ui: preserve custom button presses

Merge branch 'hyundai-custom-button' into ccnc-port-custom-button
Update opendbc_repo
2026-08-19 20:13:49 +08:00 · 2026-08-16 21:02:03 -04:00 · 2026-08-16 20:45:36 -04:00 · 2026-08-16 20:45:25 -04:00 · 2026-08-16 16:33:39 -04:00 · 2026-08-16 16:29:12 -04:00
63 changed files with 992 additions and 965 deletions
@@ -7,19 +7,6 @@ on:
        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
        required: true
        type: string
      target_hardware:
        description: 'Hardware target to compile for (qcom or usbgpu)'
        required: true
        type: choice
        default: 'qcom'
        options:
          - qcom
          - usbgpu
      hf_repo:
        description: 'Hugging Face dataset repository'
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
 jobs:
  setup:
@@ -59,14 +46,13 @@ jobs:
        id: get-json
        run: |
          cd docs/docs
-          PREFIX="driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_' || '' }}v"
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
          next=$((latest+1))
-          json_file="${PREFIX}${next}.json"
+          json_file="driving_models_v${next}.json"
-          cp "${PREFIX}${latest}.json" "$json_file"
+          cp "driving_models_v${latest}.json" "$json_file"
          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
      - name: Extract tinygrad models
        id: set-matrix
@@ -75,23 +61,45 @@ jobs:
          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-      - name: Get next recompiled dir number
+      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
        with:
          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
      - run: |
          mkdir -p ~/.ssh
          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
      - name: Clone GitLab docs repo and create new recompiled dir
        id: create-recompiled-dir
        env:
-          HF_REPO: ${{ github.event.inputs.hf_repo }}
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
-          pip install huggingface_hub
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          recompiled_dir=$(python3 -c "
+          cd gitlab_docs
-          from huggingface_hub import HfApi
+          git checkout main
-          import re, sys
+          git sparse-checkout set --no-cone models/
-          api = HfApi()
+          cd models
-          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
+          if [[ -z "$latest_dir" ]]; then
-          nums = [int(m.group(1)) for m in dirs if m]
+            next_dir=1
-          print(max(nums) + 1)
+          else
-          " "$HF_REPO")
+            next_dir=$((latest_dir+1))
          fi
          recompiled_dir="${next_dir}"
          mkdir -p "recompiled${recompiled_dir}"
          touch "recompiled${recompiled_dir}/.gitkeep"
          cd ../..
          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
      - name: Push empty recompiled dir to GitLab
        run: |
          cd gitlab_docs
          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
          git push origin main
      - name: Push new JSON to GitHub docs repo
        run: |
          cd docs
@@ -115,30 +123,25 @@ jobs:
      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
      target_hardware: ${{ github.event.inputs.target_hardware }}
      hf_repo: ${{ github.event.inputs.hf_repo }}
      set_min_version: ${{ github.event.inputs.set_min_version }}
      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
  retry_failed_models:
    needs: [setup, get_and_build]
    runs-on: ubuntu-latest
-    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
    outputs:
      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
    steps:
      - uses: actions/download-artifact@v4
        with:
-          pattern: artifact-name-*
+          pattern: model-*
          path: output
        continue-on-error: true
      - id: set-retry-matrix
        run: |
          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
          )
          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -146,7 +149,7 @@ jobs:
  retry_get_and_build:
    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
    strategy:
      matrix:
        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
@@ -158,9 +161,146 @@ jobs:
      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
      target_hardware: ${{ github.event.inputs.target_hardware }}
      artifact_suffix: -retry
      hf_repo: ${{ github.event.inputs.hf_repo }}
      set_min_version: ${{ github.event.inputs.set_min_version }}
      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
    secrets: inherit
  publish_models:
    name: Publish models sequentially
    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      max-parallel: 1
      matrix:
        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
    env:
      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
      JSON_FILE: ${{ needs.setup.outputs.json_file }}
      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
        with:
          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
      - name: Add GitLab.com SSH key to known_hosts
        run: |
          mkdir -p ~/.ssh
          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
      - name: Clone GitLab docs repo
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
          git checkout main
          cd ..
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/sunnypilot-models
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
      - name: Validate recompiled dir and JSON version
        run: |
          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
            exit 1
          fi
          if [ ! -f "$JSON_FILE" ]; then
            echo "JSON file $JSON_FILE does not exist!"
            exit 1
          fi
      - name: Download artifact name file
        uses: actions/download-artifact@v4
        with:
          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
          path: artifact_name
      - name: Read artifact name
        id: read-artifact-name
        run: |
          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
      - name: Download model artifact
        uses: actions/download-artifact@v4
        with:
          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
          path: output
      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
        run: |
          find output -type f -name '*.onnx' -delete
          find output -type f -name 'big_*.pkl' -delete
          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
      - name: Copy model artifacts to gitlab
        env:
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
          mkdir -p "$ARTIFACT_DIR"
          for path in output/*; do
            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
              continue
            fi
            name="$(basename "$path")"
            if [ -d "$path" ]; then
              mkdir -p "$ARTIFACT_DIR/$name"
              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
            else
              cp "$path" "$ARTIFACT_DIR/"
              echo "Copied file $name -> $ARTIFACT_DIR/"
            fi
          done
      - name: Push recompiled dir to GitLab
        env:
          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
        run: |
          cd gitlab_docs
          git checkout main
          git pull origin main
          for d in models/"$RECOMPILED_DIR"/*/; do
            git sparse-checkout add "$d"
          done
          git add models/"$RECOMPILED_DIR"
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
          git push origin main
      - run: |
          cd docs
          git pull origin gh-pages
      - name: update json
        run: |
          ARGS=""
          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
          ARGS="$ARGS --sort-by-date"
          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
            $ARGS
      - name: Push updated json to GitHub
        run: |
          cd docs
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git checkout gh-pages
          git add docs/"$(basename $JSON_FILE)"
          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
          git push origin gh-pages
@@ -29,24 +29,11 @@ on:
        required: false
        type: boolean
        default: true
-      target_hardware:
+      bypass_push:
-        description: 'Hardware target to compile for (qcom or usbgpu)'
+        description: 'Bypass pushing to GitLab for build-all'
        required: false
-        type: string
+        default: true
-        default: 'qcom'
+        type: boolean
      hf_repo:
        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
      set_min_version:
        description: 'Minimum selector version'
        required: false
        type: string
      tinygrad_ref:
        description: 'Tinygrad reference'
        required: false
        type: string
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -78,8 +65,8 @@ on:
          - None
          - Master Models
          - Release Models
          - 2025 World Models
          - 2026 World Models
          - 2026 Deep RL Models
          - Custom Merge Models
          - Other
      custom_model_folder:
@@ -94,22 +81,9 @@ on:
        description: 'Minimum selector version'
        required: false
        type: string
      target_hardware:
        description: 'Hardware target to compile for'
        required: false
        type: choice
        default: 'qcom'
        options:
          - qcom
          - usbgpu
      hf_repo:
        description: 'Hugging Face dataset repository'
        required: false
        type: string
        default: 'sunnypilot/sunnypilot_models_v1'
 env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'usbgpu' && 'usbgpu_v' || 'v' }}${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
 jobs:
  build_model:
@@ -119,20 +93,38 @@ jobs:
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
      is_20hz: ${{ inputs.is_20hz }}
      artifact_suffix: ${{ inputs.artifact_suffix }}
      target_hardware: ${{ inputs.target_hardware }}
    secrets: inherit
  publish_model:
-    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
+    if: ${{ !inputs.bypass_push && !cancelled() }}
    concurrency:
-      group: hf-push-${{ inputs.recompiled_dir }}
+      group: gitlab-push-${{ inputs.recompiled_dir }}
      cancel-in-progress: false
    needs: build_model
    runs-on: ubuntu-latest
    permissions:
      id-token: write
      contents: write
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
        with:
          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
      - name: Add GitLab.com SSH key to known_hosts
        run: |
          mkdir -p ~/.ssh
          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
      - name: Clone GitLab docs repo
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
          git checkout main
          cd ..
      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
@@ -141,28 +133,16 @@ jobs:
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-      - name: Install huggingface_hub
+      - name: Validate recompiled dir and JSON version
        run: pip install --upgrade "huggingface_hub>=0.22.0"
      - name: Validate hf_repo and JSON version
        env:
          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
        run: |
          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
            exit 1
          fi
          if [ ! -f "$JSON_FILE" ]; then
            echo "JSON file $JSON_FILE does not exist!"
            exit 1
          fi
          python3 -c "
          import sys
          from huggingface_hub import HfApi
          try:
              api = HfApi()
              api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
              print(f'Success: Repo {sys.argv[1]} exists.')
          except Exception as e:
              print('HF validation failed:', e)
              sys.exit(1)
          " "${{ inputs.hf_repo }}"
      - name: Download artifact name file
        uses: actions/download-artifact@v4
@@ -182,26 +162,49 @@ jobs:
          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
          path: output
-      - name: Create models folder
+      - name: Remove unwanted files
        run: |
          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
          find output -type f -name 'dmonitoring_model.onnx' -delete
      - name: Copy model artifact(s) to GitLab recompiled dir
        env:
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
-          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          mkdir -p "$ARTIFACT_DIR"
-          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
+          for path in output/*; do
            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
              continue
            fi
            name="$(basename "$path")"
            if [ -d "$path" ]; then
              mkdir -p "$ARTIFACT_DIR/$name"
              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
            else
              cp "$path" "$ARTIFACT_DIR/"
              echo "Copied file $name -> $ARTIFACT_DIR/"
            fi
          done
-      - name: Upload to Hugging Face
+      - name: Push recompiled dir to GitLab
        env:
-          HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
-          hf upload ${{ inputs.hf_repo }} \
+          cd gitlab_docs
-            output/ \
+          git checkout main
-            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
+          git pull origin main
-            --repo-type=dataset
+          for d in models/"$RECOMPILED_DIR"/*/; do
            git sparse-checkout add "$d"
          done
          git add models/"$RECOMPILED_DIR"
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
          git push origin main
-      - name: Pull gh-pages
+      - run: |
        run: |
          cd docs
          git pull origin gh-pages
@@ -217,11 +220,9 @@ jobs:
          fi
          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
-            --recompiled-dir "local_models/$RECOMPILED_DIR" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
            --sort-by-date \
            $ARGS
@@ -80,7 +80,6 @@ jobs:
        with:
          repository: commaai/openpilot
          ref: ${{ inputs.upstream_branch }}
          fetch-depth: 1
          submodules: recursive
          path: openpilot
@@ -90,25 +89,18 @@ jobs:
        with:
          repository: sunnypilot/sunnypilot
          ref: ${{ inputs.upstream_branch }}
          fetch-depth: 1
          submodules: recursive
          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          cd ${{ github.workspace }}/openpilot/openpilot
+          cd ${{ github.workspace }}/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
      - run: |
-          cd ${{ github.workspace }}/openpilot/openpilot
+          cd ${{ github.workspace }}/openpilot
-          if [ "${{ inputs.target_hardware }}" != "usbgpu" ]; then
+          git lfs pull
            git lfs pull -X "selfdrive/modeld/models/big_*.onnx" -X "selfdrive/modeld/models/dmonitoring_*.onnx"
            rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
          else
            git lfs pull -I "selfdrive/modeld/models/big_*.onnx"
            find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
          fi
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
@@ -124,10 +116,24 @@ jobs:
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 1
          submodules: recursive
      - run: git lfs pull
      - name: Cache SCons
        uses: actions/cache@v4
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}
      - name: Set environment variables
        id: set-env
@@ -138,7 +144,7 @@ jobs:
          export UV_PYTHON_PREFERENCE=managed
          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          uv sync --frozen
+          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
@@ -167,6 +173,8 @@ jobs:
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ env.MODELS_DIR }}
      - run: |
          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
      - name: Build Model
        run: |
@@ -183,7 +191,7 @@ jobs:
          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
            echo "USBGPU build"
            export USBGPU=1
-            TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
          else
            echo "QCOM build"
@@ -246,8 +254,10 @@ jobs:
          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
            --include='*.pkl' \
            --include='*.chunk*' \
            --include='*.chunkmanifest' \
            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
            --chown=comma:comma \
@@ -4,8 +4,12 @@ env:
  BUILD_DIR: "/data/openpilot"
  OUTPUT_DIR: ${{ github.workspace }}/output
  CI_DIR: ${{ github.workspace }}/release/ci
  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  # Branch configurations
  STAGING_SOURCE_BRANCH: 'master'
  # Runtime configuration
  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
@@ -105,6 +109,11 @@ jobs:
      group: build-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: false
    runs-on: [self-hosted, tici]
    outputs:
      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
      version: ${{ needs.prepare_strategy.outputs.version }}
      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
      commit_sha: ${{ github.sha }}
    if: ${{
      (always() && !cancelled() && !failure()) &&
      needs.prepare_strategy.result == 'success' &&
@@ -120,8 +129,26 @@ jobs:
          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
      - run: git lfs pull
      - name: Cache SCons
        uses: actions/cache@v4
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}
      - name: Set environment variables
        id: set-env
        run: |
          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -130,6 +157,9 @@ jobs:
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          uv sync
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
          fi
      - name: Setup build environment
        run: |
@@ -138,7 +168,7 @@ jobs:
          echo "Starting build stage..."
          echo "BUILD_DIR: ${BUILD_DIR}"
          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ needs.prepare_strategy.outputs.version }}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
          echo "-------"
@@ -150,44 +180,61 @@ jobs:
      - name: Build Main Project
        run: |
-          export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+          export PYTHONPATH="$BUILD_DIR"
-          ./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+          ./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          # outside the checkout, which is wiped each run. /data/scons_cache is the device's, not ours.
          SCONS_CACHE="$RUNNER_WORKSPACE/scons_cache"
          mkdir -p "$SCONS_CACHE"
          cd $BUILD_DIR
-          echo "Building locationd..."
+          ln -sfn msgq_repo/msgq msgq
-          # -j1: parallel rednose generators OOM the device
+          ln -sfn opendbc_repo/opendbc opendbc
-          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
+          ln -sfn rednose_repo/rednose rednose
-            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
+          ln -sfn teleoprtc_repo/teleoprtc teleoprtc
          ln -sfn tinygrad_repo/tinygrad tinygrad
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
          echo "Building sunnypilot's modeld_v2..."
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
          echo "Building sunnypilot's locationd..."
          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
          echo "Building openpilot's locationd..."
          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
          echo "Building rest of sunnypilot"
-          /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
          if [[ "${{ runner.debug }}" == "1" ]]; then
            ls -la ${BUILD_DIR}
          fi
-      - name: Strip release tree
+      - name: Prepare Output
        run: |
-          cd $BUILD_DIR
+          sudo rm -rf ${OUTPUT_DIR}
-          find . -name '*.a' -delete
+          mkdir -p ${OUTPUT_DIR}
-          find . -name '*.o' -delete
+          rsync -am${RUNNER_DEBUG:+v} \
-          find . -name '*.os' -delete
+            --exclude='.sconsign.dblite' \
-          find . -name '*.pyc' -delete
+            --exclude='*.a' \
-          find . -name 'moc_*' -delete
+            --exclude='*.o' \
-          find . -name '__pycache__' -type d -exec rm -rf {} +
+            --exclude='*.os' \
-          find . -name 'SConstruct' -delete
+            --exclude='*.pyc' \
-          find . -name 'SConscript' -delete
+            --exclude='moc_*' \
-          rm -rf .sconsign.dblite Jenkinsfile tools/release/ release/
+            --exclude='__pycache__' \
-          rm -f openpilot/selfdrive/modeld/models/*.onnx*
+            --exclude='Jenkinsfile' \
-          rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
+            --exclude='**/release/' \
-          find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
+            --exclude='**/.github/' \
-          find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
+            --exclude='**/openpilot/selfdrive/ui/replay/' \
-          cd -
+            --exclude='**/__pycache__/' \
            --exclude='${{env.SCONS_CACHE_DIR}}' \
            --exclude='**/.git/' \
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
            --exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
            --exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
            --exclude='openpilot/third_party/*x86*' \
            --exclude='openpilot/third_party/*Darwin*' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/
      - name: 'Tar.gz files'
        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.BUILD_DIR }} .
+          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
          ls -la prebuilt.tar.gz
      - name: 'Upload Artifact'
@@ -195,7 +242,6 @@ jobs:
        with:
          name: prebuilt
          path: prebuilt.tar.gz
          compression-level: 0
      - name: Re-enable powersave
        if: always()
@@ -237,22 +283,29 @@ jobs:
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
-          echo '${{ toJSON(needs.prepare_strategy.outputs) }}'
+          echo '${{ toJSON(needs.build.outputs) }}'
          ls -la ${{ env.OUTPUT_DIR }}
          ${{ env.CI_DIR }}/publish.sh \
            "${{ github.workspace }}" \
            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.prepare_strategy.outputs.new_branch }}" \
+            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.prepare_strategy.outputs.version }}" \
+            "${{ needs.build.outputs.version }}" \
            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
+            "${{ needs.build.outputs.extra_version_identifier }}"
          echo ""
          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
          echo ""
          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
          echo "3. Update as needed (JSON array with no spaces)"
      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
        run: |
            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.prepare_strategy.outputs.build }}."
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
            git push -f origin ${TAG}
  notify:
@@ -271,6 +324,7 @@ jobs:
      - name: Prepare notification message
        id: message
        run: |
          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
          export branch_name="${{ env.SOURCE_BRANCH }}"
          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
@@ -319,7 +373,7 @@ jobs:
              owner: context.repo.owner,
              repo: context.repo.repo,
              issue_number: prNumber,
-              name: process.env.LABEL
+              name: process.env.LABELf
            });
            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
@@ -25,8 +25,7 @@ env:
 jobs:
  preview:
-    if: false # tmp disable due to GH API rate limiting flakiness
+    if: github.repository == 'sunnypilot/sunnypilot'
    #if: github.repository == 'sunnypilot/sunnypilot'
    name: preview
    runs-on: ubuntu-latest
    timeout-minutes: 20
@@ -22,7 +22,6 @@ shopt -s huponexit # kill all child processes when the shell exits
 export CI=1
 export PYTHONWARNINGS=error
 export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
@@ -4,7 +4,7 @@
 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
+# 342 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -34,7 +34,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |CUPRA[<sup>12</sup>](#footnotes)|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |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>|||
@@ -83,7 +82,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-26|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 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -159,7 +158,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -243,20 +242,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |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|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|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|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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>|||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
 |Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
@@ -335,8 +334,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
 |Volkswagen[<sup>12</sup>](#footnotes)|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
 |Volkswagen[<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>|||
@@ -15,7 +15,7 @@ public:
  static std::string get_serial() { return "cccccc"; }
-  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+  static std::map<std::string, std::string> get_init_logs() {
    return {};
  }
@@ -59,7 +59,7 @@ public:
    std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
  }
-  static std::map<std::string, std::string> get_init_logs(bool route_log = false) {
+  static std::map<std::string, std::string> get_init_logs() {
    std::map<std::string, std::string> ret = {
      {"/BUILD", util::read_file("/BUILD")},
      {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
@@ -73,14 +73,12 @@ public:
    temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
    ret["boot temp"] = temp;
-    // TODO: these are too slow to do on route log inits. need to do it async?
+    // TODO: log something from system and boot
-    if (!route_log) {
+    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
-      for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+      for (std::string slot : {"a", "b"}) {
-        for (std::string slot : {"a", "b"}) {
+        std::string partition = part + "_" + slot;
-          std::string partition = part + "_" + slot;
+        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
-          std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+        ret[partition] = hash.substr(0, hash.find_first_of(" "));
          ret[partition] = hash.substr(0, hash.find_first_of(" "));
        }
      }
    }
@@ -91,10 +91,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
@@ -186,6 +186,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"CustomButtonAction", {PERSISTENT | BACKUP, INT, "0"}},
    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -195,14 +196,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    // Model Manager params
    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
    {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_LastSyncTime_USBGPU", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
    {"ModelManager_ModelsCache_USBGPU", {PERSISTENT | BACKUP, JSON}},
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:190e196eba6feffec125ac66cf7e77620b759e346fa69b80e3a3884a5694cb15
+oid sha256:c4c38772e6080aa4b8bf5212d3619e949775468c64f3edb88a1a426d767c38d2
-size 3225
+size 1579
@@ -44,7 +44,8 @@ class LongControl:
    self.CP = CP
    self.CP_SP = CP_SP
    self.long_control_state = LongCtrlState.off
-    self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
+    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             rate=1 / DT_CTRL)
    self.last_output_accel = 0.0
@@ -35,7 +35,6 @@ build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + c
 # extra generated files used to trigger a rebuild
 generated_files = [
  'acados_ocp_long.json',
  f'{gen}/Makefile',
  f'{gen}/main_long.c',
@@ -49,8 +49,9 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
      max_accel = min(max_accel, coast_limit)
  target_accel = np.clip(v_cruise - v_ego, A_CRUISE_MIN, max_accel)
-  j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
+  if not e2e:
-  target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
+    j_cruise = np.interp(v_ego, A_CRUISE_MAX_BP, J_CRUISE_VALS)
    target_accel = float(np.clip(target_accel, a_cruise_prev - j_cruise * dt, a_cruise_prev + j_cruise * dt))
  return target_accel
@@ -64,9 +65,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.dt = dt
    self.allow_throttle = True
    self.a_desired = init_a
    self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
-    self.a_cruise = init_a
+    self.a_cruise = 0.0
-    self.output_a_target = init_a
+    self.output_a_target = 0.0
    self.output_should_stop = False
    self.v_desired_trajectory = np.zeros(CONTROL_N)
@@ -103,8 +105,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    if reset_state:
      self.v_desired_filter.x = v_ego
-      self.output_a_target = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
+      self.a_desired = np.clip(sm['carState'].aEgo, ACCEL_MIN, ACCEL_MAX)
      self.a_cruise = self.output_a_target
    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -112,11 +113,11 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)
-    # Get new v_cruise and a_target from Smart Cruise Control and Speed Limit Assist
+    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
-    v_cruise, self.output_a_target = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.output_a_target, v_cruise)
+    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
-    self.mpc.set_cur_state(self.v_desired_filter.x, self.output_a_target)
+    self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
    self.mpc.update(sm['radarState'], personality=sm['selfdriveState'].personality)
    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -129,7 +130,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
      cloudlog.info("FCW triggered")
    # Save starting point for next iteration
-    a_prev = self.output_a_target
+    a_prev = self.a_desired
    action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
    output_a_target_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
@@ -154,6 +155,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    self.output_should_stop = any(should_stop for _, _, should_stop in candidates)
    self.output_a_target = np.clip(output_a_target, ACCEL_MIN, ACCEL_MAX)
    self.a_desired = float(self.output_a_target)
    self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.output_a_target + a_prev) / 2.0
  def publish(self, sm, pm):
@@ -79,9 +79,7 @@ for usbgpu in [False, True] if USBGPU else [False]:
  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('big_' if os.getenv('BIG_INTO_SMALL') else '', tg_flags)
  driving_onnx_deps = get_existing_chunks(File(f"models/{file_prefix}driving_supercombo.onnx").abspath)
  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-  # CPU 7 is isolated with isolcpus on AGNOS, so explicitly pin the compiler to it.
+  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
  taskset = 'taskset -c 7 ' if arch == 'comma_arm64' else ''
  cmd = (f'{cmd_flags} {mac_brew_string} {taskset}python3 {modeld_dir}/compile_modeld.py '
        f'--model-size {model_w}x{model_h} '
        f'--camera-resolutions {camera_res_args} '
        f'--onnx {File(f"models/{file_prefix}driving_supercombo.onnx").abspath} '
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a501760a9d1d5fef0eab2b8c5d122d06124fc26dc8e0782e0aa94b82a208f0ff
+oid sha256:10926f2c0911821ca0e72439c1c3bf3ec11f0a08789aa14b7ee8f25379b2afa4
-size 1757355221
+size 1753235978
@@ -102,6 +102,7 @@ class TestBoarddSpi(OpenpilotTestCase):
        edt = 1e3 / SERVICE_LIST[service].frequency
        assert edt*0.9 < np.mean(dts) < edt*1.1
        assert np.max(dts) < edt*8
        assert np.min(dts) < edt
        assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
    with subtests.test(msg="CAN traffic"):
@@ -17,8 +17,8 @@
    "severity": 1,
    "_comment": "Set extra field to the failed reason."
  },
-  "Offroad_ChestnutBranch": {
+  "Offroad_NeosUpdate": {
-    "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
+    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
    "severity": 0
  },
  "Offroad_UnregisteredHardware": {
@@ -234,8 +234,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  },
  EventName.bigModelFailed: {
-    ET.SOFT_DISABLE: soft_disable_alert("Big Model Failed"),
+    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nnow driving on small model", duration=20.),
    ET.PERMANENT: NormalPermanentAlert("Big Model Failed ", "Restart the car to retry,\nsmall model is still available", duration=20.),
  },
  EventName.lateralManeuver: {
@@ -337,7 +337,7 @@ class SelfdriveD(CruiseHelper):
      device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
-    if self.calibrated_pose is not None and not self.CP.notCar:
+    if self.calibrated_pose is not None:
      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
      if not self.excessive_actuation and excessive_actuation is not None:
        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
@@ -397,9 +397,6 @@ class SelfdriveD(CruiseHelper):
    # All events here should at least have NO_ENTRY and SOFT_DISABLE.
    num_events = len(self.events)
    if self.big_model_active and big_failed:
      self.events.add(EventName.bigModelFailed)
    not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
    if self.sm.recv_frame['managerState'] and len(not_running):
      if not_running != self.not_running_prev:
@@ -7,7 +7,7 @@ import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-from opendbc.car.car_helpers import interface_names, interfaces
+from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
@@ -64,8 +64,7 @@ segments = [
 ]
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = {brand for brand, platforms in interface_names.items()
+excluded_interfaces = ["mock", "body", "psa"]
                       if all(interfaces[platform].get_non_essential_params(platform).dashcamOnly for platform in platforms)} | {"body"}
 BASE_URL = "https://raw.githubusercontent.com/sunnypilot/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -67,7 +67,7 @@ PROCS = {
  "openpilot.selfdrive.pandad.pandad": 0,
  "openpilot.system.loggerd.uploader": 15.0,
  "openpilot.system.loggerd.deleter": 1.0,
-  "./pandad": 40.0,
+  "./pandad": 19.0,
  "openpilot.system.qcomgpsd.qcomgpsd": 1.0,
  "openpilot.common.hardware.comma.modem": 10.0,
 }
@@ -107,10 +107,6 @@ def cputime_total(ct):
 class TestOnroad(OpenpilotTestCase):
  COMMA_HARDWARE_TEST = True
  def setUp(self):
    # Hardware setup is handled once for the full onroad test in setup_class.
    unittest.TestCase.setUp(self)
  @classmethod
  def setup_class(cls):
    if "DEBUG" in os.environ:
@@ -336,34 +332,26 @@ class TestOnroad(OpenpilotTestCase):
            assert np.all(eof_sof_diff < 50*1e6)
        first_fid = {min(self.ts[c]['frameId']) for c in cams}
-        if cams[0].endswith('CameraState'):
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert min(first_fid) < 100, "Cameras start on frame ID too high"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
        else:
          # encoderd synchronizes all camera encoders to the same starting frame
          assert len(first_fid) == 1, "Camera encoders don't start on same frame ID"
        # we don't do a full segment rotation, so these might not match exactly
        last_fid = {max(self.ts[c]['frameId']) for c in cams}
        assert max(last_fid) - min(last_fid) < 10
-        timestamps = {
+        start, end = min(first_fid), min(last_fid)
-          cam: dict(zip(self.ts[cam]['frameId'], self.ts[cam]['timestampSof'], strict=True))
+        for i in range(end-start):
          for cam in cams
        }
        common_frame_ids = set.intersection(*(set(ts) for ts in timestamps.values()))
        assert common_frame_ids, "Cameras have no overlapping frame IDs"
        for frame_id in sorted(common_frame_ids):
          # road and wide cameras (first two) should be synced within 2ms
-          ts = {cam: timestamps[cam][frame_id] / 1e6 for cam in cams[:2]}
+          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams[:2]}
-          diff = max(ts.values()) - min(ts.values())
+          diff = (max(ts.values()) - min(ts.values()))
-          assert diff < 2, f"Cameras not synced properly: {frame_id=}, {diff=:.1f}ms, {ts=}"
+          assert diff < 2, f"Cameras not synced properly: frame_id={start+i}, {diff=:.1f}ms, {ts=}"
          # cabin camera should be staggered ~25ms from road camera
-          offset_ms = abs(timestamps[cams[2]][frame_id] - timestamps[cams[0]][frame_id]) / 1e6
+          offset_ms = abs(self.ts[cams[2]]['timestampSof'][i] - self.ts[cams[0]]['timestampSof'][i]) / 1e6
-          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {frame_id}: {offset_ms:.1f}ms"
+          assert 20 < offset_ms < 30, f"cabin camera stagger out of range at frame {start+i}: {offset_ms:.1f}ms"
  def test_camera_encoder_matches(self, subtests):
    # sanity check that the frame metadata is consistent with the encoded frames
@@ -3,6 +3,7 @@ from enum import IntEnum
 import openpilot.cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
 from openpilot.selfdrive.ui.layouts.home import HomeLayout
 from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
@@ -27,6 +28,7 @@ class MainLayout(Widget):
    super().__init__()
    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
    self._custom_button_sock = messaging.sub_sock('carState')
    self._sidebar = Sidebar()
    self._current_mode = MainState.HOME
@@ -40,6 +42,10 @@ class MainLayout(Widget):
      MainState.SETTINGS: SettingsLayout(),
      MainState.ONROAD: AugmentedRoadView(),
    }
    self._custom_button_callbacks = {
      CustomButtonAction.BOOKMARK: self._on_bookmark_clicked,
      CustomButtonAction.CYCLE_UI: self._cycle_ui,
    }
    self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
    self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -55,6 +61,7 @@ class MainLayout(Widget):
      gui_app.push_widget(self._onboarding_window)
  def _render(self, _):
    handle_custom_button(messaging.drain_sock(self._custom_button_sock), ui_state.params, self._custom_button_callbacks)
    self._handle_onroad_transition()
    self._render_main_content()
@@ -114,6 +121,18 @@ class MainLayout(Widget):
  def _on_settings_clicked(self):
    self.open_settings(PanelType.DEVICE)
  def _show_onroad(self):
    self._set_current_layout(MainState.ONROAD)
    self._sidebar.set_visible(False)
  def _cycle_ui(self):
    if self._current_mode == MainState.ONROAD and not self._sidebar.is_visible:
      self._sidebar.set_visible(True)
    elif self._current_mode == MainState.SETTINGS:
      self._show_onroad()
    else:
      self._on_settings_clicked()
  def _on_bookmark_clicked(self):
    for service in ('bookmarkButton', 'userBookmark'):
      msg = messaging.new_message(service, valid=True)
@@ -4,6 +4,7 @@ from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
 from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
 from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
 from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
 from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
 from openpilot.selfdrive.ui.body.layouts.onroad import BodyLayout
@@ -23,6 +24,7 @@ class MiciMainLayout(Scroller):
    super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
    self._pm = messaging.PubMaster(['bookmarkButton', 'userBookmark'])
    self._custom_button_sock = messaging.sub_sock('carState')
    self._prev_onroad = False
    self._prev_standstill = False
@@ -35,6 +37,10 @@ class MiciMainLayout(Scroller):
    self._settings_layout = SettingsLayout()
    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
    self._body_onroad_layout = BodyLayout()
    self._custom_button_callbacks = {
      CustomButtonAction.BOOKMARK: self._on_bookmark_clicked,
      CustomButtonAction.CYCLE_UI: self._cycle_ui,
    }
    # Initialize widget rects
    for widget in (self._home_layout, self._alerts_layout, self._settings_layout,
@@ -95,6 +101,8 @@ class MiciMainLayout(Scroller):
    self._alerts_layout._update_state()
  def _render(self, _):
    handle_custom_button(messaging.drain_sock(self._custom_button_sock), ui_state.params, self._custom_button_callbacks)
    if not self._setup:
      if self._alerts_layout.active_alerts() > 0:
        self._scroller.scroll_to(self._alerts_layout.rect.x)
@@ -150,6 +158,23 @@ class MiciMainLayout(Scroller):
      msg = messaging.new_message(service, valid=True)
      self._pm.send(service, msg)
  def _show_layout(self, layout: Widget):
    if gui_app.widget_in_stack(self._onboarding_window):
      return
    gui_app.pop_widgets_to(self, lambda: self._scroll_to(layout))
  def _layout_visible(self, layout: Widget) -> bool:
    return abs(layout.rect.x - self._rect.x) < self._rect.width / 2
  def _cycle_ui(self):
    if gui_app.widget_in_stack(self._settings_layout):
      self._show_layout(self._onroad_layout)
    elif gui_app.get_active_widget() is self and self._layout_visible(self._home_layout):
      if not gui_app.widget_in_stack(self._onboarding_window):
        gui_app.push_widget(self._settings_layout)
    else:
      self._show_layout(self._home_layout)
  def _on_body_changed(self):
    self._car_onroad_layout.set_visible(not ui_state.is_body)
    self._body_onroad_layout.set_visible(bool(ui_state.is_body))
@@ -47,7 +47,7 @@ class SoftwareInfoLayoutMici(Widget):
    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)
+                                           font_weight=FontWeight.ROMAN, wrap_text=False)
  def _update_state(self):
    desc = _split_description(ui_state.params.get("UpdaterCurrentDescription") or "")
@@ -132,7 +132,7 @@ class AlertRenderer(Widget, SpeedLimitAlertRenderer):
      # 1. Never received selfdriveState since going onroad
      waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 10:
+      if waiting_for_startup and time_since_onroad > 5:
        return ALERT_STARTUP_PENDING
      # 2. Lost communication with selfdriveState after receiving it
@@ -150,8 +150,8 @@ class BigButton(Widget):
    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
  def _width_hint(self) -> int:
-    # A value moves the title to the top, where it shares space with the icon.
+    # Single line if scrolling, so hide behind icon if exists
-    icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
+    icon_size = self._txt_icon.width if self._txt_icon and self._scroll and self.value else 0
    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
  def _get_label_font_size(self):
@@ -92,7 +92,7 @@ class AlertRenderer(Widget):
      # 1. Never received selfdriveState since going onroad
      waiting_for_startup = recv_frame < ui_state.started_frame
-      if waiting_for_startup and time_since_onroad > 10:
+      if waiting_for_startup and time_since_onroad > 5:
        return ALERT_STARTUP_PENDING
      # 2. Lost communication with selfdriveState after receiving it
@@ -0,0 +1,19 @@
 from enum import IntEnum
 from opendbc.car.structs import car
 class CustomButtonAction(IntEnum):
  NONE = 0
  BOOKMARK = 1
  CYCLE_UI = 3
 def handle_custom_button(messages, params, callbacks):
  for msg in messages:
    custom_pressed = any(be.type == car.CarState.ButtonEvent.Type.altButton2 and be.pressed
                         for be in msg.carState.buttonEvents)
    if custom_pressed:
      action = CustomButtonAction(params.get('CustomButtonAction', return_default=True))
      if callback := callbacks.get(action):
        callback()
@@ -22,9 +22,9 @@ from openpilot.system.ui.widgets.toggle import ON_COLOR
 from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
 from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction, ScrollingButtonAction
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
 from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.download_status import download_status_item
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
 from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
 if gui_app.sunnypilot_ui():
@@ -35,8 +35,9 @@ class ModelsLayout(Widget):
  def __init__(self):
    super().__init__()
    self.model_manager = None
    self.download_status = None
    self.prev_download_status = None
    self.model_dialog = None
    self._downloading = False
    self.last_cache_calc_time = 0
    self._initialize_items()
@@ -51,11 +52,15 @@ class ModelsLayout(Widget):
    self.current_model_item = ListItemSP(
      title=tr("Current Model"),
      description="",
-      action_item=ScrollingButtonAction(tr("SELECT")),
+      action_item=NoElideButtonAction(tr("SELECT")),
      callback=self._handle_current_model_clicked
    )
-    self.download_item = download_status_item(lambda: tr("Download") if self._downloading else tr("Model Status"))
+    self.supercombo_label = progress_item(tr("Driving Model"))
    self.vision_label = progress_item(tr("Vision Model"))
    self.policy_label = progress_item(tr("Policy Model"))
    self.off_policy_label = progress_item(tr("Off-Policy Model"))
    self.on_policy_label = progress_item(tr("On-Policy Model"))
    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
@@ -93,7 +98,8 @@ class ModelsLayout(Widget):
                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
                                        lambda v: f"{v / 100:.2f} m")
-    self.items = [self.current_model_item, self.cancel_download_item, self.download_item, self.refresh_item, self.clear_cache_item,
+    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
                  self.policy_label, self.off_policy_label, self.on_policy_label, self.refresh_item, self.clear_cache_item,
                  self.lane_turn_desire_toggle, self.lane_turn_value_control, self.lagd_toggle, self.delay_control, self.camera_offset]
  def _update_lagd_description(self, lagd_toggle: bool):
@@ -129,9 +135,14 @@ class ModelsLayout(Widget):
    gui_app.push_widget(dialog)
  def _handle_bundle_download_progress(self):
-    self.download_item.set_visible(False)
+    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
              custom.ModelManagerSP.Model.Type.policy: self.policy_label,
              custom.ModelManagerSP.Model.Type.offPolicy: self.off_policy_label,
              custom.ModelManagerSP.Model.Type.onPolicy: self.on_policy_label}
    for label in labels.values():
      label.set_visible(False)
    self.cancel_download_item.set_visible(False)
    self._downloading = False
    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
      return
@@ -142,41 +153,32 @@ class ModelsLayout(Widget):
    if not bundle:
      return
    self.download_status = bundle.status
    status_changed = self.prev_download_status != self.download_status
    self.prev_download_status = self.download_status
    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and ui_state.params.get("ModelManager_DownloadIndex") is not None)
    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
      self.last_cache_calc_time = current_time
      self.clear_cache_item.action_item.set_value(f"{self.calculate_cache_size():.2f} MB")
-    if bundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
+    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
      device._reset_interactive_timeout()
-    # every bundle is a single chunked artifact now
+    for model in bundle.models:
-    progresses = [model.artifact.downloadProgress for model in bundle.models if model.artifact.fileName]
+      if label := labels.get(getattr(model.type, 'raw', model.type)):
-    if not progresses:
+        label.set_visible(True)
-      return
+        p = model.artifact.downloadProgress
-
+        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
-    self.download_item.set_visible(True)
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
-    self.download_item.action_item.update(**self._download_row_state(progresses, bundle.internalName))
+          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
-    self._downloading = self.download_item.action_item.downloading
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
-
+          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
-  @staticmethod
+          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
-  def _download_row_state(progresses, name: str) -> dict:
+        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
-    """Maps a bundle's artifact progress to DownloadStatusAction.update kwargs."""
+          text, color = f"download failed - {bundle.displayName}", rl.RED
-    # .raw: _DynamicEnum equals its int but does not hash like it
+        label.action_item.update(p.progress, text, show, color)
    statuses = {getattr(p.status, 'raw', p.status) for p in progresses}
    progress = sum(p.progress for p in progresses) / len(progresses)
    ds = custom.ModelManagerSP.DownloadStatus
    if ds.failed in statuses:
      # close.png is authored black and a tint cannot lift it, hence close2
      return {"name": name, "status_text": tr("download failed"), "text_color": rl.RED, "icon": "icons/close2.png"}
    if ds.downloading in statuses:
      return {"name": name, "downloading": True, "progress": progress}
    if statuses <= {ds.downloaded, ds.cached}:
      return {"name": name, "text_color": ON_COLOR, "icon": "icons/checkmark.png"}
    # circled_slash is authored grey; tinting it again only darkens it
    return {"name": name, "text_color": rl.GRAY, "icon": "icons/circled_slash.png", "icon_color": rl.WHITE}
  @staticmethod
  def _show_reset_params_dialog():
@@ -249,7 +251,7 @@ class ModelsLayout(Widget):
    self._update_lagd_description(live_delay)
    self.model_manager = ui_state.sm["modelManagerSP"]
    self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.displayName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
    self.current_model_item.action_item.set_value(active_name)
    if not ui_state.is_offroad():
@@ -0,0 +1,21 @@
 from types import SimpleNamespace
 from unittest.mock import Mock
 from opendbc.car.structs import car
 from openpilot.selfdrive.ui.sunnypilot.custom_button import CustomButtonAction, handle_custom_button
 def test_custom_button_actions():
  params = Mock()
  press = SimpleNamespace(carState=SimpleNamespace(buttonEvents=[SimpleNamespace(
      type=car.CarState.ButtonEvent.Type.altButton2,
      pressed=True,
    )]))
  messages = [press, SimpleNamespace(carState=SimpleNamespace(buttonEvents=[])), press]
  callbacks = {action: Mock() for action in CustomButtonAction if action != CustomButtonAction.NONE}
  for action, callback in callbacks.items():
    params.get.return_value = action
    handle_custom_button(messages, params, callbacks)
    assert callback.call_count == 2
@@ -20,14 +20,14 @@ class TestSoundd(OpenpilotTestCase):
    sm.update(100)
    assert sm.updated['selfdriveState']
-    sm.recv_time['selfdriveState'] = 0
+    received_at = sm.recv_time['selfdriveState']
-    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=SELFDRIVE_STATE_TIMEOUT)
+    clock = mocker.patch("openpilot.selfdrive.ui.soundd.time.monotonic", return_value=received_at + SELFDRIVE_STATE_TIMEOUT)
    assert not check_selfdrive_timeout_alert(sm)
-    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 0.1
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 0.1
    assert check_selfdrive_timeout_alert(sm)
-    clock.return_value = SELFDRIVE_STATE_TIMEOUT + 10
+    clock.return_value = received_at + SELFDRIVE_STATE_TIMEOUT + 10
    assert not check_selfdrive_timeout_alert(sm)
  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
@@ -1,2 +1,3 @@
 SConscript(['common/transformations/SConscript'])
 SConscript(['modeld_v2/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
@@ -0,0 +1,84 @@
 import os
 import glob
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE
 from openpilot.common.hardware import HARDWARE, PC
 Import('env', 'arch', 'release')
 lenv = env.Clone()
 tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 def get_camera_configs():
  DEVICE_RESOLUTIONS = {
    "tici": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
    "tizi": (_ar_ox_fisheye.width, _ar_ox_fisheye.height),
    "mici": (_os_fisheye.width, _os_fisheye.height),
  }
  if release or PC or 'CI' in os.environ:
    return set(DEVICE_RESOLUTIONS.values())
  return [DEVICE_RESOLUTIONS[HARDWARE.get_device_type()]]
 CAMERA_CONFIGS = get_camera_configs()
 tg_flags = {
  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
  'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}',
 }.get(arch, 'DEV=CPU:LLVM')
 image_flag = {
  'larch64': 'IMAGE=2',
 }.get(arch, 'IMAGE=0')
 model_w, model_h = MEDMODEL_INPUT_SIZE
 from openpilot.selfdrive.modeld.constants import ModelConstants
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
 camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
 pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
 compile_modeld_script = File("compile_modeld.py").abspath
 upstream_compile_script = File(Dir("#openpilot/selfdrive/modeld").File("compile_modeld.py").abspath)
 script_deps = [File("compile_modeld.py"), upstream_compile_script]
 def compile_combined(model_type, onnx_args, output_name):
  output_pkl = File(f"models/{output_name}").abspath
  cmd = (f'{pythonpath_string} {tg_flags} {image_flag} python3 {compile_modeld_script} '
         f'--model-type {model_type} '
         f'--model-size {model_w}x{model_h} '
         f'--camera-resolutions {camera_res_args} '
         f'{onnx_args} '
         f'--frame-skip {frame_skip} '
         f'--output {output_pkl}')
  onnx_files = [f for f in onnx_args.split() if f.endswith('.onnx')]
  return lenv.Command(output_pkl, tinygrad_files + script_deps + [File(f) for f in onnx_files if os.path.isfile(f)], cmd)
 # Vision + Policy (stock default model)
 vision_onnx = File("models/driving_vision.onnx").abspath
 policy_onnx = File("models/driving_policy.onnx").abspath
 if os.path.isfile(vision_onnx) and os.path.isfile(policy_onnx):
  compile_combined('vision_policy',
                   f'--vision-onnx {vision_onnx} --policy-onnx {policy_onnx}',
                   'driving_combined_tinygrad.pkl')
 # Vision + Off-Policy
 off_policy_onnx = File("models/driving_off_policy.onnx").abspath
 if os.path.isfile(vision_onnx) and os.path.isfile(off_policy_onnx):
  policy_arg = f'--policy-onnx {policy_onnx}' if os.path.isfile(policy_onnx) else ''
  compile_combined('vision_multi_policy',
                   f'--vision-onnx {vision_onnx} {policy_arg} --off-policy-onnx {off_policy_onnx}',
                   'driving_combined_multi_tinygrad.pkl')
 # Vision + On-Policy + Off-Policy
 on_policy_onnx = File("models/driving_on_policy.onnx").abspath
 if os.path.isfile(vision_onnx) and os.path.isfile(on_policy_onnx) and os.path.isfile(off_policy_onnx):
  compile_combined('vision_multi_policy',
                   f'--vision-onnx {vision_onnx} --off-policy-onnx {off_policy_onnx} --on-policy-onnx {on_policy_onnx}',
                   'driving_combined_tri_tinygrad.pkl')
 # Supercombo
 supercombo_onnx = File("models/supercombo.onnx").abspath
 if os.path.isfile(supercombo_onnx):
  compile_combined('supercombo',
                   f'--supercombo-onnx {supercombo_onnx}',
                   'driving_combined_supercombo_tinygrad.pkl')
@@ -8,10 +8,10 @@ See the LICENSE.md file in the root directory for more details.
 import argparse
 import os
-import tempfile
+import pickle
 import time
 from collections import defaultdict
 from functools import partial
 from openpilot.selfdrive.modeld.helpers import dump_oob, load_oob
 import numpy as np
 os.environ['GMMU'] = '0'
@@ -38,9 +38,6 @@ from tinygrad.engine.jit import TinyJit
 from tinygrad.tensor import Tensor
 MODEL_TYPES = ('vision_policy', 'supercombo', 'vision_multi_policy')
 WARP_INPUTS = ['tfm', 'big_tfm']
 POLICY_INPUTS = ['img_q', 'big_img_q', 'feat_q', 'desire_q', 'packed_npy_inputs']
 WARP_DEV = os.getenv('WARP_DEV')
 def _detect_desire_key(shapes: dict) -> str | None:
@@ -79,7 +76,7 @@ def get_policy_npy_shapes(input_shapes: dict, is_supercombo: bool = False) -> tu
 def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = Device.DEFAULT,
-                            is_supercombo: bool = False) -> tuple[dict, dict]:
+                            is_supercombo: bool = False, use_packed: bool = True) -> tuple[dict, dict]:
  road_key, _ = _detect_vision_keys(input_shapes)
  if not road_key:
    raise ValueError("Vision road key missing from input shapes.")
@@ -95,76 +92,74 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
  desire_shape = input_shapes[desire_key]
  features_buffer = input_shapes.get('features_buffer')
-  npy_arrays = {
+  if use_packed:  # remove packed detection block after all models are recompiled
-    'tfm': np.zeros((3, 3), dtype=np.float32),
+    npy_arrays = {
-    'big_tfm': np.zeros((3, 3), dtype=np.float32)
+      'tfm': np.zeros((3, 3), dtype=np.float32),
-  }
+      'big_tfm': np.zeros((3, 3), dtype=np.float32)
    }
-  shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
+    shapes, sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-  packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
+    packed_npy_inputs = np.zeros(sum(sizes), dtype=np.float32)
-  split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
+    split_indices = np.cumsum(sizes[:-1]) if len(sizes) > 1 else []
-  split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
+    split_views = np.split(packed_npy_inputs, split_indices) if len(sizes) > 0 else []
-  for (k, s), v in zip(shapes.items(), split_views, strict=True):
+    for (k, s), v in zip(shapes.items(), split_views, strict=True):
-    npy_arrays[k] = v.reshape(s)
+      npy_arrays[k] = v.reshape(s)
-  queues = {
+    queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
+      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
-                  dtype=np.float32), device=device).contiguous().realize(),
+                    dtype=np.float32), device=device).contiguous().realize(),
-    'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
+      'packed_npy_inputs': Tensor(packed_npy_inputs, device='NPY').realize(),
-  }
+    }
-  if features_buffer:
+    if features_buffer:
-    feat_q_len = frame_skip * features_buffer[1] if is_supercombo else frame_skip * (features_buffer[1] - 1) + 1
+      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
-    queues['feat_q'] = Tensor(np.zeros((feat_q_len, features_buffer[0], features_buffer[2]),
+                         dtype=np.float32), device=device).contiguous().realize()
                       dtype=np.float32), device=device).contiguous().realize()
-  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
+    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
  else:
    # TODO-SP: Remove legacy queuing fallback else block after all models are recompiled
    npy_arrays = {
      'desire': np.zeros(desire_shape[2], dtype=np.float32),
      'tfm': np.zeros((3, 3), dtype=np.float32),
      'big_tfm': np.zeros((3, 3), dtype=np.float32)
    }
    for key, shape in input_shapes.items():
      if key not in npy_arrays and 'img' not in key and key not in ('features_buffer', desire_key):
        npy_arrays[key] = np.zeros(shape, dtype=np.float32)
    queues = {
      'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
      'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
      'desire_q': Tensor(np.zeros((frame_skip * desire_shape[1], desire_shape[0], desire_shape[2]),
                    dtype=np.float32), device=device).contiguous().realize()
    }
    if features_buffer:
      queues['feat_q'] = Tensor(np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]),
                         dtype=np.float32), device=device).contiguous().realize()
    queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items()})
  return queues, npy_arrays
 def make_split_input_queues(vision_input_shapes: dict, policy_input_shapes: dict,
-                            frame_skip: int, device: str = Device.DEFAULT) -> tuple[dict, dict]:
+                            frame_skip: int, device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
-  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False)
+  return generate_queues_and_npy({**vision_input_shapes, **policy_input_shapes}, frame_skip, device, is_supercombo=False, use_packed=use_packed)
 def make_supercombo_input_queues(input_shapes: dict, frame_skip: int,
-                                 device: str = Device.DEFAULT) -> tuple[dict, dict]:
+                                 device: str = Device.DEFAULT, use_packed: bool = True) -> tuple[dict, dict]:
-  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True)
+  return generate_queues_and_npy(input_shapes, frame_skip, device, is_supercombo=True, use_packed=use_packed)
-def make_random_images(keys, shape, device):
+def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, model_size: tuple[int, int],
-  return {k: Tensor.randint(shape, low=0, high=256, dtype=dtypes.uint8, device=device).realize() for k in keys}
+            features_slice: slice, frame_skip: int, input_shapes: dict, prepare_only: bool):
-
+  frame_prepare = make_frame_prepare(nv12, *model_size)
 def make_warp_queues(device=Device.DEFAULT):
  npy = {
    'tfm': np.zeros((3, 3), dtype=np.float32),
    'big_tfm': np.zeros((3, 3), dtype=np.float32),
  }
  queues = {k: Tensor(v, device='NPY').realize() for k, v in npy.items()}
  return queues, npy
 def make_warp(nv12: NV12Frame, model_w: int, model_h: int):
  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
  WARP_DEV = os.getenv('WARP_DEV', Device.DEFAULT)
  def warp(tfm, big_tfm, frame, big_frame):
    tfm = tfm.to(WARP_DEV)
    big_tfm = big_tfm.to(WARP_DEV)
    Tensor.realize(tfm, big_tfm)
    warped_frame = frame_prepare(frame, tfm).unsqueeze(0)
    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0)
    return Tensor.cat(warped_frame, warped_big_frame)
  return warp
 def make_run_policy(vision_runner, policy_runners: list, features_slice: slice, frame_skip: int, input_shapes: dict):
  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
@@ -177,14 +172,20 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
  is_supercombo = vision_runner is None
  npy_shapes, npy_sizes = get_policy_npy_shapes(input_shapes, is_supercombo=is_supercombo)
-  def run_policy(warped, img_q, big_img_q, feat_q, packed_npy_inputs, **kwargs):
+  def runner(img_q, big_img_q, feat_q, packed_npy_inputs, frame, big_frame, tfm, big_tfm, **kwargs):
    desire_q = kwargs['desire_q']
    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
    warped_dev = warped.to(Device.DEFAULT)
    Tensor.realize(packed_npy_inputs_dev, warped_dev)
-    img = shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
+    packed_npy_inputs_dev = packed_npy_inputs.to(Device.DEFAULT)
-    big_img = shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()
+    tfm_dev = tfm.to(Device.DEFAULT)
    big_tfm_dev = big_tfm.to(Device.DEFAULT)
    Tensor.realize(packed_npy_inputs_dev, tfm_dev, big_tfm_dev)
    img = shift_and_sample(img_q, frame_prepare(frame, tfm_dev).unsqueeze(0), sample_skip_fn).realize()
    big_img = shift_and_sample(big_img_q, frame_prepare(big_frame, big_tfm_dev).unsqueeze(0), sample_skip_fn).realize()
    if prepare_only:
      return img, big_img
    unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
    unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
@@ -219,52 +220,42 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
      shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
    return policy_out
-  return run_policy
+  return runner
-def compile_jit(jit, make_random_inputs, input_keys, make_queues):
+def compile_and_warmup(nv12: NV12Frame, model_size: tuple[int, int], prepare_only: bool, frame_skip: int, vision_runner, policy_runners: list, metadata: dict):
-  SEED = 42
+  print(f"Compiling combined JIT for {nv12.width}x{nv12.height} (prepare_only={prepare_only})...")
  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
    input_queues, npy = make_queues(Device.DEFAULT)
    rng = np.random.default_rng(seed)
    Tensor.manual_seed(seed)
-    testing = test_val is not None or test_buffers is not None
+  all_shapes = {key: value for meta in metadata.values() for key, value in meta['input_shapes'].items()}
    n_runs = 1 if testing else 3
-    for i in range(n_runs):
+  feat_meta = metadata.get('vision') or metadata.get('model') or metadata.get('policy')
-      for v in npy.values():
+  if not feat_meta:
-        v[:] = rng.standard_normal(v.shape).astype(v.dtype)
+    raise ValueError("Could not find vision, model, or policy metadata.")
      Device.default.synchronize()
      random_inputs = make_random_inputs()
      st = time.perf_counter()
      outs = fn(**{k: input_queues[k] for k in input_keys if k in input_queues}, **random_inputs)
      mt = time.perf_counter()
      Device.default.synchronize()
      et = time.perf_counter()
      print(f"  [{i+1}/{n_runs}] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-      if i == 0:
+  features_slice = feat_meta['output_slices']['hidden_state']
-        val = [np.copy(v.numpy()) for v in (outs if isinstance(outs, tuple) else [outs])] if outs is not None else []
+  WARP_DEV = 'CPU' if "USBGPU" in os.environ else Device.DEFAULT
        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
-    if test_val is not None:
+  is_supercombo = vision_runner is None
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
+  run_func = create_jit_runner(vision_runner, policy_runners, nv12, model_size, features_slice, frame_skip, all_shapes, prepare_only)
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
+  run_jit = TinyJit(run_func, prune=True)
-    if test_buffers is not None:
+  queues, npy_arrays = generate_queues_and_npy(all_shapes, frame_skip, Device.DEFAULT, is_supercombo=is_supercombo)
      match = all(np.array_equal(a, b) for a, b in zip(buffers, test_buffers, strict=True))
      assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={seed})"
    return val, buffers
-  print('capture + replay')
+  for i in range(3):
-  test_val, test_buffers = random_inputs_run(jit, SEED)
+    rng = np.random.default_rng(42 + i)
-  print('pickle round trip')
+    frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
-  with tempfile.TemporaryFile(dir=".") as f:
+    big_frame = Tensor.randint(nv12.size, low=0, high=256, dtype=dtypes.uint8, device=WARP_DEV).realize()
-    dump_oob(jit, f)
+    for arr in npy_arrays.values():
-    f.seek(0)
+      arr[:] = rng.standard_normal(arr.shape).astype(arr.dtype)
-    deserialized_jit = load_oob(f)
+
-  random_inputs_run(deserialized_jit, SEED, test_val=test_val, test_buffers=test_buffers)
+    Device.default.synchronize()
-  return deserialized_jit
+    start_time = time.perf_counter()
    run_jit(**queues, frame=frame, big_frame=big_frame)
    mid_time = time.perf_counter()
    Device.default.synchronize()
    print(f"  [{i + 1}/3] enqueue {(mid_time - start_time) * 1e3:6.2f} ms -- total {(time.perf_counter() - start_time) * 1e3:6.2f} ms")
  # TODO-SP: switch to dump_oob/load_oob on next full recompile of all models
  return pickle.loads(pickle.dumps(run_jit)) if not prepare_only else run_jit
 def _parse_size(size_str: str) -> tuple[int, int]:
@@ -286,6 +277,19 @@ def read_file_chunked_to_shm(path):
  return shm_path
 def _compile_for_resolutions(camera_resolutions: list, model_size: tuple[int, int], frame_skip: int,
               vision_runner, policy_runners: list, metadata: dict) -> dict:
  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
  return {
    (cam_w, cam_h): {
      name: compile_and_warmup(NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h)), model_size, prepare_only,
                   frame_skip, vision_runner, policy_runners, metadata)
      for name, prepare_only in [('warp_enqueue', True), ('run_policy', False)]
    }
    for cam_w, cam_h in camera_resolutions
  }
 def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
  runners, keys = [], []
  for name, onnx_arg in [('policy', args.policy_onnx), ('off_policy', args.off_policy_onnx), ('on_policy', args.on_policy_onnx)]:
@@ -296,18 +300,7 @@ def _load_policy_runners(args: argparse.Namespace) -> tuple[list, list]:
 if __name__ == "__main__":
  if 'USB' in os.getenv('DEV', '') or os.getenv('USBGPU'):
    from openpilot.system.hardware.chestnut.flash import link_up
    for _ in range(10):
      if link_up():
        break
      time.sleep(1)
    else:
      raise RuntimeError("Chestnut not ready, skipping big model build")
  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
  from tinygrad.nn.onnx import OnnxRunner
  parser = argparse.ArgumentParser(description="Compile combined JIT pkl for sunnypilot modeld_v2")
@@ -324,8 +317,7 @@ if __name__ == "__main__":
  parser.add_argument('--supercombo-onnx', help='supercombo ONNX (for supercombo)')
  args = parser.parse_args()
-  model_w, model_h = args.model_size
+  output_data = defaultdict(dict)
  output_data = {}
  args.vision_onnx = read_file_chunked_to_shm(args.vision_onnx)
  args.policy_onnx = read_file_chunked_to_shm(args.policy_onnx)
@@ -356,31 +348,17 @@ if __name__ == "__main__":
  vision_meta = output_data['metadata'].get('vision', {})
  derived_frame_skip = args.frame_skip or derive_frame_skip(vision_meta.get('input_shapes', {}), first_policy_meta.get('input_shapes', {}))
-  all_shapes = {key: value for meta in output_data['metadata'].values() for key, value in meta['input_shapes'].items()}
+  output_data.update(_compile_for_resolutions(args.camera_resolutions, args.model_size, derived_frame_skip,
-  feat_meta = output_data['metadata'].get('vision') or output_data['metadata'].get('model') or output_data['metadata'].get('policy')
+                        vision_runner, policy_runners, output_data['metadata']))
  assert feat_meta is not None
  features_slice = feat_meta['output_slices']['hidden_state']
  is_supercombo = vision_runner is None
  print(f"Compiling run_policy JIT (model_size={model_w}x{model_h}, frame_skip={derived_frame_skip})...")
  run_policy_func = make_run_policy(vision_runner, policy_runners, features_slice, derived_frame_skip, all_shapes)
  run_policy_jit = TinyJit(run_policy_func, prune=True)
  make_policy_queues = partial(generate_queues_and_npy, all_shapes, derived_frame_skip, is_supercombo=is_supercombo)
  make_random_model_inputs = partial(make_random_images, keys=['warped'], shape=(2, 6, model_h // 2, model_w // 2), device=WARP_DEV)
  output_data['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, make_policy_queues)
  for cam_w, cam_h in args.camera_resolutions:
    print(f"Compiling warp JIT for {cam_w}x{cam_h}...")
    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
    make_random_warp_inputs = partial(make_random_images, keys=['frame', 'big_frame'], shape=nv12.size, device=WARP_DEV)
    warp = TinyJit(make_warp(nv12, model_w, model_h), prune=True)
    output_data[(cam_w, cam_h)] = compile_jit(warp, make_random_warp_inputs, WARP_INPUTS, make_warp_queues)
  with open(args.output, "wb") as file:
-    dump_oob(output_data, file)
+    # TODO-SP: switch to dump_oob from openpilot/selfdrive/helpers on next full recompile of all models
    pickle.dump(output_data, file)
  pkl_size = os.path.getsize(args.output)
  print(f"Saved combined JIT to {args.output} ({pkl_size / 1e6:.2f} MB)")
  from openpilot.common.file_chunker import chunk_file, get_chunk_targets
  chunk_targets = get_chunk_targets(args.output, pkl_size)
  chunk_file(args.output, chunk_targets)
  print(f"Chunked into {len(chunk_targets) - 1} file(s)")
@@ -9,13 +9,17 @@ See the LICENSE.md file in the root directory for more details.
 import os
 os.environ['GMMU'] = '0'
 from openpilot.common.hardware import COMMA_HARDWARE
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, load_oob
+os.environ['DEV'] = 'QCOM' if COMMA_HARDWARE else 'CPU'
 USBGPU = "USBGPU" in os.environ
 if USBGPU:
  os.environ['DEV'] = 'AMD'
  os.environ['AMD_IFACE'] = 'USB'
 import pickle
 import time
 import numpy as np
 import openpilot.cereal.messaging as messaging
 from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.services import SERVICE_LIST
 from setproctitle import setproctitle
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.visionipc import VisionStreamType
@@ -23,6 +27,7 @@ from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from tinygrad.tensor import Tensor
 from tinygrad.device import Device
 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.swaglog import cloudlog
@@ -35,13 +40,12 @@ from openpilot.system import sentry
 from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.modeld import ChestnutState
 from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
 from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
-from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues, make_supercombo_input_queues, WARP_INPUTS, POLICY_INPUTS
+from openpilot.sunnypilot.modeld_v2.compile_modeld import derive_frame_skip, make_split_input_queues
 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
@@ -84,7 +88,7 @@ class ModelState(ModelStateBase):
  inputs: dict[str, np.ndarray]
  prev_desire: np.ndarray
-  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool = False):
+  def __init__(self, cam_w: int, cam_h: int):
    ModelStateBase.__init__(self)
    env_pkl = os.environ.get('COMBINED_MODEL_PKL')
@@ -99,7 +103,6 @@ class ModelState(ModelStateBase):
    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
    self.MIN_LAT_CONTROL_SPEED = 0.3
    self.PLANPLUS_CONTROL: float = 1.0
    self.usbgpu = usbgpu
    pkl_path = _find_driving_pkl(model_bundle)
    assert pkl_path is not None, "No driving pkl found — all models must be compiled with compile_modeld.py"
@@ -107,20 +110,24 @@ class ModelState(ModelStateBase):
  def _init_combined(self, pkl_path, cam_w, cam_h, bundle):
    cloudlog.warning(f"loading combined pkl: {pkl_path}")
-    jits = load_oob(open_file_chunked(pkl_path))
+    # TODO-SP: switch to load_oob from openpilot/selfdrive/helpers on next full recompile of all models
    jits = pickle.load(open_file_chunked(pkl_path))
-    self.WARP_DEV = 'QCOM' if COMMA_HARDWARE else 'CPU'
+    self.DEV = Device.DEFAULT
-    self.DEV = 'AMD' if self.usbgpu else self.WARP_DEV
+    self.WARP_DEV = 'CPU' if USBGPU else self.DEV
    self.QUEUE_DEV = self.DEV
    metadata = jits['metadata']
-    self.is_legacy_model = 'run_policy' not in jits  # remove after next recompile
+    self._run_policy = jits[(cam_w, cam_h)]['run_policy']
-    if self.is_legacy_model:
+    self._warp_enqueue = jits[(cam_w, cam_h)]['warp_enqueue']
-      self.warp = jits[(cam_w, cam_h)]['warp_enqueue']
+
-      self.run_policy = jits[(cam_w, cam_h)]['run_policy']
+    # TODO-SP: Remove legacy use_packed detection block after all models are recompiled
    captured = getattr(self._run_policy, 'captured', None)
    if captured is not None:
      use_packed = 'packed_npy_inputs' in getattr(captured, 'expected_names', [])
    else:
-      self.run_policy = jits['run_policy']
+      use_packed = True
      self.warp = jits[(cam_w, cam_h)]
    if 'model' in metadata:
      model_metadata = metadata['model']
@@ -129,9 +136,10 @@ class ModelState(ModelStateBase):
      self._policy_slices_list = []
      self._combined_model_type = 'supercombo'
      self._vision_input_names = [key for key in model_metadata['input_shapes'] if 'img' in key]
      from openpilot.sunnypilot.modeld_v2.compile_modeld import make_supercombo_input_queues
      frame_skip = derive_frame_skip({}, model_metadata['input_shapes'])
      self.input_queues, self.numpy_inputs = make_supercombo_input_queues(model_metadata['input_shapes'],
-                                                                          frame_skip, device=self.QUEUE_DEV)
+                                                                          frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
    else:
      vision_metadata = metadata['vision']
      policy_keys = [k for k in metadata if k != 'vision']
@@ -144,12 +152,13 @@ class ModelState(ModelStateBase):
      self._policy_slices_list = [metadata[k]['output_slices'] for k in policy_keys]
      self.policy_output_slices = self._policy_slices_list[0]
      self._has_on_policy = any('on' in k.lower() for k in policy_keys)
-      self._vision_input_names = [key for key in vision_metadata['input_shapes'] if 'img' in key]
+      first_policy_metadata = metadata[policy_keys[0]]
-      first_policy_meta = metadata[policy_keys[0]]
+      vision_input_shapes = vision_metadata['input_shapes']
-      frame_skip = derive_frame_skip(vision_metadata['input_shapes'], first_policy_meta['input_shapes'])
+      policy_input_shapes = first_policy_metadata['input_shapes']
-      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_metadata['input_shapes'],
+      self._vision_input_names = [k for k in vision_input_shapes if 'img' in k]
-                                                                     first_policy_meta['input_shapes'],
+      frame_skip = derive_frame_skip(vision_input_shapes, policy_input_shapes)
-                                                                     frame_skip, device=self.QUEUE_DEV)
+      self.input_queues, self.numpy_inputs = make_split_input_queues(vision_input_shapes, policy_input_shapes,
                                                                     frame_skip, device=self.QUEUE_DEV, use_packed=use_packed)
    self._desire_key = next(key for key in self.numpy_inputs if key.startswith('desire'))
    self._road_key = next(key for key in self._vision_input_names if 'big' not in key)
@@ -177,33 +186,10 @@ class ModelState(ModelStateBase):
    self.frame_buf_params = dict.fromkeys(self._vision_input_names, nv12_info)
    yuv_size = self.frame_buf_params[self._road_key][3]
-    frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+    self._warp_enqueue(
-    big_frame_tensor = Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize()
+      **self.input_queues,
-
+      frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize(),
-    if self.is_legacy_model: # Remove this conditional hack after recompile
+      big_frame=Tensor(np.zeros(yuv_size, dtype=np.uint8), device=self.WARP_DEV).contiguous().realize())
      self.warp(**self.input_queues, frame=frame_tensor, big_frame=big_frame_tensor)
    else:
      self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=frame_tensor, big_frame=big_frame_tensor)
    if self.usbgpu:
      self.warmup()
  def warmup(self) -> None:
    dummy_frames = {k: np.zeros(self.frame_buf_params[k][3], dtype=np.uint8) for k in self._vision_input_names}
    transforms = {k: np.eye(3, dtype=np.float32) for k in [self._road_key, self._wide_key] if k}
    dummy_inputs = {}
    for k, v in self.numpy_inputs.items():
      if k not in ['tfm', 'big_tfm', 'prev_feat']:
        dummy_inputs[k] = np.zeros(v.shape, dtype=v.dtype)
    self.run(dummy_frames, transforms, dummy_inputs, prepare_only=False)
    for v in self.numpy_inputs.values():
      v[:] = 0
    self.prev_desire[:] = 0
    self.full_frames.clear()
    self._blob_cache.clear()
  @property
@@ -241,17 +227,11 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['tfm'][:, :] = transforms[road_key].reshape(3, 3)
    self.numpy_inputs['big_tfm'][:, :] = transforms[wide_key].reshape(3, 3)
-    if self.is_legacy_model:  # remove after next recompile
+    if prepare_only:
-      if prepare_only:
+      self._warp_enqueue(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
-        self.warp(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+      return None
-        return None
+
-      raw_outputs = self.run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
+    raw_outputs = self._run_policy(**self.input_queues, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
    else:
      if prepare_only:
        self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
        return None
      warped = self.warp(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames[road_key], big_frame=self.full_frames[wide_key])
      raw_outputs = self.run_policy(**{k: self.input_queues[k] for k in POLICY_INPUTS if k in self.input_queues}, warped=warped)
    if self._combined_model_type == 'supercombo':
      model_output = raw_outputs.numpy().flatten()
@@ -287,9 +267,10 @@ class ModelState(ModelStateBase):
      buf[0, :-1] = buf[0, 1:]
      buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
-    if self.usbgpu and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
+    # TODO-SP: This is a hack to prevent GPU corruption by calculating in CPU space, it can be removed on next recompile
-      cloudlog.error("model output not finite, dropping frame")
+    if 'prev_feat' not in self.numpy_inputs and 'feat_q' in self.input_queues:
-      return None
+      feat_val = self.input_queues['feat_q'].numpy()
      self.input_queues['feat_q'].assign(feat_val).realize()
    return outputs
@@ -297,8 +278,8 @@ class ModelState(ModelStateBase):
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
    if 'action' not in model_output:
      plan = model_output['plan'][0]
-      desired_accel = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+      desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
-                                          action_t=long_action_t)
+                                                       action_t=long_action_t)
      curvature_plan = (plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0]
                        if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan)
@@ -306,8 +287,8 @@ class ModelState(ModelStateBase):
    else:
      desired_accel = model_output['action'][0, 1]
      desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2
      should_stop = (v_ego < 0.3 and desired_accel < 0.1)
    stop = v_ego < 0.3 and desired_accel < 0.1
    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
@@ -316,7 +297,7 @@ class ModelState(ModelStateBase):
      else:
        desired_curvature = prev_action.desiredCurvature
-    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature), desiredAcceleration=float(desired_accel), shouldStop=bool(stop))
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
 def main(demo=False):
@@ -327,14 +308,6 @@ def main(demo=False):
  setproctitle(PROCESS_NAME)
  config_realtime_process(7, 54)
  USBGPU = usbgpu_present()
  if USBGPU:
    os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
  params = Params()
  params.put_bool("UsbGpuLoading", USBGPU)
  params.remove("UsbGpuActive")
  # visionipc clients
  while True:
    available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -359,34 +332,15 @@ def main(demo=False):
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
  cloudlog.warning("loading model")
-  st = time.monotonic()
+  model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height)
-
+  cloudlog.warning("models loaded, modeld starting")
  model = None
  if USBGPU:
    import threading
    def load():
      nonlocal model
      model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=True)
    t = threading.Thread(target=load, daemon=True)
    t.start()
    t.join(60)
    if model is None:
      params.put_bool("UsbGpuActive", False)
      raise RuntimeError("eGPU model load failed or timed out (60s)")
    params.put_bool("UsbGpuActive", True)
  else:
    model = ModelState(cam_w=vipc_client_main.width, cam_h=vipc_client_main.height, usbgpu=False)
  params.put_bool("UsbGpuLoading", False)
  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
  # messaging
-  pub_socks = ["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"] + (["chestnutState"] if USBGPU else [])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
  pm = PubMaster(pub_socks)
  sm = SubMaster(["deviceState", "carState", "narrowRoadCameraState", "extrinsicsCalibration", "driverMonitoringState", "carControl", "lateralDelay"])
  publish_state = PublishState()
-  chestnut_state = ChestnutState(pm, USBGPU) if USBGPU else None
+  params = Params()
  # setup filter to track dropped frames
  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
@@ -524,7 +478,6 @@ def main(demo=False):
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, meta_constants)
      modelv2_send.modelV2.big = model.usbgpu
      desire_state = modelv2_send.modelV2.meta.desireState
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -545,8 +498,6 @@ def main(demo=False):
      pm.send('modelDataV2SP', mdv2sp_send)
    last_vipc_frame_id = meta_main.frame_id
    if chestnut_state is not None and run_count % round(model.constants.MODEL_FREQ / SERVICE_LIST['chestnutState'].frequency) == 0:
      chestnut_state.send()
 if __name__ == "__main__":
  try:
@@ -6,6 +6,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import pathlib
 import pickle
 import tempfile
 import openpilot.sunnypilot.models.helpers as helpers
@@ -163,16 +164,14 @@ ARCHETYPES = {
 def make_pkl_data(archetype):
  return {
    'metadata': archetype.metadata_structure,
-    'run_policy': _noop_jit,
+    (CAM_W, CAM_H): {'run_policy': _noop_jit, 'warp_enqueue': _noop_jit},
    (CAM_W, CAM_H): _noop_jit,
  }
 def write_pkl(tmp_path, archetype):
  from openpilot.selfdrive.modeld.helpers import dump_oob
  pkl_path = tmp_path / 'driving_test_tinygrad.pkl'
  with open(pkl_path, 'wb') as f:
-    dump_oob(make_pkl_data(archetype), f)
+    pickle.dump(make_pkl_data(archetype), f)
  return pkl_path
@@ -33,7 +33,7 @@ class TestRecoveryPower(OpenpilotTestCase):
    def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
      recorded_vel.append(plan_vel.copy())
-      return 0.0
+      return 0.0, False
    def mock_curvature(output, plan, vego, lat_action_t, mlsim):
      recorded_curv_plans.append(plan.copy())
@@ -13,7 +13,6 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 from openpilot.selfdrive.modeld.helpers import usbgpu_present
 from openpilot.cereal import custom
@@ -104,11 +103,11 @@ class ModelParser:
 class ModelCache:
  """Handles caching of model data to avoid frequent remote fetches"""
-  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9), suffix: str = ""):
+  def __init__(self, params: Params, cache_timeout: int = int(3600 * 1e9)):
    self.params = params
    self.cache_timeout = cache_timeout
-    self._LAST_SYNC_KEY = f"ModelManager_LastSyncTime{suffix}"
+    self._LAST_SYNC_KEY = "ModelManager_LastSyncTime"
-    self._CACHE_KEY = f"ModelManager_ModelsCache{suffix}"
+    self._CACHE_KEY = "ModelManager_ModelsCache"
  def _is_expired(self) -> bool:
    """Checks if the cache has expired"""
@@ -140,37 +139,24 @@ class ModelCache:
 class ModelFetcher:
  """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v20.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v18.json"
  MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v20.json"
  def __init__(self, params: Params):
    self.params = params
    self.model_parser = ModelParser()
    self._is_usbgpu: bool | None = None
    self.model_cache = ModelCache(params)
-    self.model_url = self.MODEL_URL
+    self.model_parser = ModelParser()
    self._update_model_source()
  def _update_model_source(self) -> None:
    """Updates what json to use based on usbgpu availability"""
    is_usbgpu = usbgpu_present()
    if is_usbgpu != self._is_usbgpu:
      self._is_usbgpu = is_usbgpu
      self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
      self.model_url = self.MODEL_URL_USBGPU if is_usbgpu else self.MODEL_URL
      self.params.put("ModelManager_ActiveJson", self.model_url, block=True)
  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
    """Fetches fresh model data from remote and updates cache.
    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
    """
    try:
-      response = requests.get(self.model_url, timeout=10)
+      response = requests.get(self.MODEL_URL, timeout=10)
      # Explicitly handle 404 differently
      if response.status_code == 404:
-        cloudlog.error(f"Models URL returned 404 Not Found: {self.model_url}")
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
-        raise HTTPError(f"404 Not Found: {self.model_url}", response=response)
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
      # Raise for any other 4xx/5xx
      response.raise_for_status()
@@ -193,7 +179,6 @@ class ModelFetcher:
  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
    """Gets the list of available models, with smart cache handling"""
    self._update_model_source()
    cached_data, is_expired = self.model_cache.get()
    if cached_data and not is_expired:
@@ -217,7 +202,10 @@ if __name__ == "__main__":
  for bundle in bundles:
    for model in bundle.models:
      model_overrides = {override.key: override.value for override in bundle.overrides}
      # Print model details
      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
      # Print artifact details
      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
      # Print metadata details
      if model.artifact.chunks:
        print(f"Contains {len(model.artifact.chunks)} chunks.")
@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
 from openpilot.common.hardware.hw import Paths
 # SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
-REQUIRED_JSON_VERSION = 17
+REQUIRED_JSON_VERSION = 16
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -1,13 +1,12 @@
 import requests
 from openpilot.common.params import Params
 from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
 from openpilot.sunnypilot.models.fetcher import ModelFetcher
 from openpilot.common.test import OpenpilotTestCase
 def fetch_tinygrad_ref():
-  fetcher = ModelFetcher(Params())
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
  response = requests.get(fetcher.model_url, timeout=10)
  response.raise_for_status()
  json_data = response.json()
  return json_data.get("tinygrad_ref")
@@ -2172,6 +2172,26 @@
      "title": "Hyundai / Kia / Genesis Settings",
      "description": "",
      "items": [
        {
          "key": "CustomButtonAction",
          "widget": "multiple_button",
          "title": "Steering Custom Button",
          "description": "Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.",
          "options": [
            {
              "value": 0,
              "label": "None"
            },
            {
              "value": 1,
              "label": "Bookmark"
            },
            {
              "value": 3,
              "label": "Cycle UI"
            }
          ]
        },
        {
          "key": "HyundaiLongitudinalTuning",
          "widget": "multiple_button",
@@ -10,6 +10,17 @@ sections:
  title: Hyundai / Kia / Genesis Settings
  description: ''
  items:
  - key: CustomButtonAction
    widget: multiple_button
    title: Steering Custom Button
    description: Choose the openpilot action for the steering wheel custom/star button. OEM functionality is unchanged.
    options:
    - value: 0
      label: None
    - value: 1
      label: Bookmark
    - value: 3
      label: Cycle UI
  - key: HyundaiLongitudinalTuning
    widget: multiple_button
    title: Custom Longitudinal Tuning
@@ -33,7 +33,6 @@ USBDEVFS_SETCONFIGURATION = 0x80045505
 USBDEVFS_CLAIMINTERFACE = 0x8004550F
 USBDEVFS_RESET = 0x5514
 USBDEVFS_CLEAR_HALT = 0x80045515
 MAX_REGISTER_READ_SIZE = 255
 _deadline = float("inf")
@@ -147,7 +146,6 @@ def claim_interface(path, setup=False):
 class Flash:
  def __init__(self):
    self.fd = -1
    self.max_register_read_size = MAX_REGISTER_READ_SIZE
  def close(self):
    if self.fd >= 0:
@@ -162,9 +160,6 @@ class Flash:
      if in_rom_bootloader(vid_pid, product):
        raise RomFallback("chestnut fell back to the ROM bootloader")
      if path is not None:
        speed = int(open(path + "/speed").read())
        # USB2 firmware truncates larger reads to one full packet without a terminating ZLP.
        self.max_register_read_size = 64 if speed < 5000 else MAX_REGISTER_READ_SIZE
        self.fd = claim_interface(path)
        return
      time.sleep(0.1)
@@ -236,8 +231,8 @@ class Flash:
    while len(out) < length:
      n = min(4096, length - len(out))
      self.transaction(0x03, addr + len(out), max(4096, n))
-      for off in range(0, n, self.max_register_read_size):
+      for off in range(0, n, 255):
-        out += self.reg_read(0x7000 + off, min(self.max_register_read_size, n - off))
+        out += self.reg_read(0x7000 + off, min(255, n - off))
    return bytes(out)
  def erase_sector(self, addr):
@@ -16,7 +16,6 @@ from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.modeld.helpers import MODELS_DIR, usbgpu_compiled
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.hardware import HARDWARE, COMMA_HARDWARE
 from openpilot.common.basedir import BASEDIR
@@ -239,7 +238,6 @@ def hardware_thread(end_event, hw_queue) -> None:
  fan_controller = FanController(int(1./DT_HW))
  chestnut = Chestnut()
  big_model_available = (MODELS_DIR / 'big_driving_supercombo.onnx').is_file() or usbgpu_compiled()
  while not end_event.is_set():
    sm.update(PANDA_STATES_TIMEOUT)
@@ -301,7 +299,6 @@ def hardware_thread(end_event, hw_queue) -> None:
    set_usb_state(msg.deviceState, last_hw_state.usb_state)
    chestnut.update(started_ts is None, last_hw_state.usb_state)
    set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available)
    # this subset is only used for offroad
    temp_sources = [
@@ -14,7 +14,7 @@
 #include "sunnypilot/common/version.h"
 // ***** log metadata *****
-kj::Array<capnp::word> logger_build_init_data(bool route_log) {
+kj::Array<capnp::word> logger_build_init_data() {
  uint64_t wall_time = nanos_since_epoch();
  MessageBuilder msg;
@@ -72,7 +72,7 @@ kj::Array<capnp::word> logger_build_init_data(bool route_log) {
    "df -h",  // usage for all filesystems
  };
-  auto hw_logs = Hardware::get_init_logs(route_log);
+  auto hw_logs = Hardware::get_init_logs();
  auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
  for (int i = 0; i < log_commands.size(); i++) {
@@ -166,7 +166,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal =
 LoggerState::LoggerState(const std::string &log_root) {
  route_name = logger_get_identifier("RouteCount");
  route_path = log_root + "/" + route_name;
-  init_data = logger_build_init_data(true);
+  init_data = logger_build_init_data();
 }
 LoggerState::~LoggerState() {
@@ -32,6 +32,6 @@ protected:
  std::unique_ptr<ZstdFileWriter> rlog, qlog;
 };
-kj::Array<capnp::word> logger_build_init_data(bool route_log = false);
+kj::Array<capnp::word> logger_build_init_data();
 std::string logger_get_identifier(std::string key);
 std::string zstd_decompress(const std::string &in);
@@ -3,12 +3,11 @@ import sys
 import time
 import signal
 import struct
 import threading
 import requests
 import urllib.parse
 from datetime import datetime, UTC
-from openpilot.cereal import log, messaging
+from openpilot.cereal import messaging
 from openpilot.common.api import Api
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
@@ -47,6 +46,7 @@ def get_assistnow_messages() -> list[bytes]:
  params = Params()
  if token := params.get('AssistNowToken'):
    cloudlog.warning("Downloading AssistNow data directly from u-blox")
    # TODO: implement adding the last known location
    r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
      'token': token,
      'gnss': 'gps,glo',
@@ -240,6 +240,14 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
        ))
        pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
      # A configured u-blox token takes precedence over comma's AGPS proxy.
      try:
        for msg in get_assistnow_messages():
          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
        cloudlog.warning("AssistNow messages sent")
      except Exception:
        cloudlog.warning("failed to get AssistNow messages")
      cloudlog.warning("Pigeon GPS on!")
      break
    except TimeoutError:
@@ -279,38 +287,12 @@ def run_receiving(duration: int = 0):
  start_time = time.monotonic()
  last_almanac_save = time.monotonic()
  assist_attempted = False
  assist_messages = None
  def download_assistnow() -> None:
    nonlocal assist_messages
    sm = messaging.SubMaster(['deviceState'])
    while assist_messages is None:
      sm.update(1000)
      if system_time_valid() and sm['deviceState'].networkType != log.DeviceState.NetworkType.none:
        try:
          assist_messages = get_assistnow_messages()
        except Exception:
          cloudlog.warning("failed to get AssistNow messages")
      time.sleep(10.)
  threading.Thread(target=download_assistnow, daemon=True).start()
  while (duration == 0) or (time.monotonic() - start_time < duration):
    if assist_messages is not None and not assist_attempted:
      assist_attempted = True
      try:
        for msg in assist_messages:
          pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
        cloudlog.warning("AssistNow messages sent")
      except Exception:
        cloudlog.warning("failed to send AssistNow messages")
    dat = pigeon.receive()
    if len(dat) > 0:
      if dat[0] == 0x00:
        cloudlog.warning("received invalid data from ublox, re-initing!")
        init(pigeon)
        assist_attempted = False
        continue
      # send out to socket
@@ -4,15 +4,7 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 from collections.abc import Callable
 import pyray as rl
 from openpilot.system.ui.lib.application import FontWeight
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, _resolve_value
 class NoElideButtonAction(ButtonActionSP):
@@ -20,38 +12,6 @@ class NoElideButtonAction(ButtonActionSP):
    return super().get_width_hint() + 1
 class ScrollingButtonAction(ButtonActionSP):
  """ButtonActionSP whose value scrolls instead of eliding when it doesn't fit."""
  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH,
               enabled: bool | Callable[[], bool] = True):
    super().__init__(text=text, width=width, enabled=enabled)
    self._value_label = UnifiedLabel("", font_size=style.ITEM_TEXT_FONT_SIZE, font_weight=FontWeight.NORMAL,
                                     text_color=self._value_color, scroll=True,
                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
    if self.value != _resolve_value(value, ""):
      self._value_label.reset_scroll()
    super().set_value(value, color)
    self._value_label.set_text(value)
    self._value_label.set_text_color(color)
  def _render(self, rect: rl.Rectangle) -> bool:
    """Duplicate of ButtonActionSP._render, with the value drawn by a scrolling label"""
    self._button.set_text(self.text)
    self._button.set_enabled(_resolve_value(self.enabled))
    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
    self._button.render(button_rect)
    if self.value:
      self._value_label.render(rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height))
    pressed = self._pressed
    self._pressed = False
    return pressed
 class AlertFadeAnimator:
  def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
    from openpilot.common.filter_simple import FirstOrderFilter
@@ -1,166 +0,0 @@
 """
 Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 import math
 import numpy as np
 import pyray as rl
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.list_view import ItemAction
 FONT_SIZE = style.ITEM_TEXT_FONT_SIZE
 ICON_SIZE = 56
 ICON_PADDING = 12
 BAR_WIDTH = 1100
 BAR_HEIGHT = 20
 BAR_GAP = 16
 BAR_RADIUS = BAR_HEIGHT / 2
 CAPSULE_POINTS = 24
 RAIL_COLOR = rl.Color(60, 60, 60, 255)
 FILL_COLOR = rl.Color(30, 121, 232, 255)
 # rl.WHITE is a tuple; the shimmer path reads .a off the color
 TEXT_COLOR = rl.Color(255, 255, 255, 255)
 SWEEP_SPEED = 550.0  # px/s
 SWEEP_BAND = 240.0   # highlight half-width, px
 SWEEP_DIM = 0.65
 class DownloadStatusAction(ItemAction):
  """Model download row: a name + percent over a progress rail while downloading, a name + icon otherwise."""
  def __init__(self):
    super().__init__(width=BAR_WIDTH)
    self.name = ""
    self.status_text = ""
    self.downloading = False
    self.text_color = rl.GRAY
    self.icon: str | None = None
    self.icon_color: rl.Color | None = None
    self._font = gui_app.font(FontWeight.NORMAL)
    # raw progress arrives in steps, one per 128KB chunk the manager publishes
    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
    # integrated per frame; (t * speed) % span jumps whenever the fill width changes
    self._sweep = 0.0
    self._name_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
    self._percent_label = UnifiedLabel("", font_size=FONT_SIZE, font_weight=FontWeight.NORMAL, text_color=TEXT_COLOR,
                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
  def update(self, name, downloading=False, progress=0.0, status_text="", text_color=rl.GRAY, icon=None, icon_color=None):
    if downloading and not self.downloading:
      self._name_label.reset_shimmer()
      self._progress.x = progress
      self._sweep = 0.0
    self.name = name
    self.downloading = downloading
    self.status_text = status_text
    self.text_color = text_color
    self.icon = icon
    self.icon_color = icon_color
    self._name_label._shimmer = downloading
    if downloading:
      self._progress.update(progress)
      self._sweep += SWEEP_SPEED / gui_app.target_fps
  @property
  def _idle_text(self) -> str:
    return f"{self.name} - {self.status_text}" if self.status_text else self.name
  def get_width_hint(self) -> float:
    if self.downloading:
      return BAR_WIDTH
    width = measure_text_cached(self._font, self._idle_text, FONT_SIZE).x
    if self.icon:
      width += ICON_SIZE + ICON_PADDING
    return width
  def _render(self, rect: rl.Rectangle):
    if self.downloading:
      self._render_downloading(rect)
    else:
      self._render_idle(rect)
  def _sweep_gradient(self, width: float) -> Gradient:
    # clearance at both ends keeps the wrap offscreen
    center = (self._sweep % (width + 2 * SWEEP_BAND)) - SWEEP_BAND
    def band(x: float) -> float:
      return max(0.0, 1.0 - abs(x - center) / SWEEP_BAND)
    # sampling the corners is exact for a piecewise linear band
    xs = sorted({0.0, width} | {min(max(center + o, 0.0), width) for o in (-SWEEP_BAND, 0.0, SWEEP_BAND)}, reverse=True)
    # the gradient axis runs right-to-left in screen space
    stops = [1.0 - x / width for x in xs]
    # alpha here is the lift over the SWEEP_DIM base, not the final opacity
    colors = [rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * band(x))) for x in xs]
    return Gradient(start=(0.0, 0.0), end=(1.0, 0.0), colors=colors, stops=stops)
  @staticmethod
  def _capsule(rect: rl.Rectangle) -> np.ndarray:
    """Rounded-end ribbon so the gradient covers the caps."""
    r = rect.height / 2
    cy = rect.y + r
    top, bottom = [], []
    for i in range(CAPSULE_POINTS):
      x = rect.x + rect.width * i / (CAPSULE_POINTS - 1)
      d = min(x - rect.x, rect.x + rect.width - x, r)
      h = math.sqrt(max(r * r - (r - d) ** 2, 0.0))
      top.append((x, cy - h))
      bottom.append((x, cy + h))
    return np.array(top + bottom[::-1], dtype=np.float32)
  def _draw_fill(self, rail: rl.Rectangle, fill_width: float):
    if fill_width <= 0:
      return
    fill = rl.Rectangle(rail.x, rail.y, fill_width, rail.height)
    rl.draw_rectangle_rounded(fill, 1.0, 10, rl.Color(FILL_COLOR.r, FILL_COLOR.g, FILL_COLOR.b, int(255 * SWEEP_DIM)))
    draw_polygon(fill, self._capsule(fill), gradient=self._sweep_gradient(fill_width))
  def _render_downloading(self, rect: rl.Rectangle):
    percent = f"{int(self._progress.x)}%"
    text_height = measure_text_cached(self._font, percent, FONT_SIZE).y
    top = rect.y + (rect.height - (text_height + BAR_GAP + BAR_HEIGHT)) / 2
    text_rect = rl.Rectangle(rect.x, top, rect.width, text_height)
    self._name_label.set_text(self.name)
    self._name_label.render(text_rect)
    self._percent_label.set_text(percent)
    self._percent_label.render(text_rect)
    rail = rl.Rectangle(rect.x, top + text_height + BAR_GAP, rect.width, BAR_HEIGHT)
    rl.draw_rectangle_rounded(rail, 1.0, 10, RAIL_COLOR)
    self._draw_fill(rail, max(0.0, min(rect.width, rect.width * (self._progress.x / 100.0))))
  def _render_idle(self, rect: rl.Rectangle):
    text = self._idle_text
    text_size = measure_text_cached(self._font, text, FONT_SIZE)
    right = rect.x + rect.width
    if self.icon:
      texture = gui_app.texture(self.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
      rl.draw_texture_v(texture, rl.Vector2(right - texture.width, rect.y + (rect.height - texture.height) / 2),
                        self.icon_color or self.text_color)
      right -= texture.width + ICON_PADDING
    rl.draw_text_ex(self._font, text, rl.Vector2(right - text_size.x, rect.y + (rect.height - text_size.y) / 2),
                    FONT_SIZE, 0, self.text_color)
 def download_status_item(title):
  return ListItemSP(title=title, action_item=DownloadStatusAction(), title_color=style.ITEM_TEXT_COLOR)
@@ -207,10 +207,13 @@ def handle_agnos_update() -> None:
  set_consistent_flag(False)
  cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
  set_offroad_alert("Offroad_NeosUpdate", True)
  manifest_path = os.path.join(OVERLAY_MERGED, "openpilot/system/hardware/comma/agnos.json")
  target_slot_number = get_target_slot_number()
  flash_agnos_update(manifest_path, target_slot_number, cloudlog)
  set_offroad_alert("Offroad_NeosUpdate", False)
 class Updater:
@@ -7,7 +7,7 @@ from openpilot.common.test import OpenpilotTestCase
 from openpilot.cereal import messaging, log
 from teleoprtc.tracks import VIDEO_CLOCK_RATE
-from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy, ServerState, handle_get_stream
+from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
@@ -80,8 +80,3 @@ class TestStreamSession(OpenpilotTestCase):
        start_pts = packet.pts
      assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
      assert bytes(packet) == b""
  def test_stream_rejects_non_json_content_type(self):
    response = self.loop.run_until_complete(handle_get_stream(ServerState(), b"{}", "text/plain"))
    assert response == (415, b'{"error": "unsupported media type"}', "application/json; charset=utf-8")
@@ -395,10 +395,7 @@ def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
  return (status, text.encode(), "text/plain; charset=utf-8")
-async def handle_get_stream(state: ServerState, raw_body: bytes, content_type: str) -> tuple[int, bytes, str]:
+async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
  if content_type != "application/json":
    return _json_response({"error": "unsupported media type"}, status=415)
  stream_dict = state.streams
  body = StreamRequestBody(**json.loads(raw_body))
@@ -511,7 +508,7 @@ class WebrtcdHandler(BaseHTTPRequestHandler):
        services = parse_qs(parsed.query).get("services", [""])[0]
        result = self._run(handle_get_schema(self.server.state, services))
      elif parsed.path == "/stream":
-        result = self._run(handle_get_stream(self.server.state, self._read_body(), self.headers.get_content_type()))
+        result = self._run(handle_get_stream(self.server.state, self._read_body()))
      else:  # /notify
        try:
          payload = json.loads(self._read_body())
@@ -614,7 +611,7 @@ def webrtcd_thread(host: str, port: int):
 def main():
  parser = argparse.ArgumentParser(description="WebRTC daemon")
-  parser.add_argument("--host", type=str, default="127.0.0.1", help="Host to listen on")
+  parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
  parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
  args = parser.parse_args()
@@ -21,7 +21,7 @@ dependencies = [
  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
  # core
-  "scons==4.10.1",  # 4.11 removed the qt3 tool still used to build Cabana
+  "scons",
  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
  "numpy >=2.0",
@@ -48,11 +48,6 @@ def create_short_name(full_name: str) -> str:
  return result[:8]
 def create_pkl_name(full_name: str) -> str:
  pkl = re.sub(r'[^a-zA-Z0-9]+', '_', full_name).strip('_').lower()
  return pkl
 def _read_pkl_bytes(pkl_path: Path) -> bytes:
  manifest = Path(f"{pkl_path}.chunkmanifest")
  if manifest.exists():
@@ -159,15 +154,14 @@ if __name__ == "__main__":
  _output_dir = Path(args.output_dir)
  _output_dir.mkdir(exist_ok=True, parents=True)
  _short_name = create_short_name(args.custom_name) if args.custom_name else None
  _pkl = create_pkl_name(args.custom_name) if args.custom_name else None
  _driving_pkl = _find_driving_pkl(_output_dir)
  if not _driving_pkl:
    print(f"No driving_tinygrad.pkl found in {_output_dir}", file=sys.stderr)
    sys.exit(1)
-  if _pkl:
+  if _short_name:
-    new_pkl = _output_dir / f"driving_{_pkl}_tinygrad.pkl"
+    new_pkl = _output_dir / f"driving_{_short_name.lower()}_tinygrad.pkl"
    if not new_pkl.exists():
      _driving_pkl = _rename_pkl_with_chunks(_driving_pkl, new_pkl)
    else:
@@ -52,12 +52,6 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 # gitlinks break the release tree on device
 if git ls-files -s | awk '$1 == "160000" { found = 1; print } END { exit !found }'; then
    echo "Error: submodules found in release tree."
    exit 1
 fi
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
@@ -2,14 +2,15 @@
 set -e
 set -x
 # git diff --name-status origin/release3-staging | grep "^A" | less
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd $DIR
 BUILD_DIR=/data/openpilot
 SOURCE_DIR="$(git rev-parse --show-toplevel)"
 export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
 if [ -z "$RELEASE_BRANCH" ]; then
  echo "RELEASE_BRANCH is not set"
  exit 1
@@ -22,36 +23,33 @@ BUILD_BRANCH=release-mici-staging
 source $DIR/identity.sh
 echo "[-] Setting up repo T=$SECONDS"
-if ! git -C "$SOURCE_DIR" worktree remove --force "$BUILD_DIR" 2>/dev/null; then
+rm -rf $BUILD_DIR
-  rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
 fi
 git -C "$SOURCE_DIR" worktree prune
 git -C "$SOURCE_DIR" worktree add --detach --no-checkout "$BUILD_DIR"
 cd $BUILD_DIR
-git update-ref -d "refs/heads/$BUILD_BRANCH"
+git init
-git symbolic-ref HEAD "refs/heads/$BUILD_BRANCH"
+git remote add origin git@github.com:commaai/openpilot.git
-git read-tree --empty
+git checkout --orphan $BUILD_BRANCH
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+cp -pR --parents $(./tools/release/release_files.py) $BUILD_DIR/
 # in the directory
 cd $BUILD_DIR
-# use the full CPU available for speeding up the build.
+rm -f panda/board/obj/panda.bin.signed
-# openpilot resets the CPU frequencies when test_onroad.py runs below.
+rm -f panda/board/obj/panda_h7.bin.signed
 for policy in /sys/devices/system/cpu/cpufreq/policy*; do
  [ -d "$policy" ] || continue
  hardware_max="$(cat "$policy/cpuinfo_max_freq")"
  echo "$hardware_max" | sudo tee "$policy/scaling_max_freq" >/dev/null
 done
 VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
 # Build and test before launch_chffrplus.sh creates the on-device package
 # symlinks. SConstruct uses the same package roots for build subprocesses.
 export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
 scons
 if [ -n "$INCLUDE_BIG_MODEL" ]; then
  test -f openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl.chunkmanifest
 fi
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
  # release panda fw
@@ -74,6 +72,7 @@ find . -name '*.a' -delete
 find . -name '*.o' -delete
 find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile tools/release/
 rm -f openpilot/selfdrive/modeld/models/*.onnx*
@@ -89,11 +88,9 @@ git checkout openpilot/third_party/
 # Mark as prebuilt release
 touch prebuilt
 VERSION=$(cat openpilot/sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 # Add built files to git
-# writing larger objects is faster than compressing them on-device
+git add -f .
-git -c core.compression=0 add -f .
+git commit --amend -m "openpilot v$VERSION"
 git -c core.compression=0 -c gc.auto=0 commit -m "openpilot v$VERSION"
 # Run tests
 cd $BUILD_DIR
@@ -105,7 +102,6 @@ REFS=()
 for branch in ${RELEASE_BRANCH//,/ }; do
  REFS+=("$BUILD_BRANCH:$branch")
 done
-# uploading the larger pack is faster than spending CPU to optimize it
+git push -f origin "${REFS[@]}"
 git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin "${REFS[@]}"
 echo "[-] done T=$SECONDS"
@@ -30,14 +30,20 @@ git submodule deinit -f --all
 git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 # cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
 git submodule foreach --recursive git clean -xdff
 # do the files copy
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
-./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$TARGET_DIR" --
+./tools/release/release_files.py | xargs -d '\n' cp -pR --parents -t "$TARGET_DIR"
 # in the directory
 cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;
@@ -51,10 +57,9 @@ echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
 echo "[-] committing version $VERSION T=$SECONDS"
-# writing larger objects is faster than compressing them on-device
+git add -f .
 git -c core.compression=0 add -f .
 git status
-git -c core.compression=0 commit -a -m "sunnypilot v$VERSION release
+git commit -a -m "sunnypilot v$VERSION release
 date: $DATETIME
 master commit: $GIT_HASH
@@ -78,8 +83,7 @@ fi
 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  # uploading the larger pack is faster than spending CPU to optimize it
+  git push -f origin tmp:$BRANCH
  git -c pack.window=0 -c pack.depth=0 -c pack.compression=0 push -f origin tmp:$BRANCH
 fi
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 import os
 import re
-import subprocess
+from pathlib import Path
 import sys
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = os.path.abspath(os.path.join(HERE, "../.."))
 blacklist = [
  ".git/",
  ".venv/",
  ".github/workflows/",
  "matlab.*.md",
  # skip big model for now
  "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx",
  # no LFS or submodules in release
  ".lfsconfig",
  ".gitattributes",
@@ -29,17 +30,14 @@ whitelist: list[str] = [
 if __name__ == "__main__":
-  tracked_files = subprocess.check_output(["git", "ls-files", "-z", "--recurse-submodules"], cwd=ROOT).split(b"\0")
+  for f in Path(ROOT).rglob("**/*"):
-  for tracked_file in tracked_files:
+    if not (f.is_file() or f.is_symlink()):
    if not tracked_file:
      continue
-    rf = os.fsdecode(tracked_file)
+    rf = str(f.relative_to(ROOT))
    if not os.getenv("INCLUDE_BIG_MODEL") and rf.startswith("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"):
      continue
    blacklisted = any(re.search(p, rf) for p in blacklist)
    whitelisted = any(re.search(p, rf) for p in whitelist)
    if blacklisted and not whitelisted:
      continue
-    sys.stdout.buffer.write(tracked_file + b"\0")
+    print(rf)
@@ -52,43 +52,24 @@ wheels = [
 [[package]]
 name = "charset-normalizer"
-version = "3.5.1"
+version = "3.4.9"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e5/3f/143b048436775b0f76ac3eec145c019e8173ccc2885c8f20319b996d5e83/charset_normalizer-3.5.1.tar.gz", hash = "sha256:6117b84ea48435e5356dc737f5121485c30920ba43375fa7b434fd753df0eac3", size = 171764, upload-time = "2026-08-15T08:20:44.807Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/bd/2a/23f34ec9d04624958e137efdc394888716353190e75f25dd22c7a2c7a8aa/charset_normalizer-3.4.9.tar.gz", hash = "sha256:673611bbd43f0810bec0b0f028ddeaaa501190339cac411f347ac76917c3ae7b", size = 152439, upload-time = "2026-07-07T14:34:58.454Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/30/27/78873dc8b6a56357517b74b6bb9568b80450e7bb4f6ef7e3fa9d22aa0bd7/charset_normalizer-3.5.1-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:5b6d1386bf0096d26d3a863dc0a487a5b4eb9aa93cf5ba69683d29dde6b9d60f", size = 344456, upload-time = "2026-08-15T08:17:10.072Z" },
+    { url = "https://files.pythonhosted.org/packages/70/4a/ecbd131485c07fcdfad54e28946d513e3da22ef3b4bd854dcafae54ec739/charset_normalizer-3.4.9-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:45b0cc4e3556cd875e09102988d1ab8356c998b596c9fced84547c8138b487a0", size = 319300, upload-time = "2026-07-07T14:33:15.666Z" },
-    { url = "https://files.pythonhosted.org/packages/9a/4c/be49ada26b1f0232d57aa89bbebf997a5cc2332a5616b6eca26ff680044d/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:4582c27e8c889d64811987b5967fbd3ae0c823fe1fd933b543d55ac20bb475fa", size = 238530, upload-time = "2026-08-15T08:17:11.563Z" },
+    { url = "https://files.pythonhosted.org/packages/ec/96/5d9364e3342d69f3a045e1777bc47c85c383e6e9466d561b33fdb419d1f9/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:9b2aff1c7b3884512b9512c3eaadd9bab39fb45042ffaaa1dd08ff2b9f8109d9", size = 215802, upload-time = "2026-07-07T14:33:17.031Z" },
-    { url = "https://files.pythonhosted.org/packages/76/84/6f1290fa07ae6978d3960caa3eb1b8019bf9284ab7c2297b00c099ef4250/charset_normalizer-3.5.1-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:1d1c7a53a6c2103925cdd6d7229f8c567379f211c869793df679f2e9f738c369", size = 230200, upload-time = "2026-08-15T08:17:12.919Z" },
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 [[package]]
Author	SHA1	Message	Date
royjr	7be3eca113	ui: preserve custom button presses	2026-08-16 21:02:03 -04:00
royjr	9e9918124d	Merge branch 'hyundai-custom-button' into ccnc-port-custom-button	2026-08-16 20:45:36 -04:00
royjr	4621e9a560	Update opendbc_repo	2026-08-16 20:45:25 -04:00
royjr	a8795674b8	ui: remove custom button quiet mode	2026-08-16 16:33:39 -04:00
royjr	823b447fff	ui: adapt custom button cycle by device	2026-08-16 16:29:12 -04:00
royjr	c36db99c2d	ui: cycle custom button navigation	2026-08-16 16:27:59 -04:00
royjr	5426b6af86	ui: toggle custom button navigation targets	2026-08-16 16:26:44 -04:00
royjr	bf0cdd667b	ui: add custom button navigation actions	2026-08-16 16:24:42 -04:00
royjr	9af59caf9c	ui: compartmentalize custom button handling	2026-08-16 16:21:05 -04:00
royjr	1a75c53ea4	ui: handle custom steering button on comma 4	2026-08-16 16:18:09 -04:00
royjr	83999585ec	Merge branch 'master' into hyundai-custom-button # Conflicts: # opendbc_repo # selfdrive/ui/feedback/feedbackd.py # sunnypilot/sunnylink/params_metadata.json	2026-08-16 16:02:16 -04:00
royjr	138353adb4	Update opendbc_repo	2026-08-16 15:39:52 -04:00
royjr	f7eb4c2561	Update opendbc_repo	2026-08-15 01:39:27 -04:00
royjr	be9255358c	Update opendbc_repo	2026-08-15 01:35:33 -04:00
royjr	f48ccb5d7a	Merge branch 'master' into ccnc-port	2026-08-14 20:42:45 -04:00
royjr	99559d6749	Update opendbc_repo	2026-08-14 20:42:36 -04:00
royjr	4b6f0ffb46	Merge branch 'master' into ccnc-port	2026-08-11 11:56:46 -04:00
royjr	55415382ce	Update opendbc_repo	2026-08-11 11:56:38 -04:00
royjr	9f30901eb6	Merge branch 'master' into ccnc-port	2026-08-10 16:33:50 -04:00
royjr	d2045d24fb	Update opendbc_repo	2026-08-10 16:33:37 -04:00
royjr	6488a11e4d	Merge branch 'master' into ccnc-port	2026-08-02 14:27:34 -04:00
royjr	7b22b65313	Merge branch 'master' into ccnc-port	2026-07-27 15:29:04 -04:00
royjr	b59a50101e	Update opendbc_repo	2026-07-27 15:28:51 -04:00
royjr	3e30962bd3	Merge branch 'master' into ccnc-port	2026-07-25 03:04:23 -04:00
royjr	3274043063	Update opendbc_repo	2026-07-25 03:04:12 -04:00
royjr	c624550d2e	Merge branch 'master' into ccnc-port	2026-07-20 15:52:41 -04:00
royjr	6759038671	Merge branch 'master' into ccnc-port	2026-07-20 09:18:18 -04:00
royjr	aa636e75c8	Merge branch 'master' into ccnc-port	2026-07-16 00:23:49 -04:00
royjr	5ff3c3bd8d	Update opendbc_repo	2026-07-16 00:23:43 -04:00
royjr	1e11b52290	Update opendbc_repo	2026-07-14 00:40:02 -04:00
royjr	76e0204025	Update opendbc_repo	2026-07-14 00:37:13 -04:00
royjr	cc88f2cbd6	Update opendbc_repo	2026-07-10 22:00:25 -04:00
royjr	ee0ac199a4	Update opendbc_repo	2026-07-03 08:08:29 -04:00
royjr	d5ed828eaa	Update opendbc_repo	2026-07-01 19:30:06 -04:00
royjr	9fca585f2a	Merge branch 'master' into ccnc-port	2026-06-30 22:14:33 -04:00
royjr	bb1259303e	Update opendbc_repo	2026-06-30 22:14:23 -04:00
royjr	e135051ca8	Merge branch 'master' into ccnc-port	2026-06-13 22:38:22 -04:00
royjr	12bef55d8a	Update opendbc_repo	2026-06-13 22:12:00 -04:00
royjr	2f7a45e6c8	Merge branch 'master' into ccnc-port	2026-06-08 22:01:57 -04:00
royjr	936ebfc12b	Update opendbc_repo	2026-06-08 22:01:44 -04:00
royjr	aa0c9dc0eb	Merge branch 'master' into ccnc-port	2026-06-04 09:52:35 -04:00
royjr	7476a866e7	Update opendbc_repo	2026-06-04 09:52:06 -04:00
royjr	610d857e33	Merge branch 'master' into ccnc-port	2026-05-28 08:30:40 -04:00
royjr	d2f47407d0	Update opendbc_repo	2026-05-12 21:03:18 -04:00
royjr	db75ec76ea	Merge branch 'master' into ccnc-port	2026-05-12 20:44:57 -04:00
royjr	24066465d7	Update opendbc_repo	2026-05-12 20:44:48 -04:00
royjr	a7abbd6e25	Update opendbc_repo	2026-04-20 18:22:12 -04:00
royjr	878982447c	Merge branch 'master' into ccnc-port	2026-04-19 12:06:46 -04:00
royjr	576527a36b	Merge branch 'master' into ccnc-port	2026-04-17 05:42:35 -04:00
royjr	ef8c35da24	Update opendbc_repo	2026-04-17 05:41:21 -04:00
royjr	85688b1040	Merge branch 'master' into ccnc-port	2026-04-16 19:48:39 -04:00
royjr	0fb2199130	Update opendbc_repo	2026-04-16 19:47:57 -04:00
royjr	d48d756c1d	Update opendbc_repo	2026-04-08 00:56:54 -04:00
royjr	2ed298a0c9	Merge branch 'master' into ccnc-port	2026-04-08 00:51:13 -04:00
royjr	d68f038949	Update opendbc_repo	2026-04-08 00:51:11 -04:00
royjr	7231571e57	Merge branch 'master' into ccnc-port	2026-04-03 23:34:00 -04:00
royjr	b37f1419d3	Update opendbc_repo	2026-04-03 23:33:19 -04:00
royjr	cd85a66790	Merge branch 'master' into ccnc-port	2026-03-26 00:53:07 -04:00
royjr	305ea87daf	Update opendbc_repo	2026-03-26 00:52:44 -04:00
royjr	4bbfc793e0	Merge branch 'master' into ccnc-port	2026-03-15 15:44:59 -04:00
royjr	d5d983676e	Update opendbc_repo	2026-03-13 16:41:05 -04:00
royjr	de8a96a398	Merge branch 'master' into ccnc-port	2026-03-13 16:41:00 -04:00
royjr	0cbf45f699	Merge branch 'master' into ccnc-port	2026-03-11 23:28:59 -04:00
royjr	0d68a3a2ab	Merge branch 'master' into ccnc-port	2026-03-09 19:58:32 -04:00
royjr	9e85a85059	Update opendbc_repo	2026-03-09 19:58:18 -04:00
royjr	0373c327c0	Update opendbc_repo	2026-03-02 10:10:38 -05:00
royjr	efe9e5c200	Update opendbc_repo	2026-03-02 02:15:05 -05:00
royjr	8a249a45dc	Update opendbc_repo	2026-03-02 02:06:16 -05:00
royjr	bdbefe67f6	Update opendbc_repo	2026-03-02 01:40:31 -05:00
royjr	675bb166ad	Merge branch 'master' into ccnc-port	2026-03-01 17:18:11 -05:00
royjr	1b717a7e88	Merge branch 'master' into ccnc-port	2026-03-01 13:23:30 -05:00
royjr	86f55a8ba9	Update opendbc_repo	2026-03-01 13:23:24 -05:00
royjr	629392d2f7	Update opendbc_repo	2026-02-27 16:31:59 -05:00
royjr	bc414bdc8b	Update opendbc_repo	2026-02-26 23:53:26 -05:00
royjr	7ca5649f2c	Merge branch 'master' into ccnc-port	2026-02-26 23:52:46 -05:00
royjr	641ee8fa87	Update opendbc_repo	2026-02-26 23:52:27 -05:00
royjr	56c276158c	Merge branch 'master' into ccnc-port	2026-02-24 14:12:12 -05:00
royjr	c65308a8bd	Update opendbc_repo	2026-02-24 14:12:01 -05:00
royjr	994e526460	Merge branch 'master' into ccnc-port	2026-02-18 12:06:05 -05:00
royjr	1defae36b7	Update opendbc_repo	2026-02-18 12:05:53 -05:00
royjr	40dc4e1591	Merge branch 'master' into hyundai-custom-button	2026-02-16 22:43:14 -05:00
royjr	cce4810904	Update opendbc_repo	2026-02-16 22:43:09 -05:00
royjr	5b58f9c1f5	Update opendbc_repo	2026-02-13 23:34:16 -05:00
royjr	815ac7732b	Merge branch 'master' into hyundai-custom-button	2026-02-13 23:02:12 -05:00
royjr	2321f9d8f5	Update opendbc_repo	2026-02-13 23:02:06 -05:00
royjr	8f029fd0ef	Merge branch 'master' into ccnc-port	2026-02-13 23:01:41 -05:00
royjr	ddb46284dc	Update opendbc_repo	2026-02-13 23:01:16 -05:00
royjr	9effc754d9	Merge branch 'master' into ccnc-port	2026-02-06 01:16:06 -05:00
royjr	e49ffc2a2d	Update opendbc_repo	2026-02-06 01:15:59 -05:00
royjr	b9020e0003	Update params_metadata.json	2026-02-04 22:07:48 -05:00
royjr	ceb466578a	Update params_metadata.json	2026-02-04 22:07:19 -05:00
royjr	e1cfea4924	Update RELEASES.md	2026-02-04 22:04:29 -05:00
royjr	dd8a2bf83a	Merge branch 'master' into hyundai-custom-button	2026-02-04 21:45:41 -05:00
royjr	ba36a28f2a	Update opendbc_repo	2026-02-04 21:43:53 -05:00
royjr	cf2010389a	Revert "Update opendbc_repo" This reverts commit `43522c4922`.	2026-02-04 19:14:43 -05:00
royjr	43522c4922	Update opendbc_repo	2026-02-04 19:14:28 -05:00
royjr	2cacd0b3e5	Merge branch 'master' into ccnc-port	2026-01-24 12:50:18 -05:00
royjr	c4b8859dff	Update opendbc_repo	2026-01-24 12:50:11 -05:00
royjr	8fb0953205	Merge branch 'master' into ccnc-port	2026-01-11 22:17:38 -05:00
royjr	63d1c8835f	Merge branch 'master' into ccnc-port	2026-01-10 13:03:48 -05:00
royjr	17a185606d	Merge branch 'master' into ccnc-port	2026-01-09 16:40:32 -05:00
royjr	da10131392	Merge branch 'master' into ccnc-port	2025-12-28 17:18:51 -05:00
royjr	7107c2ba14	Merge branch 'master' into ccnc-port	2025-12-23 12:13:48 -05:00
royjr	95b6e877ac	Update opendbc_repo	2025-12-23 12:13:29 -05:00
royjr	eb02c6570e	Update opendbc_repo	2025-12-21 15:43:04 -05:00
royjr	1be8ae31c4	Merge branch 'master' into ccnc-port	2025-12-19 01:04:42 -05:00
royjr	04dcd38856	Update opendbc_repo	2025-12-19 01:04:30 -05:00
royjr	22ccf0d72f	Merge branch 'master' into ccnc-port	2025-12-15 17:02:50 -05:00
royjr	3c969bb627	Merge branch 'master' into ccnc-port	2025-12-13 23:22:22 -05:00
royjr	20f8011feb	Update opendbc_repo	2025-12-13 23:22:11 -05:00
royjr	9cf17e74a1	Merge branch 'master' into ccnc-port	2025-12-12 23:19:56 -05:00
royjr	2c4efdf557	Merge branch 'master' into ccnc-port	2025-12-07 13:29:48 -05:00
royjr	4cd3d3c16c	Merge branch 'master' into ccnc-port	2025-12-02 12:56:21 -05:00
royjr	637f3ae9c8	Merge branch 'master' into ccnc-port	2025-12-01 14:41:03 -05:00
royjr	464ee80f71	Merge branch 'master' into ccnc-port	2025-11-26 00:27:53 -05:00
royjr	2743a04613	Merge branch 'master' into ccnc-port	2025-11-24 18:44:13 -05:00
royjr	7f9978d001	Merge branch 'master' into ccnc-port	2025-11-22 00:21:15 -05:00
royjr	4b83961c67	Merge branch 'master' into ccnc-port	2025-11-21 16:23:22 -05:00
royjr	c00eaf428a	Update opendbc_repo	2025-11-21 16:23:01 -05:00
royjr	0a9993e8d4	Merge branch 'master' into ccnc-port	2025-11-19 16:49:59 -05:00
royjr	0af214a985	Update opendbc_repo	2025-11-19 16:49:51 -05:00
royjr	af43385e3a	Merge branch 'master' into ccnc-port	2025-11-11 10:19:51 -05:00
royjr	0ab2b8c590	Update opendbc_repo	2025-11-07 19:59:50 -05:00
royjr	67ab18a0de	Merge branch 'master' into ccnc-port	2025-11-07 19:23:51 -05:00
royjr	e87dc15b30	Update opendbc_repo	2025-11-07 19:23:37 -05:00
royjr	192d08516c	Merge branch 'master' into ccnc-port	2025-11-02 19:23:00 -05:00
royjr	3cf001c59c	Update opendbc_repo	2025-11-02 19:22:49 -05:00
royjr	f2ccd021da	Merge branch 'master' into ccnc-port	2025-11-02 14:07:54 -05:00
royjr	c9fc900f64	Update opendbc_repo	2025-11-02 14:07:44 -05:00
royjr	3c37c5ce5d	Update opendbc_repo	2025-10-30 11:28:49 -04:00
royjr	7c45889e4e	Merge branch 'master' into ccnc-port	2025-10-30 11:27:50 -04:00
royjr	2aabb7aee8	Merge branch 'master' into ccnc-port	2025-10-24 14:16:09 -04:00
royjr	3859e9962f	Update opendbc_repo	2025-10-24 14:15:51 -04:00
royjr	810efbab72	Merge branch 'master' into ccnc-port	2025-10-18 07:33:11 -04:00
royjr	ec27bec326	Update opendbc_repo	2025-10-18 07:32:33 -04:00
royjr	250d553157	Merge branch 'master' into ccnc-port	2025-10-14 21:57:32 -04:00
royjr	cea54a0ca8	Update opendbc_repo	2025-10-14 21:57:26 -04:00
royjr	8e72d783bd	Update opendbc_repo	2025-10-13 22:41:21 -04:00
royjr	1b0dc103dc	Merge branch 'master' into ccnc-port	2025-10-11 23:51:46 -04:00
royjr	6c364d292b	Update opendbc_repo	2025-10-11 23:51:31 -04:00
royjr	bcdec2ce84	Merge branch 'master' into ccnc-port	2025-10-10 17:29:05 -04:00
royjr	3deaeb3759	Merge branch 'master' into ccnc-port	2025-10-10 15:02:32 -04:00
royjr	c669f0984a	Update opendbc_repo	2025-10-10 15:02:17 -04:00
royjr	1cb5f24439	Merge branch 'master' into hyundai-custom-button	2025-10-08 21:37:43 -04:00
royjr	b6a3f21a52	Merge branch 'master' into hyundai-custom-button	2025-10-08 18:27:27 -04:00
royjr	2ecc26b623	Update opendbc_repo	2025-10-08 18:27:19 -04:00
royjr	145f75fe06	Merge branch 'master' into hyundai-custom-button	2025-10-08 17:57:50 -04:00
royjr	bd0578cbf9	Update opendbc_repo	2025-10-08 17:17:28 -04:00
royjr	46dd946740	Merge branch 'master' into ccnc-port	2025-10-07 01:36:06 -04:00
royjr	9da4b3653e	Update opendbc_repo	2025-10-07 01:35:58 -04:00
royjr	4e21ae7c50	Update opendbc_repo	2025-10-05 06:21:56 -04:00
royjr	bb91e92237	Update opendbc_repo	2025-10-05 06:01:15 -04:00
royjr	14b4c4f85b	Update opendbc_repo	2025-10-02 09:20:32 -04:00
royjr	0660b542c3	Merge branch 'master' into ccnc-port	2025-10-01 16:01:32 -04:00
royjr	2b893b90c9	Update opendbc_repo	2025-10-01 16:01:26 -04:00
royjr	f5139178ed	Merge branch 'master' into ccnc-port	2025-09-30 14:39:57 -04:00
royjr	fb43b755f2	Update opendbc_repo	2025-09-30 14:39:50 -04:00
royjr	07f5b967d8	Merge branch 'master' into ccnc-port	2025-09-24 21:30:29 -04:00
royjr	ea19c7d3bb	Update opendbc_repo	2025-09-24 21:30:17 -04:00
royjr	e461842cbb	Merge branch 'master' into ccnc-port	2025-09-23 05:55:02 -04:00
royjr	a73c9659d5	Update opendbc_repo	2025-09-23 05:54:50 -04:00
royjr	cb796fbc76	Merge branch 'master' into ccnc-port	2025-09-18 20:10:43 -04:00
royjr	6bf75fc557	Update opendbc_repo	2025-09-18 20:10:37 -04:00
royjr	9a1fc28819	Merge branch 'master' into ccnc-port	2025-09-18 13:54:36 -04:00
royjr	0741d05e92	Update opendbc_repo	2025-09-18 13:54:23 -04:00
royjr	1ad008107d	Merge branch 'master' into ccnc-port	2025-09-15 01:40:27 -04:00
royjr	feebd9df93	Reapply "UI: Developer UI (#1233 )" This reverts commit `15e5d2efb9`.	2025-09-15 01:40:21 -04:00
royjr	c2e5ced3e5	Update opendbc_repo	2025-09-15 01:39:51 -04:00
royjr	15e5d2efb9	Revert "UI: Developer UI (#1233 )" This reverts commit `1bb4ca2547`.	2025-09-12 02:10:29 -04:00
royjr	a3929d0b54	Merge branch 'master' into ccnc-port	2025-09-12 01:40:29 -04:00
royjr	794f8f9991	Update opendbc_repo	2025-09-08 09:27:31 -04:00
royjr	68fa5e3f21	Merge branch 'master' into ccnc-port	2025-09-07 13:13:37 -04:00
royjr	86c6cc1f48	Merge branch 'master' into ccnc-port	2025-09-03 22:22:12 -04:00
royjr	eb7ffbf093	Update opendbc_repo	2025-09-03 10:14:58 -04:00
royjr	40f24cc0b6	Update opendbc_repo	2025-09-03 10:08:01 -04:00
royjr	3919095752	Update opendbc_repo	2025-09-03 10:05:35 -04:00
royjr	754efac063	Merge branch 'master' into hyundai-custom-button	2025-09-03 09:57:35 -04:00
royjr	132cc156f4	Update opendbc_repo	2025-09-03 09:57:27 -04:00
royjr	74d63be1c3	Merge branch 'master' into ccnc-port	2025-09-03 09:50:55 -04:00
royjr	8894486a1a	Update opendbc_repo	2025-09-03 09:50:49 -04:00
royjr	810599315d	Merge branch 'master' into ccnc-port	2025-08-31 16:53:30 -04:00
royjr	6f3ab810c8	Update opendbc_repo	2025-08-31 16:53:24 -04:00
royjr	230f78b8d3	Merge branch 'master' into ccnc-port	2025-08-26 12:14:46 -04:00
royjr	f1affec088	Update opendbc_repo	2025-08-26 12:14:22 -04:00
nayan	95ad932efb	disable lkas per upstream & fix mixed events	2025-08-25 09:15:20 -04:00
nayan	ae30f4119f	Merge remote-tracking branch 'origin/master' into hyundai-custom-button # Conflicts: # RELEASES.md # opendbc_repo # selfdrive/ui/feedback/feedbackd.py	2025-08-25 09:04:57 -04:00
nayan	d251ae4976	pr be messing with pr	2025-08-24 16:40:48 -04:00
royjr	97d8ef242c	Merge branch 'master' into ccnc-port	2025-08-24 15:12:57 -04:00
royjr	a63fff9b45	Update opendbc_repo	2025-08-24 15:12:46 -04:00
nayan	33324e590b	use altButton2 event	2025-08-23 22:24:39 -04:00
nayan	fea10ffd22	Merge remote-tracking branch 'origin/master' into hyundai-custom-button	2025-08-23 22:00:59 -04:00
nayan	f1e11e3f06	bump opendbc	2025-08-23 22:00:50 -04:00
royjr	cb3893daaa	Merge branch 'master' into ccnc-port	2025-08-23 10:33:24 -04:00
royjr	29f60df74b	Merge branch 'master' into ccnc-port	2025-08-22 11:18:27 -04:00
royjr	c6c072e1f4	Update opendbc_repo	2025-08-22 11:18:18 -04:00
royjr	c562eca8a1	Merge branch 'master' into hyundai-custom-button	2025-08-22 10:30:38 -04:00
royjr	d9a690dac3	Update opendbc_repo	2025-08-22 10:30:28 -04:00
nayan	a0eed058d1	bump opendbc	2025-08-13 17:28:11 -04:00
nayan	abc9f47a6f	Merge remote-tracking branch 'origin/master' into hyundai-custom-button # Conflicts: # opendbc_repo	2025-08-13 17:27:19 -04:00
royjr	d101cbb83e	Update opendbc_repo	2025-08-13 16:00:04 -04:00
royjr	1536d59633	Update opendbc_repo	2025-08-13 15:28:37 -04:00
royjr	dc99b865ae	Merge branch 'master' into ccnc-port	2025-08-13 12:31:14 -04:00
royjr	e59bc027ff	Merge branch 'master' into ccnc-port	2025-08-13 11:58:05 -04:00
royjr	cf7e5efaca	Update opendbc_repo	2025-08-13 11:57:57 -04:00
Nayan	b064f6fcaf	Merge branch 'master' into hyundai-custom-button	2025-08-12 14:41:16 -04:00
nayan	0c7d7df2ec	keep both	2025-08-12 14:40:11 -04:00
nayan	dc86f35957	refactor	2025-08-12 13:29:06 -04:00
nayan	9685b0aa9b	lint	2025-08-12 12:49:17 -04:00
nayan	f23cc408e3	not needed anymore	2025-08-12 12:48:49 -04:00
nayan	cea00a6c14	todo	2025-08-12 12:00:53 -04:00
nayan	f2949e1dc2	use custom button in feedbackd	2025-08-10 11:49:35 -04:00
royjr	5f1f34fa7f	Update opendbc_repo	2025-08-10 09:31:11 -04:00
royjr	2c041f9025	Merge branch 'master' into hyundai-custom-button	2025-08-10 09:28:05 -04:00
royjr	4b44f2eb31	Merge branch 'master' into ccnc-port	2025-08-10 09:18:24 -04:00
royjr	107d2ab400	Update opendbc_repo	2025-08-10 09:18:15 -04:00
nayan	74b2d519b9	move custom button to cs_sp, add bookmark functionality	2025-08-05 15:52:46 -04:00
royjr	5432d9062c	Merge branch 'master' into ccnc-port	2025-08-04 11:52:29 -04:00
royjr	f533f6c843	Merge branch 'master' into ccnc-port	2025-08-02 06:53:54 -04:00
royjr	58e9ac763c	Update opendbc_repo	2025-08-02 06:53:43 -04:00
royjr	cb50d54169	Merge branch 'master-new' into ccnc-port	2025-07-24 20:23:46 -04:00
royjr	bd5de4ed0a	Merge branch 'master-new' into ccnc-port	2025-07-20 23:49:36 -04:00
royjr	0d4073fadb	Merge branch 'master-new' into ccnc-port	2025-07-19 23:18:26 -04:00
royjr	ebc70dcb52	Merge branch 'master-new' into ccnc-port	2025-07-19 14:37:17 -04:00
royjr	4d0426999e	Update opendbc_repo	2025-07-19 14:36:59 -04:00
royjr	286da42573	Merge branch 'master-new' into ccnc-port	2025-07-16 23:48:23 -04:00
royjr	8a836710a9	Update opendbc_repo	2025-07-16 23:48:06 -04:00
royjr	5d515bcf33	Merge branch 'master-new' into ccnc-port	2025-07-07 05:35:55 -04:00
royjr	1c7f6d5133	Update opendbc_repo	2025-07-03 21:24:01 -04:00
royjr	05d57c7aeb	Update opendbc_repo	2025-07-01 18:30:32 -04:00
royjr	e4b0eaf352	Update opendbc_repo	2025-06-28 19:30:28 -04:00
royjr	a710276472	Merge branch 'master-new' into ccnc-port	2025-06-28 19:22:59 -04:00
royjr	af086db671	Merge branch 'master-new' into ccnc-port	2025-06-28 12:13:26 -04:00
royjr	0d9eb0e25e	Update opendbc_repo submodule to latest commit Advanced the opendbc_repo submodule to commit d309f7ec96e37267c94d12fc4bfe2672ad505b06. This pulls in the latest changes from the opendbc repository.	2025-06-26 14:03:56 -04:00
royjr	0616caed6d	Merge branch 'master-new' into ccnc-port	2025-06-25 19:33:53 -04:00
royjr	095337b3c1	Update opendbc_repo	2025-06-25 19:33:38 -04:00
royjr	1edec2d22c	Update opendbc_repo	2025-06-14 16:14:02 -04:00
royjr	affabb9ee0	Update opendbc_repo	2025-06-14 15:55:07 -04:00
royjr	dc27e8711c	Update opendbc_repo	2025-06-14 14:54:32 -04:00
royjr	cf7329a264	Merge branch 'master-new' into ccnc-port	2025-06-11 21:36:06 -04:00
royjr	5ee5ecd820	Merge branch 'master-new' into ccnc-port	2025-06-08 23:25:13 -04:00
royjr	b064f730dd	Update opendbc_repo	2025-06-08 17:54:43 -04:00