairing":
+        continue
       severity = config.get("severity", 0)
       alert_data = AlertData(key=key, text="", severity=severity)
       self.sorted_alerts.append(alert_data)

openpilot/system/athena/tests/test_athenad.py

@@ -58,9 +58,7 @@ def host():
 class TestAthenadMethods(OpenpilotTestCase):
   @classmethod
   def setup_class(cls):
-    cls.SOCKET_PORT = 45454
     athenad.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
-    athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setup_method(self):
     self.default_params = {
@@ -434,7 +432,7 @@ class TestAthenadMethods(OpenpilotTestCase):
     assert athenad.upload_queue.qsize() == 1
     assert asdict(athenad.upload_queue.queue[-1]) == asdict(item1)
 
-  def test_start_local_proxy(self, mock_create_connection):
+  def test_start_local_proxy(self, mock_create_connection, mocker):
     end_event = threading.Event()
 
     ws_recv = queue.Queue()
@@ -442,11 +440,13 @@ class TestAthenadMethods(OpenpilotTestCase):
     mock_ws = MockWebsocket(ws_recv, ws_send)
     mock_create_connection.return_value = mock_ws
 
-    echo_socket = EchoSocket(self.SOCKET_PORT)
+    echo_socket = EchoSocket(0)
+    port = echo_socket.socket.getsockname()[1]
+    mocker.patch('openpilot.system.athena.athenad.LOCAL_PORT_WHITELIST', {port})
     socket_thread = threading.Thread(target=echo_socket.run)
     socket_thread.start()
 
-    athenad.startLocalProxy(end_event, 'ws://localhost:1234', self.SOCKET_PORT)
+    athenad.startLocalProxy(end_event, 'ws://localhost:1234', port)
 
     ws_recv.put_nowait(b'ping')
     try:

openpilot/system/hardware/chestnut/status.py

@@ -5,7 +5,7 @@ from openpilot.common.version import get_build_metadata, CHESTNUT_BRANCHES
 from openpilot.selfdrive.modeld.helpers import MODELS_DIR, chestnut_compiled
 
 
-CHESTNUT_RELEASE_BRANCHES = ("release-chestnut", "release-chestnut-staging", "nightly-chestnut")
+CHESTNUT_RELEASE_BRANCHES = ("release-chestnut", "release-chestnut-staging", "nightly-chestnut", "nightly-chestnut-dev")
 CHESTNUT_POWERED_VOLTAGE = 5000
 GPU_TEMP_LIMIT = 100.
 MEMORY_TEMP_LIMIT = 95.
@@ -24,6 +24,7 @@ class ChestnutStatus:
     self.link_failures = 0
     self.model_loading_seen = False
     self.model_attempted = False
+    self.model_failed = False
     self.overheated = False
     self.usb_seen = False
     self.usb_failed = False
@@ -43,11 +44,13 @@ class ChestnutStatus:
       self.link_failures = 0
       self.model_loading_seen = False
       self.model_attempted = False
+      self.model_failed = False
       self.usb_seen = firmware_ok
       self.usb_failed = False
 
     self.model_loading_seen |= model_loading
     self.model_attempted |= self.model_loading_seen and not model_loading and model_active is not None
+    self.model_failed |= not offroad and self.model_attempted and model_active is False
 
     if not offroad and self.usb_seen and not firmware_ok:
       self.usb_failed = True
@@ -96,6 +99,6 @@ class ChestnutStatus:
     else:
       pcie_alert = "Chestnut GPU unavailable. PCIe link is not up. Check the GPU is securely seated."
     set_alert("Offroad_ChestnutPcieUnavailable", self.pcie_failed, pcie_alert)
-    set_alert("Offroad_ChestnutUncompiled", offroad and firmware_ok and not chestnut_compiled())
+    set_alert("Offroad_ChestnutModelError", self.model_failed and not (missing or self.pcie_failed))
     set_alert("Offroad_ChestnutUpdateFailed", offroad and firmware_failed)
     self.offroad = offroad

openpilot/system/loggerd/logger.cc

@@ -49,7 +49,6 @@ kj::Array<capnp::word> logger_build_init_data(bool route_log) {
   init.setGitCommitDate(params_map["GitCommitDate"]);
   init.setGitBranch(params_map["GitBranch"]);
   init.setGitRemote(params_map["GitRemote"]);
-  init.setPassive(false);
   init.setDongleId(params_map["DongleId"]);
 
   // for prebuilt branches

openpilot/system/ui/README.md

@@ -12,6 +12,8 @@ Quick start:
 * set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
 * set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
 * set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
+* set `PRIME_TYPE` to preview pairing/Prime status: `-1` unpaired, `0` paired without Prime, `2` Prime Lite, `1` Prime Full
+* set `PAIRING_PROVIDER` to preview the different states based on connect auth providers `google`, `github` or `apple`
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
 

openpilot/system/ui/widgets/mici_keyboard.py

@@ -353,8 +353,12 @@ class MiciKeyboard(Widget):
 
           # draw black circle behind selected key
           circle_alpha = int(self._selected_key_filter.x * 225)
-          rl.draw_circle_gradient(rl.Vector2(key_x + key.rect.width / 2, key_y + key.rect.height / 2),
-                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
+          try:
+            rl.draw_circle_gradient(rl.Vector2(key_x + key.rect.width / 2, key_y + key.rect.height / 2),
+                                    SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
+          except (TypeError, RuntimeError):  # AGNOS updater compatibility for raylib 5
+            rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+                                    SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
           dx = key.original_position.x - self._closest_key[0].original_position.x

openpilot/system/ui/widgets/scroller.py

@@ -97,6 +97,7 @@ class _Scroller(Widget):
     self._scroll_enabled: bool | Callable[[], bool] = True
 
     self._show_scroll_indicator = scroll_indicator and self._horizontal
+    self.scroll_indicator_start_after: Widget | None = None
     self._scroll_indicator = ScrollIndicator()
     self._edge_shadows = edge_shadows and self._horizontal
 
@@ -364,7 +365,14 @@ class _Scroller(Widget):
 
     # Draw scroll indicator on top of edge shadows
     if self._show_scroll_indicator and len(self._visible_items) > 0:
-      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
+      viewport = self._rect
+      if self.scroll_indicator_start_after is not None:
+        offset = min(self._rect.width, max(0.0, self.scroll_indicator_start_after.rect.x
+                                           + self.scroll_indicator_start_after.rect.width
+                                           + self._spacing - self._rect.x))
+        viewport = rl.Rectangle(self._rect.x + offset, self._rect.y, self._rect.width - offset, self._rect.height)
+
+      self._scroll_indicator.update(self._scroll_offset, self._content_size, viewport)
       self._scroll_indicator.render()
 
   def show_event(self):

openpilot/tools/cabana/SConscript

@@ -1,14 +1,23 @@
 import os
+from pathlib import Path
 
 import bootstrap_icons
 import imgui
 import libusb
 from openpilot.common.basedir import BASEDIR
+from opendbc.dbc.generator.generator import generate_all
 
 Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'replay_lib', 'ffmpeg_libs')
 
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (env.Dir("../../../opendbc_repo/opendbc/dbc").abspath)
 
+dbc_dir = Path(env.Dir("#opendbc_repo/opendbc/dbc").abspath)
+generated_dbcs = env.Command(
+  [str(dbc_dir / (name + '.dbc')) for name in sorted(generate_all())],
+  sorted(str(path) for path in (dbc_dir / 'generator').rglob('*') if path.suffix in ('.py', '.dbc')),
+  'python3 -m opendbc.dbc.generator.generator',
+)
+
 # embed the bootstrap icons SVG into the binary
 def build_bootstrap_icons_src(target, source, env):
   data = open(str(source[0]), 'rb').read()
@@ -52,6 +61,7 @@ if arch == "Darwin":
 else:
   ui_libs += ['GL', 'dl']
 cabana_ui = ui_env.Program('cabana', ui_objs, LIBS=ui_libs)
+ui_env.Requires(cabana_ui, generated_dbcs)
 
 if GetOption('extras'):
   cabana_core_test_env = env.Clone()
@@ -67,7 +77,8 @@ if GetOption('extras'):
     cabana_core_test_env.Object('tests/cabana_core_routes', 'routes.cc'),
     cabana_core_test_env.Object('tests/cabana_core_qtstate', 'ui/qtstate.cc'),
   ]
-  cabana_core_test_env.Program('tests/test_cabana', cabana_core_test_objects, LIBS=[replay_lib, common])
+  cabana_core_test = cabana_core_test_env.Program('tests/test_cabana', cabana_core_test_objects, LIBS=[replay_lib, common])
+  cabana_core_test_env.Requires(cabana_core_test, generated_dbcs)
 
 output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = ui_env.Command('#' + output_json_file,

openpilot/tools/cabana/core/heatmap.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <vector>
+
+// Count adjacent samples, never treating a newly appearing byte as a change.
+struct HeatmapCounts {
+  HeatmapCounts() = default;
+  explicit HeatmapCounts(size_t size) : bits(size), bytes(size) {}
+
+  void add(const uint8_t *data, size_t size) {
+    const size_t common = std::min({size, previous.size(), bits.size()});
+    for (size_t i = 0; i < common; ++i) {
+      const uint8_t diff = data[i] ^ previous[i];
+      if (diff) ++bytes[i];
+      for (int bit = 0; bit < 8; ++bit) {
+        if (diff & (1u << bit)) ++bits[i][7 - bit];
+      }
+    }
+    previous.assign(data, data + size);
+  }
+
+  std::vector<std::array<uint32_t, 8>> bits;
+  std::vector<uint32_t> bytes;
+  std::vector<uint8_t> previous;
+};

openpilot/tools/cabana/tests/test_cabana.cc

@@ -11,6 +11,7 @@
 
 #include "common/tests/native_test.h"
 #include "tools/cabana/dbc/dbcfile.h"
+#include "tools/cabana/core/heatmap.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/routes.h"
 #include "tools/cabana/ui/qtstate.h"
@@ -413,7 +414,30 @@ void test_pixel_envelope() {
   REQUIRE(chart::pixelEnvelope(points.begin(), points.begin(), 0, 1, 10).empty());
 }
 
+void test_heatmap_counts() {
+  HeatmapCounts counts(3);
+  for (int value = 0; value < 256; ++value) {
+    const uint8_t data[] = {static_cast<uint8_t>(value), 42, static_cast<uint8_t>(value / 16)};
+    counts.add(data, sizeof(data));
+  }
+  REQUIRE(counts.bytes == std::vector<uint32_t>({255, 0, 15}));
+  REQUIRE(counts.bits[0] == std::array<uint32_t, 8>({1, 3, 7, 15, 31, 63, 127, 255}));
+  REQUIRE(counts.bits[1] == std::array<uint32_t, 8>{});
+
+  // Every range starts with a baseline, without a transition from outside it.
+  HeatmapCounts range(3);
+  const uint8_t first[] = {255, 42, 15};
+  range.add(first, 3);
+  REQUIRE(range.bytes == std::vector<uint32_t>({0, 0, 0}));
+  const uint8_t short_data[] = {0};
+  range.add(short_data, 1);
+  range.add(first, 3);
+  REQUIRE(range.bytes == std::vector<uint32_t>({2, 0, 0}));
+  REQUIRE(HeatmapCounts(0).bits.empty());
+}
+
 void test_cabana_core() {
+  test_heatmap_counts();
   test_pixel_envelope();
   test_format_seconds();
   test_to_hex();

openpilot/tools/cabana/ui/chart/chart.cc

@@ -475,7 +475,7 @@ void ChartView::showTip(double sec) {
       std::string name = s.sig->name;
       std::string min = s.min == std::numeric_limits<double>::max() ? "--" : utils::toString(s.min);
       std::string max = s.max == std::numeric_limits<double>::lowest() ? "--" : utils::toString(s.max);
-      text_list.push_back({.has_marker = true, .marker = toImU32(s.color), .name = name, .value = value, .min = min, .max = max});
+      text_list.push_back({.has_marker = true, .marker = toImU32(graphicColor(s.color)), .name = name, .value = value, .min = min, .max = max});
     }
   }
   if (x < 0) {
@@ -620,9 +620,9 @@ void ChartView::drawLegend() {
     ImGui::PopID();
 
     if (series_type_ == SeriesType::Scatter) {
-      painter->AddCircleFilled(r.Min + ImVec2(marker_size / 2.0f, 2.0f + marker_size / 2.0f), marker_size / 2.0f, toImU32(s.color));
+      painter->AddCircleFilled(r.Min + ImVec2(marker_size / 2.0f, 2.0f + marker_size / 2.0f), marker_size / 2.0f, toImU32(graphicColor(s.color)));
     } else {
-      drawColorMarker(painter, r.Min, toImU32(s.color));
+      drawColorMarker(painter, r.Min, toImU32(graphicColor(s.color)));
     }
 
     float x = r.Min.x + marker_size + ImGui::GetStyle().ItemInnerSpacing.x;
@@ -655,7 +655,7 @@ void ChartView::drawSeries() {
 
     const std::string label = "##sig" + std::to_string(i);
     ImPlotSpec spec;
-    spec.LineColor = toImVec4(s.color);
+    spec.LineColor = toImVec4(graphicColor(s.color));
     spec.Stride = sizeof(ImPlotPoint);
     if (series_type_ == SeriesType::Scatter) {
       float radius = std::clamp(pixels_per_point / 2.0, 2.0, 8.0) / 2.0;
@@ -682,7 +682,7 @@ void ChartView::drawSeries() {
       // show points when zoomed in enough
       if ((num_points == 1 || pixels_per_point > 20) && first != last) {
         ImPlotSpec dots;
-        dots.LineColor = toImVec4(s.color);
+        dots.LineColor = toImVec4(graphicColor(s.color));
         dots.Stride = sizeof(ImPlotPoint);
         dots.Marker = ImPlotMarker_Circle;
         dots.MarkerSize = 4;
@@ -700,12 +700,12 @@ void ChartView::drawForeground() {
   for (auto &s : sigs_) {
     if (!isNull(s.track_pt) && s.visible) {
       ImVec2 pos(xPos(s.track_pt.x), yPos(s.track_pt.y));
-      painter->AddCircleFilled(pos, 5.5f, toImU32(s.color.darker(125)));
+      painter->AddCircleFilled(pos, 5.5f, toImU32(graphicColor(s.color)));
       track_line_x = std::max(track_line_x, pos.x);
     }
   }
   if (track_line_x > 0) {
-    const ImU32 dark_gray = IM_COL32(0x80, 0x80, 0x80, 0xff);
+    const ImU32 dark_gray = ImGui::GetColorU32(palette().text_disabled);
     for (float y = layout_.plot_area.Min.y; y < layout_.plot_area.Max.y; y += 8) {
       painter->AddLine(ImVec2(track_line_x, y), ImVec2(track_line_x, std::min(y + 4, layout_.plot_area.Max.y)), dark_gray, 1.0f);
     }

openpilot/tools/cabana/ui/chart/sparkline.cc

@@ -100,7 +100,7 @@ void Sparkline::render(const CabanaColor &color, int range, ImVec2 sz, double wi
   }
 
   size = sz;
-  color_ = toImU32(sparklineColor(color));
+  color_ = color;
   draw_individual_points_ = draw_individual_points;
   window_end_ = window_end;
   xscale_ = xscale;
@@ -108,7 +108,8 @@ void Sparkline::render(const CabanaColor &color, int range, ImVec2 sz, double wi
 
 void Sparkline::draw(ImDrawList *draw_list, ImVec2 pos, ImU32 color) const {
   if (render_points_.empty()) return;
-  if (color == 0) color = color_;
+  // Pick up theme changes while paused.
+  if (color == 0) color = toImU32(sparklineColor(color_));
 
   // update() only runs when a message of this id arrives, so a slow message would hold the sparkline
   // still for many frames and then move it in one step. scroll the rendered polyline by the time that

openpilot/tools/cabana/ui/chart/sparkline.h

@@ -26,7 +26,7 @@ private:
 
   std::vector<Point> points_;
   std::vector<ImVec2> render_points_;
-  ImU32 color_ = 0;
+  CabanaColor color_;
   double window_end_ = 0;  // the time the polyline was built for, so draw() can scroll it on from there
   double xscale_ = 0;
   bool draw_individual_points_ = false;