Merge branch '2.1' into hkg-angle-steering-2025-sl-2.1

# Conflicts: # opendbc_repo # system/version.py
tests
2026-06-25 14:12:06 +08:00 · 2026-04-23 01:26:05 -04:00 · 2026-04-22 20:51:57 -04:00 · 2026-04-22 20:39:36 -04:00 · 2026-04-22 20:38:44 -04:00 · 2026-04-22 14:45:52 -04:00
733 changed files with 98702 additions and 10936 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -11,4 +11,13 @@
 *.wav filter=lfs diff=lfs merge=lfs -text

 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
+third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,8 @@
+---
+name: Enhancement
+about: For openpilot enhancement suggestions
+title: ''
+labels: 'enhancement'
+assignees: ''
+---
+
@@ -120,7 +120,6 @@ jobs:
    with:
      upstream_branch: ${{ matrix.model.ref }}
      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
    secrets: inherit
@@ -158,7 +157,6 @@ jobs:
    with:
      upstream_branch: ${{ matrix.model.ref }}
      custom_name: ${{ matrix.model.display_name }}
-      is_20hz: ${{ matrix.model.is_20hz }}
      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
      json_version: ${{ needs.setup.outputs.json_version }}
      artifact_suffix: -retry
@@ -24,11 +24,6 @@ on:
        required: false
        type: string
        default: ''
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
      bypass_push:
        description: 'Bypass pushing to GitLab for build-all'
        required: false
@@ -44,11 +39,6 @@ on:
        description: 'Custom name for the model (no date, only name)'
        required: false
        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
      recompiled_dir:
        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
@@ -92,7 +82,7 @@ jobs:
    with:
      upstream_branch: ${{ inputs.upstream_branch }}
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: ${{ inputs.is_20hz }}
+      is_20hz: true
      artifact_suffix: ${{ inputs.artifact_suffix }}
    secrets: inherit

@@ -23,43 +23,56 @@ env:
  CI: 1

 jobs:
+  generate_cereal_artifact:
+    name: Generate cereal validation artifacts
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        run: scons -j$(nproc) cereal
+      - name: Dump sunnypilot schema
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
+      - name: 'Prepare artifact'
+        run: |
+          mkdir -p "cereal/messaging/tests/cereal_validations"
+          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
+          cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: cereal_validations
+          path: cereal/messaging/tests/cereal_validations
+
  validate_cereal_with_upstream:
    name: Validate cereal with Upstream
    runs-on: ubuntu-24.04
+    needs: generate_cereal_artifact
    steps:
-      - name: Checkout sunnypilot cereal
+      - name: Checkout sunnypilot
        uses: actions/checkout@v6
-        with:
-          sparse-checkout: cereal
-
-      - name: Init sunnypilot opendbc submodule
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Checkout upstream openpilot cereal
+      - name: Checkout upstream openpilot
        uses: actions/checkout@v6
        with:
          repository: 'commaai/openpilot'
-          path: upstream_openpilot
-          sparse-checkout: cereal
+          path: openpilot
+          submodules: true
          ref: "refs/heads/master"
-
-      - name: Init upstream opendbc submodule
-        working-directory: upstream_openpilot
-        run: git submodule update --init --depth 1 opendbc_repo
-
-      - name: Install uv
-        run: pip install uv
-
-      - name: Generate sunnypilot schema
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        working-directory: openpilot
+        run: scons -j$(nproc) cereal
+      - name: Download build artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: cereal_validations
+          path: openpilot/cereal/messaging/tests/cereal_validations
+      - name: 'Validate sunnypilot schema against upstream'
        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -g -f /tmp/sp_schema.json --cereal-dir cereal
-
-      - name: Validate against upstream
-        run: |
-          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
-          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
-            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
+          export PYTHONPATH=${{ github.workspace }}/openpilot
+          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
@@ -164,54 +164,18 @@ jobs:
          source /etc/profile
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"

-          COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
-          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
-          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
-          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
-
-          # Generate metadata for all ONNX files
+          # Loop through all .onnx files
          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            echo "Generating metadata: $onnx_file"
-            env ${TG_FLAGS} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+            base_name=$(basename "$onnx_file" .onnx)
+            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+
+            echo "Compiling: $onnx_file -> $output_file"
+            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
+            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

-          # Detect model type and build compile args
-          VISION_ONNX="${{ env.MODELS_DIR }}/driving_vision.onnx"
-          POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
-          OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
-          ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
-
-          MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
-          if [ -f "$VISION_ONNX" ]; then
-            ONNX_ARGS="--vision-onnx $VISION_ONNX"
-            if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
-            elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_multi_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
-            elif [ -f "$POLICY_ONNX" ]; then
-              MODEL_TYPE=vision_policy
-              ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
-            fi
-          elif [ -f "$SUPERCOMBO_ONNX" ]; then
-            MODEL_TYPE=supercombo
-            ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
-          fi
-
-          if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
-            env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
-              --model-type $MODEL_TYPE \
-              --model-size $MODEL_SIZE \
-              --camera-resolutions $CAMERA_RES \
-              $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
-          fi
-
      - name: Validate Model Outputs
        run: |
          source /etc/profile
@@ -230,8 +194,6 @@ jobs:
          rsync -avm \
            --include='*.dlc' \
            --include='*.pkl' \
-            --include='*.chunk*' \
-            --include='*.chunkmanifest' \
            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
@@ -215,8 +215,8 @@ jobs:
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/*.onnx*' \
-            --exclude='sunnypilot/modeld*/models/*.onnx*' \
+            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
+            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
            --exclude='third_party/*x86*' \
            --exclude='third_party/*Darwin*' \
            --delete-excluded \
@@ -123,7 +123,7 @@ jobs:
        submodules: true
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
      run: |
@@ -147,7 +147,7 @@ jobs:
        submodules: true
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
@@ -179,7 +179,7 @@ jobs:
        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
        path: ${{ github.workspace }}/ci-artifacts
-    - name: Prepare refs
+    - name: Push refs
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
@@ -191,13 +191,7 @@ jobs:
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
+        git push origin process-replay --force
    - name: Run regen
      if: false
      timeout-minutes: 4
@@ -220,7 +214,7 @@ jobs:
        submodules: true
    - run: ./tools/op.sh setup
    - name: Build openpilot
-      run: scons
+      run: scons -j$(nproc)
    - name: Driving test
      timeout-minutes: 2
      run: |
@@ -241,7 +235,7 @@ jobs:
          submodules: true
      - run: ./tools/op.sh setup
      - name: Build openpilot
-        run: scons
+        run: scons -j$(nproc)
      - name: Create UI Report
        run: |
          source selfdrive/test/setup_xvfb.sh
@@ -44,7 +44,6 @@ bin/
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_input_devices.json

 # build artifacts
 docs_site/
@@ -21,5 +21,12 @@
        </clean>
      </configuration>
    </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
  </component>
 </project>
@@ -20,4 +20,11 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -21,6 +21,7 @@
    "common/**",
    "selfdrive/**",
    "system/**",
+    "third_party/**",
    "tools/**",
  ]
 }
@@ -1,7 +1,4 @@
-sunnypilot Version 2026.002.000 (2026-xx-xx)
-========================
-
-sunnypilot Version 2026.001.000 (2026-05-06)
+sunnypilot Version 2026.001.000 (2026-03-xx)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
  * Complete rewrite of the user interface from Qt C++ to Raylib Python
@@ -69,64 +66,6 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
-  * [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
-  * [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
-  * Fix display of values when using use_float_scaling by @CHaucke89
-  * models: fix default & index "0" by @nayan8teen
-  * [TIZI/TICI] visuals: Improved speed limit by @angaz
-  * ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
-  * [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
-  * controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
-  * soundd: trigger timeout warning during MADS lateral-only by @zephleggett
-  * pandad: flasher for Rivian long upgrade module by @lukasloetkolben
-  * modeld_v2: tinygrad transformation warp by @Discountchubbs
-  * tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
-  * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
-  * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
-  * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
-  * ui: don't hide steering wheel when blindspot disabled by @royjr
-  * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
-  * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
-  * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
-  * sunnypilot modeld: remove thneed modeld by @Discountchubbs
-  * modeld_v2: decouple planplus scaling from accel by @Discountchubbs
-  * sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
-  * [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
-  * [TIZI/TICI] ui: dynamic alert size by @nayan8teen
-  * i18n(fr): Add French translations by @didlawowo
-  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
-  * ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
-  * pandad: gate unsupported pandas before flashing by @sunnyhaibin
-  * Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
-  * [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
-  * ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
-  * ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
-  * [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
-  * pandad: always prioritize internal panda by @sunnyhaibin
-  * sunnylinkd: fetch compressed params schema by @sunnyhaibin
-  * sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
-  * modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
-  * NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
-  * MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
-  * [MICI] ui: models panel enhancements by @nayan8teen
-  * [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
-  * tools: script for video concatenation by @Discountchubbs
-  * tools: profile memory usage by @Discountchubbs
-  * [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
-  * [MICI] ui: always offroad by @nayan8teen
-  * controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
-  * Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
-  * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
-  * [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
-  * sunnylink: Remove unused API endpoint by @devtekve
-  * DM: wheel touch enforcement in MADS by @sunnyhaibin
-  * torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
-  * MADS: suppress espActive event when long is not engaged by @sunnyhaibin
-  * sunnylink: SDUI by @sunnyhaibin
-  * [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
-  * ui: fix cellular toggles by @AmyJeanes
-  * sunnylink: switch athena domain by @devtekve
-  * Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
 * What's Changed (sunnypilot/opendbc)
  * Honda: DBC for Accord 9th Generation by @mvl-boston
  * FCA: update tire stiffness values for `RAM_HD` by @dparring
@@ -145,25 +84,12 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
-  * Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
-  * Rivian: long upgrade messages on bus 1 by @lukasloetkolben
-  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
-  * Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
-  * Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
-  * MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
-  * Platform List: include community supported platforms by @sunnyhaibin
 * New Contributors (sunnypilot/sunnypilot)
  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
-  * @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
-  * @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
-  * @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
-  * @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
-  * @didlawowo made their first contribution in "i18n(fr): Add French translations"
-  * @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
 * New Contributors (sunnypilot/opendbc)
  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
@@ -173,20 +99,6 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
-************************
-* Synced with commaai's openpilot (v0.11.1)
-  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
-* New driver monitoring model
-* Improved image processing pipeline for driver camera
-* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-* Improved inter-process communication memory efficiency
-* comma four support

 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
@@ -166,8 +166,8 @@ node {
  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

-  def excludeBranches = ['__nightly', 'devel', 'devel-staging',
-                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +179,7 @@ node {
  try {
    if (env.BRANCH_NAME == 'devel-staging') {
      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/release/build_release.sh"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
      ])
    }

@@ -247,6 +247,7 @@ node {
          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
        ])
      },

@@ -1,13 +1,7 @@
-Version 0.11.2 (2026-06-15)
-========================
-
-
-Version 0.11.1 (2026-05-18)
+Version 0.11.1 (2026-04-22)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
-* Improved thermal policy for comma four
-* Acura MDX 2022-24 support thanks to mvl-boston!
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!

 Version 0.11.0 (2026-03-17)
@@ -10,28 +10,25 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes

-TICI = os.path.isfile('/TICI')
-
 SCons.Warnings.warningAsException(True)

 Decider('MD5-timestamp')

-SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))

 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
-release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
          action='store_false',
          dest='extras',
-          default=(not TICI and not release),
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
          help='the minimum build to run openpilot. no tests, tools, etc.')

 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
-elif arch == "aarch64" and TICI:
+elif arch == "aarch64" and os.path.isfile('/TICI'):
  arch = "larch64"
 assert arch in [
  "larch64",  # linux tici arm64
@@ -40,14 +37,8 @@ assert arch in [
  "Darwin",   # macOS arm64 (x86 not supported)
 ]

-pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
-acados = pkgs[pkg_names.index('acados')]
-acados_include_dirs = [
-  acados.INCLUDE_DIR,
-  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
-  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
-]


 # ***** enforce a whitelist of system libraries *****
@@ -91,10 +82,10 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
  ENV={
    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
-    "ACADOS_SOURCE_DIR": acados.DIR,
-    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
-    "TERA_PATH": acados.TERA_PATH
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
  },
  CCFLAGS=[
    "-g",
@@ -114,14 +105,22 @@ env = Environment(
  CPPPATH=[
    "#",
    "#msgq",
-    acados_include_dirs,
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
    [x.INCLUDE_DIR for x in pkgs],
  ],
  LIBPATH=[
    "#common",
    "#msgq_repo",
+    "#third_party",
    "#selfdrive/pandad",
    "#rednose/helpers",
+    f"#third_party/acados/{arch}/lib",
    [x.LIB_DIR for x in pkgs],
  ],
  RPATH=[],
@@ -175,6 +174,16 @@ if not GetOption('verbose'):
  ):
    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"

+# progress output
+node_interval = 5
+node_count = 0
+def progress_function(node):
+  global node_count
+  node_count += node_interval
+  sys.stderr.write("progress: %d\n" % node_count)
+if os.environ.get('SCONS_PROGRESS'):
+  Progress(progress_function, interval=node_interval)
+
 # ********** Cython build environment **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
@@ -190,24 +199,14 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')

-Export('env', 'arch', 'acados', 'release')
+Export('env', 'arch')

 # Setup cache dir
 default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)

-def prune_cache_dir(target=None, source=None, env=None):
-  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
-  cache_size = sum(os.path.getsize(f) for f in cache_files)
-  for f in cache_files:
-    if cache_size < cache_size_limit:
-      break
-    cache_size -= os.path.getsize(f)
-    os.unlink(f)
-
 # ********** start building stuff **********

 # Build common module
@@ -243,6 +242,9 @@ SConscript([
 if arch == "larch64":
  SConscript(['system/camerad/SConscript'])

+# Build openpilot
+SConscript(['third_party/SConscript'])
+
 # Build selfdrive
 SConscript([
  'selfdrive/pandad/SConscript',
@@ -255,8 +257,8 @@ SConscript([

 SConscript(['sunnypilot/SConscript'])

-# Build desktop-only tools
-if GetOption('extras') and arch != "larch64":
+# Build tools
+if arch != "larch64":
  SConscript([
    'tools/replay/SConscript',
    'tools/cabana/SConscript',
@@ -265,37 +267,3 @@ if GetOption('extras') and arch != "larch64":


 env.CompilationDatabase('compile_commands.json')
-
-# progress output
-def count_scons_nodes(nodes):
-  seen = set()
-  stack = list(nodes)
-
-  while stack:
-    node = stack.pop().disambiguate()
-    if node in seen:
-      continue
-    seen.add(node)
-    executor = node.get_executor()
-    if executor is not None:
-      stack += executor.get_all_prerequisites() + executor.get_all_children()
-
-  return len(seen)
-
-progress_interval = 5
-progress_count = 0
-progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
-
-def progress_function(node):
-  global progress_count
-  if progress_count >= progress_total:
-    return
-  progress_count = min(progress_count + progress_interval, progress_total)
-  progress = round(100. * progress_count / progress_total, 1)
-  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
-  if progress == 100. and sys.stderr.isatty():
-    sys.stderr.write("\n")
-  sys.stderr.flush()
-
-Progress(progress_function, interval=progress_interval)
-AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
@@ -273,7 +273,11 @@ struct GPSNMEAData {
  nmea @2 :Text;
 }

+# android sensor_event_t
 struct SensorEventData {
+  version @0 :Int32;
+  sensor @1 :Int32;
+  type @2 :Int32;
  timestamp @3 :Int64;

  union {
@@ -292,10 +296,7 @@ struct SensorEventData {

  struct SensorVec {
    v @0 :List(Float32);
-
-    deprecated :group {
-      status @1 :Int8;
-    }
+    status @1 :Int8;
  }

  enum SensorSource {
@@ -313,11 +314,7 @@ struct SensorEventData {
    mmc5603nj @11;
  }

-  # formerly based on android sensor_event_t
  deprecated :group {
-    version @0 :Int32;
-    sensor @1 :Int32;
-    type @2 :Int32;
    uncalibrated @10 :Bool;
  }
 }
@@ -460,10 +457,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  }

  enum ThermalStatus {
-    ok @0;
-    warmDEPRECATED @1;
-    overheated @2;
-    critical @3;
+    green @0;
+    yellow @1;
+    red @2;
+    danger @3;
  }

  enum NetworkType {
@@ -2057,15 +2054,16 @@ struct DriverStateV2 {
    facePosition @2 :List(Float32);
    facePositionStd @3 :List(Float32);
    faceProb @4 :Float32;
-    leftEyeProb @5 :Float32;
-    rightEyeProb @6 :Float32;
-    leftBlinkProb @7 :Float32;
-    rightBlinkProb @8 :Float32;
-    sunglassesProb @9 :Float32;
+    eyesVisibleProb @14 :Float32;
+    eyesClosedProb @15 :Float32;
    phoneProb @13 :Float32;
-    sleepProb @14 :Float32;

    deprecated :group {
+      leftEyeProb @5 :Float32;
+      rightEyeProb @6 :Float32;
+      leftBlinkProb @7 :Float32;
+      rightBlinkProb @8 :Float32;
+      sunglassesProb @9 :Float32;
      notReadyProb @12 :List(Float32);
      occludedProb @10 :Float32;
      readyProb @11 :List(Float32);
@@ -2078,7 +2076,7 @@ struct DriverStateV2 {
  }
 }

-struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
+struct DriverMonitoringState @0xb83cda094a1da284 {
  events @18 :List(OnroadEvent);
  faceDetected @1 :Bool;
  isDistracted @2 :Bool;
@@ -2106,75 +2104,6 @@ struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
  }
 }

-struct DriverMonitoringState {
-  lockout @0 :Bool;
-  alertCountLockoutPercent @1 :Int8;
-  alertTimeLockoutPercent @2 :Int8;
-
-  alwaysOn @3 :Bool;
-  alwaysOnLockout @4 :Bool;
-
-  alertLevel @5 :AlertLevel;
-  activePolicy @6 :MonitoringPolicy;
-  isRHD @7 :Bool;
-  rhdCalibration @8 :CalibrationState;
-
-  visionPolicyState @9 :VisionPolicyState;
-  wheeltouchPolicyState @10 :WheeltouchPolicyState;
-
-  enum AlertLevel {
-    # ordinal must match the name to prevent bugs
-    # comparing against the raw ordinal value
-    none @0;
-    one @1;
-    two @2;
-    three @3;
-  }
-
-  enum MonitoringPolicy {
-    wheeltouch @0;
-    vision @1;
-  }
-
-  struct VisionPolicyState {
-    awarenessPercent @0 :Int8;
-    awarenessStep @1 :Float32;
-    isDistracted @2 :Bool;
-    distractedTypes @3 :DistractedTypes;
-
-    faceDetected @4 :Bool;
-    pose @5 :Pose;
-    wheeltouchFallbackPercent @6 :Int8;
-    uncertainOffroadAlertPercent @7 :Int8;
-
-    struct DistractedTypes {
-      pose @0: Bool;
-      eye @1: Bool;
-      phone @2: Bool;
-    }
-
-    struct Pose {
-      pitch @0 :Float32;
-      yaw @1 :Float32;
-      pitchCalib @2 :CalibrationState;
-      yawCalib @3 :CalibrationState;
-      calibrated @4 :Bool;
-      uncertainty @5 :Float32;
-    }
-  }
-
-  struct WheeltouchPolicyState {
-    awarenessPercent @0 :Int8;
-    awarenessStep @1 :Float32;
-    driverInteracting @2 :Bool;
-  }
-
-  struct CalibrationState {
-    calibratedPercent @0 :Int8;
-    offset @1 :Float32;
-  }
-}
-
 struct Boot {
  wallTimeNanos @0 :UInt64;
  pstore @4 :Map(Text, Data);
@@ -2300,8 +2229,7 @@ struct Sentinel {
 }

 struct UIDebug {
-  cpuTimeMillis @0 :Float32;
-  frameTimeMillis @1 :Float32;
+  drawTimeMillis @0 :Float32;
 }

 struct ManagerState {
@@ -2449,6 +2377,7 @@ struct Event {
    boot @60 :Boot;

    # ********** openpilot daemon msgs **********
+    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
    selfdriveState @130 :SelfdriveState;
@@ -2473,6 +2402,7 @@ struct Event {
    qcomGnss @31 :QcomGnss;
    gpsLocationExternal @48 :GpsLocationData;
    gpsLocation @21 :GpsLocationData;
+    gnssMeasurements @91 :GnssMeasurements;
    liveParameters @61 :LiveParametersData;
    liveTorqueParameters @94 :LiveTorqueParametersData;
    liveDelay @146 : LiveDelayData;
@@ -2480,7 +2410,7 @@ struct Event {
    thumbnail @66: Thumbnail;
    onroadEvents @134: List(OnroadEvent);
    carParams @69: Car.CarParams;
-    driverMonitoringState @151 :DriverMonitoringState;
+    driverMonitoringState @71: DriverMonitoringState;
    livePose @129 :LivePose;
    modelV2 @75 :ModelDataV2;
    drivingModelData @128 :DrivingModelData;
@@ -2506,6 +2436,7 @@ struct Event {
    # systems stuff
    androidLog @20 :AndroidLogEntry;
    managerState @78 :ManagerState;
+    uploaderState @79 :UploaderState;
    procLog @33 :ProcLog;
    clocks @35 :Clocks;
    deviceState @6 :DeviceState;
@@ -2515,6 +2446,12 @@ struct Event {
    # touch frame
    touch @135 :List(Touch);

+    # navigation
+    navInstruction @82 :NavInstruction;
+    navRoute @83 :NavRoute;
+    navThumbnail @84: Thumbnail;
+    mapRenderState @105: MapRenderState;
+
    # UI services
    uiDebug @102 :UIDebug;

@@ -2616,13 +2553,5 @@ struct Event {
    gyroscope2DEPRECATED @100 :SensorEventData;
    accelerometer2DEPRECATED @101 :SensorEventData;
    temperatureSensor2DEPRECATED @123 :SensorEventData;
-    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
-    gpsNMEADEPRECATED @3 :GPSNMEAData;
-    uploaderStateDEPRECATED @79 :UploaderState;
-    navInstructionDEPRECATED @82 :NavInstruction;
-    navRouteDEPRECATED @83 :NavRoute;
-    navThumbnailDEPRECATED @84 :Thumbnail;
-    gnssMeasurementsDEPRECATED @91 :GnssMeasurements;
-    mapRenderStateDEPRECATED @105: MapRenderState;
  }
 }
@@ -259,11 +259,11 @@ class PubMaster:
    self.sock[s].send(dat)

  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    try:
-      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
-      return True
-    except TimeoutError:
-      return False
+    for _ in range(int(timeout*(1./dt))):
+      if self.sock[s].all_readers_updated():
+        return True
+      time.sleep(dt)
+    return False

  def all_readers_updated(self, s: str) -> bool:
-    return self.sock[s].all_readers_updated()
+    return self.sock[s].all_readers_updated()  # type: ignore
@@ -30,7 +30,7 @@ def zmq_sleep(t=1):

 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "steeringTorque", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
  msg = messaging.new_message("carState")
  cs = msg.carState
  for f in fields:
@@ -13,7 +13,6 @@ from __future__ import annotations

 import argparse
 import json
-import os
 import sys
 from typing import Any

@@ -105,15 +104,8 @@ def collect_schema(root: Any) -> dict[str, dict]:
  return structs


-def load_log(cereal_dir: str) -> Any:
-  import capnp
-  cereal_dir = os.path.abspath(cereal_dir)
-  capnp.remove_import_hook()
-  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
-
-
-def dump_schema(cereal_dir: str, path: str) -> None:
-  log = load_log(cereal_dir)
+def dump_schema(path: str) -> None:
+  from cereal import log
  payload = {
    "root": hex_id(log.Event.schema.node.id),
    "structs": collect_schema(log.Event.schema),
@@ -214,8 +206,8 @@ def load_peer(path: str) -> dict:
    return json.load(handle)


-def run_read(cereal_dir: str, peer_path: str) -> int:
-  log = load_log(cereal_dir)
+def run_read(peer_path: str) -> int:
+  from cereal import log
  peer_dump = load_peer(peer_path)
  local_dump = {
    "root": hex_id(log.Event.schema.node.id),
@@ -243,13 +235,16 @@ def main() -> int:
  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
  args = parser.parse_args()

-  if args.generate:
-    dump_schema(args.cereal_dir, args.file)
-    return 0
-  return run_read(args.cereal_dir, args.file)
+  try:
+    if args.generate:
+      dump_schema(args.file)
+      return 0
+    return run_read(args.file)
+  except ImportError as exc:
+    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
+    return 2


 if __name__ == "__main__":
@@ -24,7 +24,10 @@ _services: dict[str, tuple] = {
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
  "accelerometer": (True, 104., 104),
+  "magnetometer": (True, 25.),
+  "lightSensor": (True, 100., 100),
  "temperatureSensor": (True, 2., 200),
+  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
  "touch": (True, 20., 1),
  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
@@ -53,6 +56,7 @@ _services: dict[str, tuple] = {
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
+  "gnssMeasurements": (True, 10., 10),
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
  "livePose": (True, 20., 4),
@@ -71,6 +75,10 @@ _services: dict[str, tuple] = {
  "drivingModelData": (True, 20., 10),
  "modelV2": (True, 20., None, QueueSize.BIG),
  "managerState": (True, 2., 1),
+  "uploaderState": (True, 0., 1),
+  "navInstruction": (True, 1., 10),
+  "navRoute": (True, 0.),
+  "navThumbnail": (True, 0.),
  "qRoadEncodeIdx": (False, 20.),
  "userBookmark": (True, 0., 1),
  "soundPressure": (True, 10., 10),
@@ -106,6 +114,8 @@ _services: dict[str, tuple] = {
  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "customReservedRawData0": (True, 0.),
+  "customReservedRawData1": (True, 0.),
+  "customReservedRawData2": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
                idx, (name, vals) in enumerate(_services.items())}
@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-import sys
 import math
 import os
 from pathlib import Path
@@ -12,12 +10,9 @@ def get_chunk_name(name, idx, num_chunks):
 def get_manifest_path(name):
  return f"{name}.chunkmanifest"

-def _chunk_paths(path, num_chunks):
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def get_chunk_targets(path, file_size):
+def get_chunk_paths(path, file_size):
  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return _chunk_paths(path, num_chunks)
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]

 def chunk_file(path, targets):
  manifest_path, *chunk_paths = targets
@@ -31,13 +26,6 @@ def chunk_file(path, targets):
  Path(manifest_path).write_text(str(len(chunk_paths)))
  os.remove(path)

-def get_existing_chunks(path):
-  if os.path.isfile(path):
-    return [path]
-  if os.path.isfile(manifest := get_manifest_path(path)):
-    num_chunks = int(Path(manifest).read_text().strip())
-    return _chunk_paths(path, num_chunks)
-  raise FileNotFoundError(path)

 def read_file_chunked(path):
  manifest_path = get_manifest_path(path)
@@ -47,9 +35,3 @@ def read_file_chunked(path):
  if os.path.isfile(path):
    return Path(path).read_bytes()
  raise FileNotFoundError(path)
-
-
-if __name__ == "__main__":
-  path = sys.argv[1]
-  chunk_paths = get_chunk_targets(path, os.path.getsize(path))
-  chunk_file(path, chunk_paths)
@@ -0,0 +1 @@
+#define DEFAULT_MODEL "POP model (Default)"
@@ -1,13 +1,8 @@
-import re
 import sys
 import pytest
 import inspect


-def _to_safe_name(s):
-  return re.sub(r"[^a-zA-Z0-9_]+", "_", str(s)).strip("_")
-
-
 class parameterized:
  @staticmethod
  def expand(cases):
@@ -39,9 +34,7 @@ def parameterized_class(attrs, input_list=None):
  def decorator(cls):
    globs = sys._getframe(1).f_globals
    for i, params in enumerate(params_list):
-      # append sanitized string param values so pytest -k can filter by them
-      suffix = "_".join(filter(None, (_to_safe_name(v) for v in params.values() if isinstance(v, str))))
-      name = f"{cls.__name__}_{i}" + (f"_{suffix}" if suffix else "")
+      name = f"{cls.__name__}_{i}"
      new_cls = type(name, (cls,), dict(params))
      new_cls.__module__ = cls.__module__
      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
@@ -14,6 +14,6 @@ if __name__ == "__main__":
  if len(sys.argv) == 3:
    val = sys.argv[2]
    print(f"SET: {key} = {val}")
-    params.put(key, val, block=True)
+    params.put(key, val)
  elif len(sys.argv) == 2:
    print(f"GET: {key} = {params.get(key)}")
@@ -80,7 +80,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
-    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
    {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
@@ -104,6 +103,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
    {"PrimeType", {PERSISTENT, INT}},
    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -131,8 +132,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
    {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"Version", {PERSISTENT, STRING}},

    // --- sunnypilot params --- //
@@ -142,28 +142,33 @@ cdef class Params:
    cdef ParamKeyType t = self.p.getKeyType(k)
    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))

-  def put(self, key, dat, bool block = False):
+  def put(self, key, dat):
    """
-    Warning: block=True blocks until the param is written to disk!
+    Warning: This function blocks until the param is written to disk!
    In very rare cases this can take over a second, and your code will hang.
-    Use block=False in time sensitive code, but in general try to avoid
-    writing params as much as possible.
+    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
+    in general try to avoid writing params as much as possible.
    """
    cdef string k = self.check_key(key)
    cdef string dat_bytes = self._put_cast(key, dat)
    with nogil:
-      if block:
-        self.p.put(k, dat_bytes)
-      else:
-        self.p.putNonBlocking(k, dat_bytes)
+      self.p.put(k, dat_bytes)

-  def put_bool(self, key, bool val, bool block = False):
+  def put_bool(self, key, bool val):
    cdef string k = self.check_key(key)
    with nogil:
-      if block:
-        self.p.putBool(k, val)
-      else:
-        self.p.putBoolNonBlocking(k, val)
+      self.p.putBool(k, val)
+
+  def put_nonblocking(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = self._put_cast(key, dat)
+    with nogil:
+      self.p.putNonBlocking(k, dat_bytes)
+
+  def put_bool_nonblocking(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBoolNonBlocking(k, val)

  def remove(self, key):
    cdef string k = self.check_key(key)
@@ -28,11 +28,6 @@ class Priority:
  CTRL_HIGH = 53


-def drop_realtime() -> None:
-  if sys.platform == 'linux' and not PC:
-    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
-
-
 def set_core_affinity(cores: list[int]) -> None:
  if sys.platform == 'linux' and not PC:
    os.sched_setaffinity(0, cores)
@@ -11,7 +11,7 @@

 #include <zmq.h>
 #include <stdarg.h>
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/version.h"
 #include "system/hardware/hw.h"

@@ -12,17 +12,17 @@ class TestParams:
    self.params = Params()

  def test_params_put_and_get(self):
-    self.params.put("DongleId", "cb38263377b873ee", block=True)
+    self.params.put("DongleId", "cb38263377b873ee")
    assert self.params.get("DongleId") == "cb38263377b873ee"

  def test_params_non_ascii(self):
    st = b"\xe1\x90\xff"
-    self.params.put("CarParams", st, block=True)
+    self.params.put("CarParams", st)
    assert self.params.get("CarParams") == st

  def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", b"test", block=True)
-    self.params.put("DongleId", "cb38263377b873ee", block=True)
+    self.params.put("CarParams", b"test")
+    self.params.put("DongleId", "cb38263377b873ee")
    assert self.params.get("CarParams") == b"test"

    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
@@ -36,15 +36,15 @@ class TestParams:
    assert not os.path.isfile(undefined_param)

  def test_params_two_things(self):
-    self.params.put("DongleId", "bob", block=True)
-    self.params.put("AthenadPid", 123, block=True)
+    self.params.put("DongleId", "bob")
+    self.params.put("AthenadPid", 123)
    assert self.params.get("DongleId") == "bob"
    assert self.params.get("AthenadPid") == 123

  def test_params_get_block(self):
    def _delayed_writer():
      time.sleep(0.1)
-      self.params.put("CarParams", b"test", block=True)
+      self.params.put("CarParams", b"test")
    threading.Thread(target=_delayed_writer).start()
    assert self.params.get("CarParams") is None
    assert self.params.get("CarParams", block=True) == b"test"
@@ -57,10 +57,10 @@ class TestParams:
      self.params.get_bool("swag")

    with pytest.raises(UnknownKeyName):
-      self.params.put("swag", "abc", block=True)
+      self.params.put("swag", "abc")

    with pytest.raises(UnknownKeyName):
-      self.params.put_bool("swag", True, block=True)
+      self.params.put_bool("swag", True)

  def test_remove_not_there(self):
    assert self.params.get("CarParams") is None
@@ -71,23 +71,23 @@ class TestParams:
    self.params.remove("IsMetric")
    assert not self.params.get_bool("IsMetric")

-    self.params.put_bool("IsMetric", True, block=True)
+    self.params.put_bool("IsMetric", True)
    assert self.params.get_bool("IsMetric")

-    self.params.put_bool("IsMetric", False, block=True)
+    self.params.put_bool("IsMetric", False)
    assert not self.params.get_bool("IsMetric")

-    self.params.put("IsMetric", True, block=True)
+    self.params.put("IsMetric", True)
    assert self.params.get_bool("IsMetric")

-    self.params.put("IsMetric", False, block=True)
+    self.params.put("IsMetric", False)
    assert not self.params.get_bool("IsMetric")

  def test_put_non_blocking_with_get_block(self):
    q = Params()
    def _delayed_writer():
      time.sleep(0.1)
-      Params().put("CarParams", b"test")
+      Params().put_nonblocking("CarParams", b"test")
    threading.Thread(target=_delayed_writer).start()
    assert q.get("CarParams") is None
    assert q.get("CarParams", True) == b"test"
@@ -96,7 +96,7 @@ class TestParams:
    q = Params()
    def _delayed_writer():
      time.sleep(0.1)
-      Params().put_bool("CarParams", True)
+      Params().put_bool_nonblocking("CarParams", True)
    threading.Thread(target=_delayed_writer).start()
    assert q.get("CarParams") is None
    assert q.get("CarParams", True) == b"1"
@@ -123,19 +123,19 @@ class TestParams:

  def test_params_get_type(self):
    # json
-    self.params.put("ApiCache_FirehoseStats", {"a": 0}, block=True)
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}

    # int
-    self.params.put("BootCount", 1441, block=True)
+    self.params.put("BootCount", 1441)
    assert self.params.get("BootCount") == 1441

    # bool
-    self.params.put("AdbEnabled", True, block=True)
+    self.params.put("AdbEnabled", True)
    assert self.params.get("AdbEnabled")
    assert isinstance(self.params.get("AdbEnabled"), bool)

    # time
    now = datetime.datetime.now(datetime.UTC)
-    self.params.put("InstallDate", now, block=True)
+    self.params.put("InstallDate", now)
    assert self.params.get("InstallDate") == now
@@ -7,7 +7,7 @@
 #include "common/util.h"
 #include "common/version.h"
 #include "system/hardware/hw.h"
-#include "json11/json11.hpp"
+#include "third_party/json11/json11.hpp"

 #include "sunnypilot/common/version.h"

@@ -48,7 +48,7 @@ def sudo_write(val: str, path: str) -> None:

 def sudo_read(path: str) -> str:
  try:
-    return subprocess.check_output(["sudo", "cat", "--", path], encoding='utf8').strip()
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
  except Exception:
    return ""

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.2"
+#define COMMA_VERSION "0.11.1"
@@ -7,19 +7,25 @@ from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE

-# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
+# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
+# pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
  "selfdrive/test/process_replay/test_processes.py",
  "selfdrive/test/process_replay/test_regen.py",
-  # tinygrad JIT has process-global state. Other test files import modeld → tinygrad,
-  # which corrupts JIT captures for test_warp.py in the same process. Run separately in CI.
-  "sunnypilot/modeld_v2/tests/test_warp.py",
 ]
 collect_ignore_glob = [
  "selfdrive/debug/*.py",
+  "selfdrive/modeld/*.py",
+  "sunnypilot/modeld*/*.py",
 ]


+def pytest_sessionstart(session):
+  # TODO: fix tests and enable test order randomization
+  if session.config.pluginmanager.hasplugin('randomly'):
+    session.config.option.randomly_reorganize = False
+
+
@pytest.hookimpl(hookwrapper=True, trylast=True)
 def pytest_runtest_call(item):
  # ensure we run as a hook after capturemanager's
@@ -91,3 +97,15 @@ def pytest_collection_modifyitems(config, items):
      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
      class_property_value = getattr(item.cls, class_property_name)
      item.add_marker(pytest.mark.xdist_group(class_property_value))
+
+
+@pytest.hookimpl(trylast=True)
+def pytest_configure(config):
+  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
+  config.addinivalue_line("markers", config_line)
+
+  config_line = "nocapture: don't capture test output"
+  config.addinivalue_line("markers", config_line)
+
+  config_line = "shared_download_cache: share download cache between tests"
+  config.addinivalue_line("markers", config_line)
@@ -4,24 +4,24 @@

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

-# 341 Supported Cars
+# 340 Supported Cars

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

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

 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.

-To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
-that alerts when it detects driver distraction.
+In order to enforce driver alertness, openpilot includes a driver monitoring feature
+that alerts the driver when distracted.

 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
@@ -8,7 +8,7 @@ from markdown.extensions import Extension
 from markdown.preprocessors import Preprocessor
 from markdown.treeprocessors import Treeprocessor

-from zensical.extensions.links import LinksTreeprocessor
+from zensical.extensions.links import LinksProcessor

 GlossaryTerm = tuple[str, re.Pattern[str], str]

@@ -78,7 +78,7 @@ class GlossaryTreeprocessor(Treeprocessor):
  def run(self, root: ET.Element) -> None:
    at = self.md.treeprocessors.get_index_for_name("zrelpath")
    processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksTreeprocessor):
+    if not isinstance(processor, LinksProcessor):
      raise TypeError("Links processor not registered")
    if processor.path == GLOSSARY_PAGE:
      return
@@ -20,7 +20,7 @@ source .venv/bin/activate

 Then, compile openpilot:
 ```bash
-scons
+scons -j$(nproc)
 ```

 ## 2. Run replay
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="18.4"
+  export AGNOS_VERSION="17.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -0,0 +1 @@
+../third_party
@@ -20,17 +20,14 @@ dependencies = [
  # core
  "cffi",
  "scons",
-  "pycapnp==2.1.0",  # 2.2 introduces a memory leak due to cyclic references
+  "pycapnp",
  "Cython",
  "setuptools",
  "numpy >=2.0",

  # vendored native dependencies
  "bzip2 @ git+https://github.com/commaai/dependencies.git@release-bzip2#subdirectory=bzip2",
-  "bootstrap-icons @ git+https://github.com/commaai/dependencies.git@release-bootstrap-icons#subdirectory=bootstrap-icons",
  "capnproto @ git+https://github.com/commaai/dependencies.git@release-capnproto#subdirectory=capnproto",
-  "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
-  "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
  "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
  "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
@@ -39,10 +36,8 @@ dependencies = [
  "ncurses @ git+https://github.com/commaai/dependencies.git@release-ncurses#subdirectory=ncurses",
  "zeromq @ git+https://github.com/commaai/dependencies.git@release-zeromq#subdirectory=zeromq",
  "libusb @ git+https://github.com/commaai/dependencies.git@release-libusb#subdirectory=libusb",
-  "json11 @ git+https://github.com/commaai/dependencies.git@release-json11#subdirectory=json11",
  "git-lfs @ git+https://github.com/commaai/dependencies.git@release-git-lfs#subdirectory=git-lfs",
  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@release-gcc-arm-none-eabi#subdirectory=gcc-arm-none-eabi",
-  "xvfb @ git+https://github.com/commaai/dependencies.git@release-xvfb#subdirectory=xvfb",

  # body / webrtcd
  "av",
@@ -63,6 +58,9 @@ dependencies = [
  "json-rpc",
  "websocket_client",

+  # acados deps
+  "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
+
  # joystickd
  "inputs",

@@ -75,7 +73,7 @@ dependencies = [
  "zstandard",

  # ui
-  "raylib @ git+https://github.com/commaai/dependencies.git@release-raylib#subdirectory=raylib",
+  "raylib > 5.5.0.3",
  "qrcode",
  "jeepney",
  "pillow",
@@ -96,6 +94,7 @@ testing = [
  "pytest-subtests",
  # https://github.com/pytest-dev/pytest-xdist/pull/1229
  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
+  "pytest-asyncio",
  "pytest-mock",
  "ruff",
  "codespell",
@@ -108,7 +107,7 @@ dev = [
 ]

 tools = [
-  "imgui @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
+  "imgui  @ git+https://github.com/commaai/dependencies.git@release-imgui#subdirectory=imgui",
  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]

@@ -127,17 +126,15 @@ allow-direct-references = true

 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
+asyncio_default_fixture_loop_scope = "function"
 markers = [
  "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
  "tici: tests that are only meant to run on the C3/C3X",
-  "skip_tici_setup: mark test to skip tici setup fixture",
-  "nocapture: don't capture test output",
-  "shared_download_cache: share download cache between tests",
-  "xdist_group_class_property: group tests by a property of the class that contains them",
+  "skip_tici_setup: mark test to skip tici setup fixture"
 ]
 testpaths = [
  "common",
@@ -178,7 +175,9 @@ lint.ignore = [
  "UP045", "UP007",  # these don't play nice with raylib atm
 ]
 line-length = 160
+target-version ="py311"
 exclude = [
+  "body",
  "cereal",
  "panda",
  "opendbc",
@@ -187,7 +186,7 @@ exclude = [
  "tinygrad_repo",
  "teleoprtc",
  "teleoprtc_repo",
-  "third_party/copyparty",
+  "third_party",
  "*.ipynb",
  "generated",
 ]
@@ -197,6 +196,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
@@ -214,6 +214,7 @@ quote-style = "preserve"

 [tool.ty.src]
 exclude = [
+  "cereal/",
  "msgq/",
  "msgq_repo/",
  "opendbc/",
@@ -226,19 +227,31 @@ exclude = [
  "teleoprtc/",
  "teleoprtc_repo/",
  "third_party/",
+  "**/*.ipynb",
 ]

 [tool.ty.rules]
-unresolved-import = "ignore"  # Cython-compiled modules (.pyx)
-unresolved-attribute = "ignore"  # many from capnp and Cython modules
-invalid-method-override = "ignore"  # signature variance issues
-possibly-missing-attribute = "ignore"  # too many false positives
-invalid-assignment = "ignore"  # often intentional monkey-patching
-no-matching-overload = "ignore"  # numpy/ctypes overload matching issues
-invalid-argument-type = "ignore"  # many false positives from raylib, ctypes, numpy
-call-non-callable = "ignore"  # false positives from dynamic types
-unsupported-operator = "ignore" # false positives from dynamic types
-not-subscriptable = "ignore" # false positives from dynamic types
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed

 [tool.uv]
 python-preference = "only-managed"
@@ -16,8 +16,6 @@ if [ -z "$RELEASE_BRANCH" ]; then
  exit 1
 fi

-BUILD_BRANCH=release-mici-staging
-

 # set git identity
 source $DIR/identity.sh
@@ -28,7 +26,7 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git checkout --orphan $BUILD_BRANCH
+git checkout --orphan $RELEASE_BRANCH

 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -48,14 +46,14 @@ git commit -a -m "openpilot v$VERSION release"

 # Build
 export PYTHONPATH="$BUILD_DIR"
-scons
+scons -j$(nproc) --minimal

 if [ -z "$PANDA_DEBUG_BUILD" ]; then
  # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
 else
  # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons panda/
+  scons -j$(nproc) panda/
 fi

 # Ensure no submodules in release
@@ -74,8 +72,8 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm -f selfdrive/modeld/models/*.onnx*
-rm -f sunnypilot/modeld*/models/*.onnx*
+rm -f selfdrive/modeld/models/*.onnx
+rm -f sunnypilot/modeld*/models/*.onnx

 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
@@ -96,11 +94,9 @@ cd $BUILD_DIR
 RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py
 #pytest selfdrive/car/tests/test_car_interfaces.py

-echo "[-] pushing release T=$SECONDS"
-REFS=()
-for branch in ${RELEASE_BRANCH//,/ }; do
-  REFS+=("$BUILD_BRANCH:$branch")
-done
-git push -f origin "${REFS[@]}"
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi

 echo "[-] done T=$SECONDS"
@@ -45,8 +45,6 @@ cd $TARGET_DIR
 rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed

-find selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./common/file_chunker.py {} \;
-
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
@@ -1,10 +1,3 @@
-"""
-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 os
 import pickle
 import sys
@@ -39,9 +32,6 @@ OPTIONAL_OUTPUT_KEYS = frozenset({
 def validate_model_outputs(metadata_paths: list[Path]) -> None:
  combined_keys: set[str] = set()
  for path in metadata_paths:
-    if path.stat().st_size == 0:
-      print(f"skipping empty metadata: {path}")
-      continue
    with open(path, "rb") as f:
      metadata = pickle.load(f)
    combined_keys.update(metadata.get("output_slices", {}).keys())
@@ -88,65 +78,38 @@ def create_short_name(full_name):
  return result[:8]


-def _read_pkl_bytes(pkl_path: Path) -> bytes:
-  manifest = Path(f"{pkl_path}.chunkmanifest")
-  if manifest.exists():
-    num_chunks = int(manifest.read_text().strip())
-    parts = []
-    for i in range(num_chunks):
-      chunk = Path(f"{pkl_path}.chunk{i + 1:02d}of{num_chunks:02d}")
-      parts.append(chunk.read_bytes())
-    return b''.join(parts)
-  return pkl_path.read_bytes()
-
-
-def _find_driving_pkl(output_path: Path) -> Path | None:
-  for pattern in ('driving_tinygrad.pkl', 'driving_*_tinygrad.pkl'):
-    matches = sorted(output_path.glob(pattern))
-    if matches:
-      return matches[0]
-  for pattern in ('driving_tinygrad.pkl.chunkmanifest', 'driving_*_tinygrad.pkl.chunkmanifest'):
-    matches = sorted(output_path.glob(pattern))
-    if matches:
-      return Path(str(matches[0]).removesuffix('.chunkmanifest'))
-  return None
-
-
-def _rename_pkl_with_chunks(old_pkl: Path, new_pkl: Path) -> Path:
-  manifest = Path(f"{old_pkl}.chunkmanifest")
-  if manifest.exists():
-    for f in sorted(old_pkl.parent.glob(f"{old_pkl.name}.chunk*")):
-      f.rename(old_pkl.parent / f.name.replace(old_pkl.name, new_pkl.name, 1))
-    return new_pkl
-  return old_pkl.rename(new_pkl)
-
-
-def generate_metadata(model_path: Path, output_dir: Path, short_name: str, driving_pkl: Path):
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
+  model_path = model_path
+  output_path = output_dir
  base = model_path.stem
-  metadata_file = output_dir / f"{base}_metadata.pkl"

-  if short_name:
-    renamed_meta = output_dir / f"{base}_{short_name.lower()}_metadata.pkl"
-    if metadata_file.exists() and not renamed_meta.exists():
-      metadata_file = metadata_file.rename(renamed_meta)
-    elif renamed_meta.exists():
-      metadata_file = renamed_meta
+  # Define output files for tinygrad and metadata
+  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
+  metadata_file = output_path / f"{base}_metadata.pkl"

-  if not metadata_file.exists():
-    print(f"Warning: Missing metadata for {base} ({metadata_file}), skipping", file=sys.stderr)
+  if not tinygrad_file.exists() or not metadata_file.exists():
+    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
    return

-  tinygrad_hash = hashlib.sha256(_read_pkl_bytes(driving_pkl)).hexdigest()
+  # Calculate the sha256 hashes
+  with open(tinygrad_file, 'rb') as f:
+    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()

  with open(metadata_file, 'rb') as f:
    metadata_hash = hashlib.sha256(f.read()).hexdigest()

+  # Rename the files if a custom file name is provided
+  if short_name:
+    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
+    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
+
+  # Build the metadata structure
  model_type = "offPolicy" if "off_policy" in base else "onPolicy" if "on_policy" in base else base.split("_")[-1]

-  return {
+  model_metadata = {
    "type": model_type,
    "artifact": {
-      "file_name": driving_pkl.name,
+      "file_name": tinygrad_file.name,
      "download_uri": {
        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
        "sha256": tinygrad_hash
@@ -161,6 +124,9 @@ def generate_metadata(model_path: Path, output_dir: Path, short_name: str, drivi
    }
  }

+  # Return model metadata
+  return model_metadata
+

 def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
  metadata_json = {
@@ -215,28 +181,14 @@ 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
-
-  _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 _short_name:
-    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:
-      _driving_pkl = new_pkl
-
  _models = []

  for _model_path in model_paths:
-    _model_metadata = generate_metadata(Path(_model_path), _output_dir, _short_name, _driving_pkl)
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
    if _model_metadata:
      _models.append(_model_metadata)

  if _models:
-    create_metadata_json(_models, _output_dir, args.custom_name, _short_name, args.is_20hz, args.upstream_branch)
+    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
  else:
    print("No models processed.", file=sys.stderr)
@@ -13,7 +13,7 @@ from openpilot.common.basedir import BASEDIR

 DIRS = ['cereal', 'openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
-EXCLUDE = ['selfdrive/assets/training']
+EXCLUDE = ['selfdrive/assets/training', 'third_party/raylib/raylib_repo/examples']
 INTERPRETER = '/usr/bin/env python3'


@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL
@@ -13,8 +13,8 @@ cd $ROOT

 FAILED=0

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

 function run() {
  shopt -s extglob
@@ -34,11 +34,6 @@ if __name__ == "__main__":

  for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
    fn = os.path.basename(f)
-    master_path = MASTER_PATH + MODEL_PATH + fn
-    if os.path.exists(master_path):
-      master = get_checkpoint(master_path)
-      master_col = f"[{master}](https://reporter.comma.life/experiment/{master})"
-    else:
-      master_col = "N/A (new model)"
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print("|", fn, "|", master_col, "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
+    print("|", fn, "|", f"[{master}](https://reporterv2.comma.life/{master})", "|", f"[{pr}](https://reporterv2.comma.life/{pr})", "|")
@@ -1,6 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
-  <file alias="bootstrap-icons.svg">@BOOTSTRAP_ICONS_SVG@</file>
+  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
  <file>images/button_continue_triangle.svg</file>
  <file>icons/circled_check.svg</file>
  <file>icons/circled_slash.svg</file>
@@ -37,10 +37,10 @@ def _char_sets():
  return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))


-def _glyph_metrics(glyphs, rects, glyph_count: int):
+def _glyph_metrics(glyphs, rects, codepoints):
  entries = []
  min_offset_y, max_extent = None, 0
-  for idx in range(glyph_count):
+  for idx, codepoint in enumerate(codepoints):
    glyph = glyphs[idx]
    rect = rects[idx]
    width = int(round(rect.width))
@@ -49,7 +49,7 @@ def _glyph_metrics(glyphs, rects, glyph_count: int):
    min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
    max_extent = max(max_extent, offset_y + height)
    entries.append({
-      "id": glyph.value,
+      "id": codepoint,
      "x": int(round(rect.x)),
      "y": int(round(rect.y)),
      "width": width,
@@ -97,23 +97,19 @@ def _process_font(font_path: Path, codepoints: tuple[int, ...]):
  file_buf = rl.ffi.new("unsigned char[]", data)
  cp_buffer = rl.ffi.new("int[]", codepoints)
  cp_ptr = rl.ffi.cast("int *", cp_buffer)
-  glyph_count = rl.ffi.new("int *", len(codepoints))
-  glyphs = rl.load_font_data(
-    rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints),
-    rl.FontType.FONT_DEFAULT, glyph_count
-  )
+  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
  if glyphs == rl.ffi.NULL:
    raise RuntimeError("raylib failed to load font data")

  rects_ptr = rl.ffi.new("Rectangle **")
-  image = rl.gen_image_font_atlas(glyphs, rects_ptr, glyph_count[0], font_size, GLYPH_PADDING, 0)
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
  if image.width == 0 or image.height == 0:
    raise RuntimeError("raylib returned an empty atlas")

  rects = rects_ptr[0]
  atlas_name = f"{font_path.stem}.png"
  atlas_path = FONT_DIR / atlas_name
-  entries, line_height, base = _glyph_metrics(glyphs, rects, glyph_count[0])
+  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)

  if not rl.export_image(image, atlas_path.as_posix()):
    raise RuntimeError("Failed to export atlas image")
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6b45f88128430fb50ef51c8e08b8e2a1c8fbe0b5c3a08de9f5d9d59bc1edc82e
-size 4545
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ec3dcf64cbc34251d8423cb8b3b31d743e93d14002dec43c389a857cb7e8eb17
-size 10875
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7409c53d7c72681c24982fd83b56ce70f80797c9c0f936d9296a5c18557ac472
-size 7279
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5f5d4b7bd406114945e53f4d56089102ee83ba7d0a4590a371f7acab90c7ad53
-size 1862
+oid sha256:26b3660dbd1e60b0ba98914afa7cb3a67151bb6990d218f55c901f243e38ff3e
+size 3631
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:56de402482b5987ed9a0ff3f793a1c89f857304b34fbb8a3deb5b5d4a332be1c
-size 3688
@@ -3,7 +3,7 @@ set -e

 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ICONS_DIR="$DIR/icons"
-BOOTSTRAP_SVG="$(python3 -c 'import bootstrap_icons; print(bootstrap_icons.SVG_PATH)')"
+BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"

 ICON_IDS=(
  arrow-right
@@ -73,7 +73,7 @@ class CarSpecificEvents:
    elif self.CP.brand == 'gm':
      # Enabling at a standstill with brake is allowed
      # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
+      if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
                                                   self.CP.networkLocation == NetworkLocation.fwdCamera):
        events.add(EventName.belowEngageSpeed)
      if CS.cruiseState.standstill:
@@ -37,7 +37,7 @@ def obd_callback(params: Params) -> ObdCallback:
    if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
      cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
      params.remove("ObdMultiplexingChanged")
-      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing, block=True)
+      params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
      params.get_bool("ObdMultiplexingChanged", block=True)
      cloudlog.warning("OBD multiplexing set successfully")
  return set_obd_multiplexing
@@ -86,7 +86,7 @@ class Car:

    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])

-    is_release = False  # self.params.get_bool("IsReleaseBranch")
+    is_release = self.params.get_bool("IsReleaseBranch")
    is_release_sp = self.params.get_bool("IsReleaseSpBranch")

    if CI is None:
@@ -116,7 +116,7 @@ class Car:
      self.CP_SP = self.CI.CP_SP

      # continue onto next fingerprinting step in pandad
-      self.params.put_bool("FirmwareQueryDone", True, block=True)
+      self.params.put_bool("FirmwareQueryDone", True)
    else:
      self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
      self.RI = RI
@@ -143,7 +143,7 @@ class Car:
        with open("/cache/params/SecOCKey") as f:
          user_key = f.readline().strip()
          if len(user_key) == 32:
-            self.params.put("SecOCKey", user_key, block=True)
+            self.params.put("SecOCKey", user_key)
      except Exception:
        pass

@@ -161,21 +161,21 @@ class Car:
    # Write previous route's CarParams
    prev_cp = self.params.get("CarParamsPersistent")
    if prev_cp is not None:
-      self.params.put("CarParamsPrevRoute", prev_cp, block=True)
+      self.params.put("CarParamsPrevRoute", prev_cp)

    # Write CarParams for controls and radard
    cp_bytes = self.CP.to_bytes()
-    self.params.put("CarParams", cp_bytes, block=True)
-    self.params.put("CarParamsCache", cp_bytes)
-    self.params.put("CarParamsPersistent", cp_bytes)
+    self.params.put("CarParams", cp_bytes)
+    self.params.put_nonblocking("CarParamsCache", cp_bytes)
+    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)

    # Write CarParamsSP for controls
    # convert to pycapnp representation for caching and logging
    self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
    cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-    self.params.put("CarParamsSP", cp_sp_bytes, block=True)
-    self.params.put("CarParamsSPCache", cp_sp_bytes)
-    self.params.put("CarParamsSPPersistent", cp_sp_bytes)
+    self.params.put("CarParamsSP", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
+    self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)

    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)

@@ -274,7 +274,7 @@ class Car:
      # TODO: this can make us miss at least a few cycles when doing an ECU knockout
      self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
      # signal pandad to switch to car safety mode
-      self.params.put_bool("ControlsReady", True)
+      self.params.put_bool_nonblocking("ControlsReady", True)

    if self.sm.all_alive(['carControl']):
      # send car controls over can
@@ -94,7 +94,7 @@ class TestVCruiseHelper:
        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)

      # Expected diff on enabling. Speed should not change on falling edge of pressed
-      assert (not pressed) == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
+      assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last

  def test_resume_in_standstill(self):
    """
@@ -28,14 +28,6 @@ from openpilot.tools.lib.route import SegmentName
 SafetyModel = car.CarParams.SafetyModel
 SteerControlType = structs.CarParams.SteerControlType

-# panda safety stores angle_meas in brand-specific CAN units (angle_deg_to_can in opendbc/safety/modes/*.h).
-ANGLE_DEG_TO_CAN = {
-  "tesla": -10,
-  "toyota": 17.452007,
-  "nissan": 100,
-  "psa": 10,
-}
-
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
@@ -441,17 +433,10 @@ class TestCarModelBase(unittest.TestCase):
        checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
                              v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))

-      # check steering angle for angle control cars (panda stores angle_meas in CAN units)
-      # ford excluded since it tracks curvature, not steering angle
-      if self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar and self.CP.brand != "ford":
-        angle_can = (CS.steeringAngleDeg + CS.steeringAngleOffsetDeg) * ANGLE_DEG_TO_CAN[self.CP.brand]
-        checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
-                                       angle_can < (self.safety.get_angle_meas_min() - 1))
-
      # TODO: remove this exception once this mismatch is resolved
      brake_pressed = CS.brakePressed
      if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
+        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
          brake_pressed = False
      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
@@ -212,7 +212,7 @@ class Controls(ControlsExt):
    cs.upAccelCmd = float(self.LoC.pid.p)
    cs.uiAccelCmd = float(self.LoC.pid.i)
    cs.ufAccelCmd = float(self.LoC.pid.f)
-    cs.forceDecel = bool((self.sm['driverMonitoringState'].alertLevel == log.DriverMonitoringState.AlertLevel.three) or
+    cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
                         (self.sm['selfdriveState'].state == State.softDisabling))

    lat_tuning = self.CP.lateralTuning.which()
@@ -8,7 +8,6 @@ CAR_ROTATION_RADIUS = 0.0
 # This is a turn radius smaller than most cars can achieve
 MAX_CURVATURE = 0.2
 MAX_VEL_ERR = 5.0  # m/s
-MIN_STABLE_DELAY = 0.3

 # EU guidelines
 MAX_LATERAL_JERK = 5.0  # m/s^3
@@ -44,10 +43,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
  if len(speeds) == len(t_idxs):
    v_now = speeds[0]
    a_now = accels[0]
-    if action_t < MIN_STABLE_DELAY:
-      v_target = v_now + (action_t / MIN_STABLE_DELAY) * (np.interp(MIN_STABLE_DELAY, t_idxs, speeds) - v_now)
-    else:
-      v_target = np.interp(action_t, t_idxs, speeds)
+    v_target = np.interp(action_t, t_idxs, speeds)
    a_target = 2 * (v_target - v_now) / (action_t) - a_now
  else:
    v_now = 0.0
@@ -62,9 +58,6 @@ def curv_from_psis(psi_target, psi_rate, vego, action_t):
  return 2*curv_from_psi - psi_rate / vego

 def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
-  if action_t < MIN_STABLE_DELAY:
-    psi_target = (action_t / MIN_STABLE_DELAY) * np.interp(MIN_STABLE_DELAY, t_idxs, yaws)
-  else:
-    psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_target = np.interp(action_t, t_idxs, yaws)
  psi_rate = yaw_rates[0]
  return curv_from_psis(psi_target, psi_rate, vego, action_t)
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')

 gen = "c_generated_code"

@@ -45,24 +45,18 @@ generated_files = [
  f'{gen}/lat_cost/lat_cost.h',
 ] + build_files

-acados_include_dir = Dir(acados.INCLUDE_DIR)
-acados_template_dir = Dir(acados.TEMPLATE_DIR)
+acados_dir = '#third_party/acados'
+acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'

 source_list = ['lat_mpc.py',
  '#selfdrive/modeld/constants.py',
-  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
-  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_templates_dir}/acados_solver.in.c',
 ]

 lenv = env.Clone()
-copied_acados_libs = []
-if arch != "Darwin":
-  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
-    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
-  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
-else:
-  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))

 generated_lat = lenv.Command(generated_files,
@@ -83,8 +77,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])

 # generate cython stuff
-acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
-acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
+acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')

@@ -100,5 +94,4 @@ lenv2.Command(libacados_ocp_solver_c,
  f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
 lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
@@ -8,7 +8,7 @@ from casadi import SX, vertcat, sin, cos
 from openpilot.selfdrive.modeld.constants import ModelConstants

 if __name__ == '__main__':  # generating code
-  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
  from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version', 'acados')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')

 gen = "c_generated_code"

@@ -51,24 +51,18 @@ generated_files = [
  f'{gen}/long_cost/long_cost.h',
 ] + build_files

-acados_include_dir = Dir(acados.INCLUDE_DIR)
-acados_template_dir = Dir(acados.TEMPLATE_DIR)
+acados_dir = '#third_party/acados'
+acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'

 source_list = ['long_mpc.py',
  '#selfdrive/modeld/constants.py',
-  acados_include_dir.File('acados_c/ocp_nlp_interface.h'),
-  acados_template_dir.File('c_templates_tera/acados_solver.in.c'),
+  f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
+  f'{acados_templates_dir}/acados_solver.in.c',
 ]

 lenv = env.Clone()
-copied_acados_libs = []
-if arch != "Darwin":
-  for lib in ["libacados.so", "libblasfeo.so", "libhpipm.so", "libqpOASES_e.so.3.1"]:
-    copied_acados_libs += lenv.Command(f"{gen}/{lib}", Dir(acados.LIB_DIR).File(lib), [Mkdir(Dir(gen)), Copy("$TARGET", "$SOURCE")])
-  lenv["RPATH"] += [lenv.Literal('\\$$ORIGIN')]
-else:
-  acados_rel_path = Dir(gen).rel_path(Dir(acados.LIB_DIR))
-  lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
+acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 generated_long = lenv.Command(generated_files,
                              source_list,
@@ -88,8 +82,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])

 # generate cython stuff
-acados_ocp_solver_pyx = acados_template_dir.File('acados_ocp_solver_pyx.pyx')
-acados_ocp_solver_common = acados_template_dir.File('acados_solver_common.pxd')
+acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')

@@ -105,5 +99,4 @@ lenv2.Command(libacados_ocp_solver_c,
  f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
-lenv2.Depends(lib_cython, copied_acados_libs)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import index_function
 from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU

 if __name__ == '__main__':  # generating code
-  from acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
  from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython

@@ -142,7 +142,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
    return None


-def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float, lead_prob: float):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
  lead_v_rel_pred = lead_msg.v[0] - model_v_ego
  return {
    "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
@@ -153,7 +153,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
    "aLeadK": float(lead_msg.a[0]),
    "aLeadTau": 0.3,
    "fcw": False,
-    "modelProb": float(lead_prob),
+    "modelProb": float(lead_msg.prob),
    "status": True,
    "radar": False,
    "radarTrackId": -1,
@@ -161,20 +161,19 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa


 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, lead_prob: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-             low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
  # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_prob > .5:
+  if len(tracks) > 0 and ready and lead_msg.prob > .5:
    track = match_vision_to_track(v_ego, lead_msg, tracks)
  else:
    track = None

  lead_dict = {'status': False}
  if track is not None:
-    lead_dict = track.get_RadarState(lead_prob)
+    lead_dict = track.get_RadarState(lead_msg.prob)
    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
-  elif (track is None) and ready and (lead_prob > .5):
-    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego, lead_prob)
+  elif (track is None) and ready and (lead_msg.prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)

  if low_speed_override:
    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
@@ -206,7 +205,6 @@ class RadarD:

    self.tracks: dict[int, Track] = {}
    self.kalman_params = KalmanParams(DT_MDL)
-    self.lead_prob_filters = [FirstOrderFilter(0.0, 0.2, DT_MDL) for _ in range(2)]

    self.v_ego = 0.0
    self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
@@ -258,18 +256,8 @@ class RadarD:
      model_v_ego = self.v_ego
    leads_v3 = sm['modelV2'].leadsV3
    if len(leads_v3) > 1:
-      for i in range(2):
-        # Asymmetric filter on lead prob to keep lead when uncertain
-        lead_prob = leads_v3[i].prob
-        if lead_prob > self.lead_prob_filters[i].x:
-          self.lead_prob_filters[i].x = lead_prob
-        else:
-          self.lead_prob_filters[i].update(lead_prob)
-
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.lead_prob_filters[0].x,
-                                          self.CP, self.CP_SP, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.lead_prob_filters[1].x,
-                                          self.CP, self.CP_SP, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)

  def publish(self, pm: messaging.PubMaster):
    assert self.radar_state is not None
@@ -26,9 +26,9 @@ if __name__ == "__main__":
  # Set up params for pandad
  params = Params()
  params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False, block=True)
+  params.put_bool("IsOnroad", False)
  time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True, block=True)
+  params.put_bool("IsOnroad", True)

  obd_callback(params)(not args.no_obd)

@@ -30,9 +30,9 @@ if __name__ == "__main__":
  # Set up params for pandad
  params = Params()
  params.remove("FirmwareQueryDone")
-  params.put_bool("IsOnroad", False, block=True)
+  params.put_bool("IsOnroad", False)
  time.sleep(0.2)  # thread is 10 Hz
-  params.put_bool("IsOnroad", True, block=True)
+  params.put_bool("IsOnroad", True)
  set_obd_multiplexing = obd_callback(params)

  extra: Any = None
@@ -19,4 +19,4 @@ if __name__ == "__main__":

  cp_bytes = CP.to_bytes()
  for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
-    Params().put(p, cp_bytes, block=True)
+    Params().put(p, cp_bytes)
@@ -9,7 +9,7 @@ from openpilot.system.hardware import HARDWARE
 if __name__ == "__main__":
  CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
  params = Params()
-  params.put("CarParams", CP.to_bytes(), block=True)
+  params.put("CarParams", CP.to_bytes())

  if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
    print("Using TinyGrad modeld")
@@ -167,7 +167,7 @@ class Calibrator:

    write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
    if self.param_put and write_this_cycle:
-      self.params.put("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())

  def handle_v_ego(self, v_ego: float) -> None:
    self.v_ego = v_ego
@@ -414,7 +414,7 @@ def main():
      pm.send('liveDelay', lag_msg_dat)

      if sm.frame % 1200 == 0: # cache every 60 seconds
-        params.put("LiveDelay", lag_msg_dat)
+        params.put_nonblocking("LiveDelay", lag_msg_dat)

      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
        lagd_toggle.update(lag_msg)
@@ -212,7 +212,7 @@ def migrate_cached_vehicle_params_if_needed(params: Params):
    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
-    params.put("LiveParametersV2", last_parameters_msg.to_bytes(), block=True)
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
  except Exception as e:
    cloudlog.error(f"Failed to perform parameter migration: {e}")
    params.remove("LiveParameters")
@@ -290,7 +290,7 @@ def main():

      msg_dat = msg.to_bytes()
      if sm.frame % 1200 == 0:  # once a minute
-        params.put("LiveParametersV2", msg_dat)
+        params.put_nonblocking("LiveParametersV2", msg_dat)

      pm.send('liveParameters', msg_dat)

@@ -36,7 +36,7 @@ class TestCalibrationd:
    msg.liveCalibration.validBlocks = random.randint(1, 10)
    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
    msg.liveCalibration.height = [random.random() for _ in range(1)]
-    Params().put("CalibrationParams", msg.to_bytes(), block=True)
+    Params().put("CalibrationParams", msg.to_bytes())
    c = Calibrator(param_put=True)

    np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
@@ -53,8 +53,8 @@ class TestLagd:
    msg = messaging.new_message('liveDelay')
    msg.liveDelay.lateralDelayEstimate = random.random()
    msg.liveDelay.validBlocks = random.randint(1, 10)
-    params.put("LiveDelay", msg.to_bytes(), block=True)
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+    params.put("LiveDelay", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())

    saved_lag_params = retrieve_initial_lag(params, CP)
    assert saved_lag_params is not None
@@ -27,8 +27,8 @@ class TestParamsd:
    CP = next(m for m in lr if m.which() == "carParams").carParams

    msg = get_random_live_parameters(CP)
-    params.put("LiveParametersV2", msg.to_bytes(), block=True)
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+    params.put("LiveParametersV2", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())

    migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
    sr, sf, offset, p_init = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
@@ -46,8 +46,8 @@ class TestParamsd:
    CP = next(m for m in lr if m.which() == "carParams").carParams

    msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.liveParameters.to_dict(), block=True)
-    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes(), block=True)
+    params.put("LiveParameters", msg.liveParameters.to_dict())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
    params.remove("LiveParametersV2")

    migrate_cached_vehicle_params_if_needed(params)
@@ -59,7 +59,7 @@ class TestParamsd:

  def test_read_saved_params_corrupted_old_format(self):
    params = Params()
-    params.put("LiveParameters", {}, block=True)
+    params.put("LiveParameters", {})
    params.remove("LiveParametersV2")

    migrate_cached_vehicle_params_if_needed(params)
@@ -278,7 +278,7 @@ def main(demo=False):
    # Cache points every 60 seconds while onroad
    if sm.frame % 240 == 0:
      msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put("LiveTorqueParameters", msg.to_bytes())
+      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())


 if __name__ == "__main__":
@@ -1,19 +1,6 @@
-import glob
-import json
 import os
-import sys, subprocess
-from SCons.Script import Action, Value
-from openpilot.common.file_chunker import chunk_file, get_chunk_targets, get_existing_chunks
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.selfdrive.modeld.helpers import TG_INPUT_DEVICES_PATH, usbgpu_present, modeld_pkl_path
-
-
-CAMERA_CONFIGS = [
-  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
-  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
-]
+import glob
+from openpilot.common.file_chunker import chunk_file, get_chunk_paths

 Import('env', 'arch')
 chunker_file = File("#common/file_chunker.py")
@@ -26,116 +13,52 @@ tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "
 def estimate_pickle_max_size(onnx_size):
  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty

-# get fastest TG config
-# probe in subprocess so usbgpu locks gets released on process exit
-def probe_devices():
-  return set(subprocess.run(
-    [sys.executable, '-c', 'from tinygrad import Device\nprint("\\n".join(Device.get_available_devices()))'],
-    capture_output=True, text=True, check=True).stdout.strip().splitlines())
+# compile warp
+# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
+tg_flags = {
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')

-available = probe_devices()
-if 'CUDA' in available:
-  tg_backend = 'CUDA'
-  tg_flags = f'DEV={tg_backend}'
-elif 'QCOM' in available:
-  tg_backend = 'QCOM'
-  tg_flags = f'DEV={tg_backend} IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1'
-else:
-  tg_backend = 'CPU'
-  tg_flags = f'DEV=CPU' if arch == 'Darwin' else 'DEV=CPU:LLVM'
+# Get model metadata
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  fn = File(f"models/{model_name}").abspath
+  script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
+  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)

-tg_devices = { # which device to put jit inputs to at runtime
-  'selfdrive.modeld.modeld': {
-    'default': {'WARP_DEV': tg_backend, 'QUEUE_DEV': tg_backend},
-    'usbgpu': {'WARP_DEV': tg_backend, 'QUEUE_DEV': 'AMD'}
-  },
-  'selfdrive.modeld.dmonitoringmodeld': {
-    'default': {'DEV': tg_backend}
-  },
-}
-
-USBGPU = usbgpu_present() # or release # TODO always build big model on release
-if USBGPU:
-  usbgpu_tg_flags = f'DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV={tg_backend} FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0'
-  # the USB+AMD GPU takes an exclusive flock; serialize all targets that touch it
-  usbgpu_lock = File("models/.usb_gpu.lock").abspath
-
-def write_tg_devices(target, source, env):
-  with open(str(target[0]), "w") as f:
-    json.dump(tg_devices, f)
-    f.write("\n")
-
-tg_devices_node = lenv.Command(
-  str(TG_INPUT_DEVICES_PATH),
-  [Value(tg_devices)],
-  write_tg_devices,
-)
-
-# tinygrad calls brew which needs a $HOME in the env
-mac_brew_string = f'HOME={os.path.expanduser("~")}' if arch == 'Darwin' else ''
-
-modeld_dir = Dir("#selfdrive/modeld").abspath
-compile_modeld_script = [
-  File(f"{modeld_dir}/compile_modeld.py"),
-  File(f"{modeld_dir}/get_model_metadata.py"),
-  File("#system/camerad/cameras/nv12_info.py"),
-  File("#system/hardware/hw.py"),
-]
-model_w, model_h = MEDMODEL_INPUT_SIZE
-frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-
-for usbgpu in [False, True] if USBGPU else [False]:
-  target_pkl_path = File(modeld_pkl_path(usbgpu)).abspath
-  file_prefix, cmd_flags = ('big_', usbgpu_tg_flags) if usbgpu else ('', tg_flags)
-  driving_onnx_deps = [p for m in [f'{file_prefix}driving_vision', f'{file_prefix}driving_on_policy']
-                       for p in get_existing_chunks(File(f"models/{m}.onnx").abspath)]
-  camera_res_args = ' '.join(f'{cw}x{ch}' for cw, ch in CAMERA_CONFIGS)
-  cmd = (f'{cmd_flags} {mac_brew_string} python3 {modeld_dir}/compile_modeld.py '
-        f'--model-size {model_w}x{model_h} '
-        f'--camera-resolutions {camera_res_args} '
-        f'--vision-onnx {File(f"models/{file_prefix}driving_vision.onnx").abspath} '
-        f'--on-policy-onnx {File(f"models/{file_prefix}driving_on_policy.onnx").abspath} '
-        f'--output {target_pkl_path} --frame-skip {frame_skip}')
-  onnx_sizes_sum = sum(os.path.getsize(f) for f in driving_onnx_deps)
-  chunk_targets = get_chunk_targets(target_pkl_path, estimate_pickle_max_size(onnx_sizes_sum))
-  def do_chunk(target, source, env, pkl=target_pkl_path, chunks=chunk_targets):
-    chunk_file(pkl, chunks)
-  node = lenv.Command(
-    chunk_targets,
-    tinygrad_files + compile_modeld_script + driving_onnx_deps + [Value(chunk_targets), chunker_file],
-    [cmd, Action(do_chunk, "  [CHUNK] $TARGET")],
-  )
-  if usbgpu:
-    lenv.SideEffect(usbgpu_lock, node)
-
-# get model metadata
-fn = File(f"models/dmonitoring_model").abspath
-script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-cmd = f'{tg_flags} {mac_brew_string} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files + [tg_devices_node], cmd)
-
-dm_w, dm_h = DM_INPUT_SIZE
-compile_dm_warp_script = [File(f"{modeld_dir}/compile_dm_warp.py")]
-for cam_w, cam_h in CAMERA_CONFIGS:
-  dm_pkl_path = File(f"models/dm_warp_{cam_w}x{cam_h}_tinygrad.pkl").abspath
-  cmd = (f'{tg_flags} {mac_brew_string} python3 {modeld_dir}/compile_dm_warp.py '
-         f'--camera-resolution {cam_w}x{cam_h} --warp-to {dm_w}x{dm_h} '
-         f'--output {dm_pkl_path}')
-  lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
+image_flag = {
+     'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
+compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+warp_targets = []
+for cam in [_ar_ox_fisheye, _os_fisheye]:
+  w, h = cam.width, cam.height
+  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)

 def tg_compile(flags, model_name):
  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
  fn = File(f"models/{model_name}").abspath
  pkl = fn + "_tinygrad.pkl"
  onnx_path = fn + ".onnx"
-  chunk_targets = get_chunk_targets(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  compile_node = lenv.Command(
+    pkl,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+  )
  def do_chunk(target, source, env):
    chunk_file(pkl, chunk_targets)
  return lenv.Command(
    chunk_targets,
-    [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
-    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
-     Action(do_chunk, "  [CHUNK] $TARGET")],
+    compile_node,
+    do_chunk,
  )

-tg_compile(tg_flags, 'dmonitoring_model')
+# Compile small models
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  tg_compile(tg_flags, model_name)
+
@@ -1,56 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import pickle
-import time
-
-from tinygrad.tensor import Tensor
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.selfdrive.modeld.compile_modeld import NV12Frame, warp_perspective_tinygrad, _parse_size
-
-
-def make_warp_dm(nv12: NV12Frame, dm_w, dm_h):
-  cam_w, cam_h, stride, _, _, _ = nv12
-  stride_pad = stride - cam_w
-
-  def warp_dm(input_frame, M_inv):
-    M_inv = M_inv.to(Device.DEFAULT).realize()
-    return warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv,
-                                     (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16).reshape(-1, dm_h * dm_w) # Y
-  return warp_dm
-
-
-def compile_dm_warp(nv12: NV12Frame, dm_w, dm_h, pkl_path):
-  print(f"Compiling DM warp for {nv12.width}x{nv12.height} -> {dm_w}x{dm_h}...")
-
-  warp_dm_jit = TinyJit(make_warp_dm(nv12, dm_w, dm_h), prune=True)
-
-  for i in range(10):
-    frame = Tensor.randint(nv12.size, low=0, high=256, dtype='uint8').realize()
-    M_inv = Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')
-    Device.default.synchronize()
-    st = time.perf_counter()
-    warp_dm_jit(frame, M_inv).realize()
-    mt = time.perf_counter()
-    Device.default.synchronize()
-    et = time.perf_counter()
-    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
-  with open(pkl_path, "wb") as f:
-    pickle.dump(warp_dm_jit, f)
-  print(f"  Saved to {pkl_path}")
-
-
-if __name__ == "__main__":
-  p = argparse.ArgumentParser()
-  p.add_argument('--camera-resolution', type=_parse_size, required=True, help='camera resolution WxH')
-  p.add_argument('--warp-to', type=_parse_size, required=True, help='DM input WxH')
-  p.add_argument('--output', required=True)
-  args = p.parse_args()
-
-  cam_w, cam_h = args.camera_resolution
-  nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
-  dm_w, dm_h = args.warp_to
-  compile_dm_warp(nv12, dm_w, dm_h, args.output)
@@ -1,299 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import atexit
-import os
-import pickle
-import time
-from functools import partial
-from collections import namedtuple, defaultdict
-
-import numpy as np
-
-def _patch_tinygrad_fetch_fw():
-  import hashlib
-  import pathlib
-  import zstandard
-  from tinygrad import helpers
-  _orig = helpers.fetch_fw
-  def fetch_fw(path, name, sha256):
-    p = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
-    if p.is_file():
-      blob = zstandard.ZstdDecompressor().stream_reader(p.read_bytes()).read()
-      if hashlib.sha256(blob).hexdigest() == sha256:
-        return blob
-    return _orig(path, name, sha256)
-  helpers.fetch_fw = fetch_fw
-_patch_tinygrad_fetch_fw()
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-
-NV12Frame = namedtuple("NV12Frame", ['width', 'height', 'stride', 'y_height', 'uv_height', 'size'])
-WARP_INPUTS = ['img_q', 'big_img_q', 'tfm', 'big_tfm']
-POLICY_INPUTS = ['feat_q', 'desire_q', 'desire', 'traffic_convention', 'action_t']
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-WARP_DEV = os.getenv('WARP_DEV')
-
-
-def make_random_images(keys, shape, device=None):
-  return {k: Tensor.randint(shape, low=0, high=256, dtype='uint8', device=device).realize() for k in keys}
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
-  w_dst, h_dst = dst_shape
-  h_src, w_src = src_shape
-
-  x = Tensor.arange(w_dst, device=WARP_DEV).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
-  y = Tensor.arange(h_dst, device=WARP_DEV).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
-
-  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
-  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
-  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
-  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
-
-  src_x = src_x / src_w
-  src_y = src_y / src_w
-
-  x_round = Tensor.round(src_x)
-  y_round = Tensor.round(src_y)
-  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
-  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
-  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
-  sampled = src_flat[idx]
-
-  if border_fill_val is None:
-    return sampled
-
-  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
-               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
-  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
-
-
-def frames_to_tensor(frames):
-  H = (frames.shape[0] * 2) // 3
-  W = frames.shape[1]
-  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
-                       frames[1:H:2, 0::2],
-                       frames[0:H:2, 1::2],
-                       frames[1:H:2, 1::2],
-                       frames[H:H+H//4].reshape((H//2, W//2)),
-                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
-  return in_img1
-
-
-def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
-  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
-  uv_offset = stride * y_height
-  stride_pad = stride - cam_w
-
-  def frame_prepare_tinygrad(input_frame, M_inv):
-    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
-    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
-    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
-    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
-    with Context(SPLIT_REDUCEOP=0):
-      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
-                                    M_inv, (model_w, model_h),
-                                    (cam_h, cam_w), stride_pad).realize()
-      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
-                                    M_inv_uv, (model_w//2, model_h//2),
-                                    (cam_h//2, cam_w//2), 0).realize()
-    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
-    tensor = frames_to_tensor(yuv)
-    return tensor
-  return frame_prepare_tinygrad
-
-
-def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
-  img = vision_input_shapes['img']  # (1, 12, 128, 256)
-  n_frames = img[1] // 6
-  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
-
-  fb = policy_input_shapes['features_buffer']  # (1, 25, 512)
-  dp = policy_input_shapes['desire_pulse']  # (1, 25, 8)
-  tc = policy_input_shapes['traffic_convention']  # (1, 2)
-  #TODO action_t is hardcoded to match tc for future compatibility
-  at = tc
-
-  npy = {
-    'desire': np.zeros(dp[2], dtype=np.float32),
-    'traffic_convention': np.zeros(tc, dtype=np.float32),
-    'tfm': np.zeros((3, 3), dtype=np.float32),
-    'big_tfm': np.zeros((3, 3), dtype=np.float32),
-    'action_t': np.zeros(at, dtype=np.float32),
-  }
-  input_queues = {
-    'img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'big_img_q': Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
-    'feat_q': Tensor(np.zeros((frame_skip * (fb[1] - 1) + 1, fb[0], fb[2]), dtype=np.float32), device=device).contiguous().realize(),
-    'desire_q': Tensor(np.zeros((frame_skip * dp[1], dp[0], dp[2]), dtype=np.float32), device=device).contiguous().realize(),
-    **{k: Tensor(v, device='NPY').realize() for k, v in npy.items()},
-  }
-  return input_queues, npy
-
-
-def shift_and_sample(buf, new_val, sample_fn):
-  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
-  return sample_fn(buf)
-
-
-def sample_skip(buf, frame_skip):
-  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
-
-
-def sample_desire(buf, frame_skip):
-  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
-
-
-def make_warp(nv12, model_w, model_h, frame_skip):
-  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-
-  def warp_enqueue(img_q, big_img_q, 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).to(Device.DEFAULT)
-    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
-    img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
-    big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
-    return img, big_img
-  return warp_enqueue
-
-
-def make_run_policy(vision_runner, on_policy_runner, vision_features_slice, frame_skip):
-  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
-  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
-
-  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
-    desire = desire.to(Device.DEFAULT)
-    traffic_convention = traffic_convention.to(Device.DEFAULT)
-    action_t = action_t.to(Device.DEFAULT)
-    Tensor.realize(desire, traffic_convention, action_t)
-    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
-    vision_out = next(iter(vision_runner({'img': img, 'big_img': big_img}).values())).cast('float32')
-
-    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
-    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
-
-    inputs = {
-      'features_buffer': feat_buf,
-      'desire_pulse': desire_buf,
-      'traffic_convention': traffic_convention,
-      'action_t': action_t,
-    }
-    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast('float32')
-    #off_policy_out = next(iter(off_policy_runner(inputs).values())).cast('float32')
-    return vision_out, on_policy_out
-
-  return run_policy
-
-
-def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
-  vision_input_shapes = vision_metadata['input_shapes']
-  policy_input_shapes = policy_metadata['input_shapes']
-
-  SEED = 42
-  def random_inputs_run(fn, seed, test_val=None, test_buffers=None, expect_match=True):
-    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
-    np.random.seed(seed)
-    Tensor.manual_seed(seed)
-
-    testing = test_val is not None or test_buffers is not None
-    n_runs = 1 if testing else 3
-
-    for i in range(n_runs):
-      for v in npy.values():
-        v[:] = np.random.randn(*v.shape).astype(v.dtype)
-      Device.default.synchronize()
-      random_inputs = make_random_inputs()
-      st = time.perf_counter()
-      outs = fn(**{k: input_queues[k] for k in input_keys}, **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:
-        val = [np.copy(v.numpy()) for v in outs]
-        buffers = [np.copy(v.numpy().copy()) for v in input_queues.values()]
-
-    if test_val is not None:
-      match = all(np.array_equal(a, b) for a, b in zip(val, test_val, strict=True))
-      assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={seed})"
-    if test_buffers is not None:
-      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')
-  test_val, test_buffers = random_inputs_run(jit, SEED)
-  print('pickle round trip')
-  jit = pickle.loads(pickle.dumps(jit))
-  random_inputs_run(jit, SEED, test_val, test_buffers, expect_match=True)
-  random_inputs_run(jit, SEED+1, test_val, test_buffers, expect_match=False)
-  return jit
-
-
-def _parse_size(s):
-  w, h = s.lower().split('x')
-  return int(w), int(h)
-
-
-def read_file_chunked_to_shm(path):
-  from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.system.hardware.hw import Paths
-  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
-  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
-  with open(shm_path, 'wb') as f:
-    f.write(read_file_chunked(path))
-  return shm_path
-
-
-if __name__ == "__main__":
-  from tinygrad.nn.onnx import OnnxRunner
-  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
-  p = argparse.ArgumentParser()
-  p.add_argument('--model-size', type=_parse_size, required=True, help='model input WxH')
-  p.add_argument('--camera-resolutions', type=_parse_size, nargs='+', required=True,
-                 help='camera resolutions WxH (one or more)')
-  p.add_argument('--vision-onnx', required=True)
-  p.add_argument('--on-policy-onnx', required=True)
-  p.add_argument('--output', required=True)
-  p.add_argument('--frame-skip', type=int, required=True)
-  args = p.parse_args()
-
-  out = defaultdict(dict)
-  vision_path, on_policy_path = read_file_chunked_to_shm(args.vision_onnx), read_file_chunked_to_shm(args.on_policy_onnx)
-  model_w, model_h = args.model_size
-
-  vision_runner = OnnxRunner(vision_path)
-  on_policy_runner = OnnxRunner(on_policy_path)
-  vision_metadata, on_policy_metadata = make_metadata_dict(vision_path), make_metadata_dict(on_policy_path)
-
-  run_policy_jit = TinyJit(make_run_policy(vision_runner, on_policy_runner, vision_metadata['output_slices']['hidden_state'], args.frame_skip), prune=True)
-  out['metadata']['vision'], out['metadata']['on_policy'] = vision_metadata, on_policy_metadata
-
-  make_random_model_inputs = partial(make_random_images, keys=['img', 'big_img'], shape=vision_metadata['input_shapes']['img'])
-  out['run_policy'] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
-
-  for cam_w, cam_h in args.camera_resolutions:
-    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_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
-    out[(cam_w,cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
-
-  with open(args.output, "wb") as f:
-    pickle.dump(out, f)
-  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
@@ -97,8 +97,8 @@ def make_update_img_input(frame_prepare, model_w, model_h):
  def update_img_input_tinygrad(tensor, frame, M_inv):
    M_inv = M_inv.to(Device.DEFAULT)
    new_img = frame_prepare(frame, M_inv)
-    tensor.assign(tensor[6:].cat(new_img, dim=0).contiguous())
-    return Tensor.cat(tensor[:6], tensor[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+    full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
+    return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
  return update_img_input_tinygrad


@@ -107,9 +107,9 @@ def make_update_both_imgs(frame_prepare, model_w, model_h):

  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
                                calib_big_img_buffer, new_big_img, M_inv_big):
-    calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
-    calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
-    return calib_img_pair, calib_big_img_pair
+    calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
  return update_both_imgs_tinygrad


@@ -136,20 +136,29 @@ def compile_modeld_warp(cam_w, cam_h):

  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
-  new_big_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
+  full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+  big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+
  for i in range(10):
+    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
    img_inputs = [full_buffer,
                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
    big_img_inputs = [big_full_buffer,
                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
    inputs = img_inputs + big_img_inputs
    Device.default.synchronize()

+    inputs_np = [x.numpy() for x in inputs]
+    inputs_np[0] = full_buffer_np
+    inputs_np[3] = big_full_buffer_np
+
    st = time.perf_counter()
-    _ = update_img_jit(*inputs)
+    out = update_img_jit(*inputs)
+    full_buffer = out[0].contiguous().realize().clone()
+    big_full_buffer = out[2].contiguous().realize().clone()
    mt = time.perf_counter()
    Device.default.synchronize()
    et = time.perf_counter()
@@ -173,9 +182,8 @@ def compile_dm_warp(cam_w, cam_h):
  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
  warp_dm_jit = TinyJit(warp_dm, prune=True)

-  new_frame_np = np.random.randint(0, 256, yuv_size, dtype=np.uint8)
  for i in range(10):
-    inputs = [Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+    inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
    Device.default.synchronize()
    st = time.perf_counter()
@@ -38,7 +38,6 @@ class ModelConstants:
  LANE_LINES_WIDTH = 2
  ROAD_EDGES_WIDTH = 2
  PLAN_WIDTH = 15
-  ACTION_WIDTH = 2
  DESIRE_PRED_WIDTH = 8
  LAT_PLANNER_SOLUTION_WIDTH = 4
  DESIRED_CURV_WIDTH = 1
@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 import os
-from openpilot.selfdrive.modeld.helpers import MODELS_DIR, get_tg_input_devices
+from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
+from pathlib import Path

 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
@@ -19,16 +21,15 @@ from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp

 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
-METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
-
+MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
+MODELS_DIR = Path(__file__).parent / 'models'

 class ModelState:
  inputs: dict[str, np.ndarray]
  output: np.ndarray

-  def __init__(self, cam_w: int, cam_h: int):
-    self.DEV = get_tg_input_devices(PROCESS_NAME, usbgpu=False)['DEV']
+  def __init__(self):
    with open(METADATA_PATH, 'rb') as f:
      model_metadata = pickle.load(f)
      self.input_shapes = model_metadata['input_shapes']
@@ -40,27 +41,31 @@ class ModelState:

    self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
    self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
-    self.frame_buf_params = get_nv12_info(cam_w, cam_h)
+    self.frame_buf_params = None
    self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
    self._blob_cache : dict[int, Tensor] = {}
+    self.image_warp = None
    self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
-    with open(MODELS_DIR / f'dm_warp_{cam_w}x{cam_h}_tinygrad.pkl', "rb") as f:
-      self.image_warp = pickle.load(f)

  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
    self.numpy_inputs['calib'][0,:] = calib

    t1 = time.perf_counter()

-    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
+    if self.image_warp is None:
+      self.frame_buf_params = get_nv12_info(buf.width, buf.height)
+      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
+      with open(warp_path, "rb") as f:
+        self.image_warp = pickle.load(f)
+    ptr = buf.data.ctypes.data
    # There is a ringbuffer of imgs, just cache tensors pointing to all of them
    if ptr not in self._blob_cache:
-      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')

    self.warp_inputs_np['transform'][:] = transform[:]
-    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform'])
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()

-    output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()

    t2 = time.perf_counter()
    return output, t2 - t1
@@ -75,7 +80,7 @@ def parse_model_output(model_output):
    face_descs = model_output[f'face_descs_{ds_suffix}']
    parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
    parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
-    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob', 'sleep_prob']:
+    for key in ['face_prob', 'eyes_visible_prob', 'eyes_closed_prob', 'using_phone_prob']:
      parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
  return parsed

@@ -85,13 +90,9 @@ def fill_driver_data(msg, model_output, ds_suffix):
  msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
  msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
  msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
-  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
-  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
-  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesVisibleProb = model_output[f'eyes_visible_prob_{ds_suffix}'][0, 0].item()
+  msg.eyesClosedProb = model_output[f'eyes_closed_prob_{ds_suffix}'][0, 0].item()
  msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
-  msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item()

 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
  msg = messaging.new_message('driverStateV2', valid=True)
@@ -109,6 +110,9 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
 def main():
  config_realtime_process(7, 5)

+  model = ModelState()
+  cloudlog.warning("models loaded, dmonitoringmodeld starting")
+
  cloudlog.warning("connecting to driver stream")
  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
  while not vipc_client.connect(False):
@@ -116,9 +120,6 @@ def main():
  assert vipc_client.is_connected()
  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")

-  model = ModelState(vipc_client.width, vipc_client.height)
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
  sm = SubMaster(["liveCalibration"])
  pm = PubMaster(["driverStateV2"])

@@ -35,21 +35,21 @@ def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
  return None


-def make_metadata_dict(model_path):
+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
  model = MetadataOnnxPBParser(model_path).parse()
  output_slices = get_metadata_value_by_name(model, 'output_slices')
  assert output_slices is not None, 'output_slices not found in metadata'
-  return {
+
+  metadata = {
    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
  }

-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
  with open(metadata_path, 'wb') as f:
-    pickle.dump(make_metadata_dict(model_path), f)
+    pickle.dump(metadata, f)
+
  print(f'saved metadata to {metadata_path}')
@@ -1,26 +0,0 @@
-import json
-from pathlib import Path
-
-MODELS_DIR = Path(__file__).resolve().parent / 'models'
-TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
-USBGPU_VID = 0xADD1
-USBGPU_PID = 0x0001
-
-
-def get_tg_input_devices(process_name: str, usbgpu: bool):
-  with open(TG_INPUT_DEVICES_PATH) as f:
-    return json.load(f)[process_name]['default' if not usbgpu else 'usbgpu']
-
-def modeld_pkl_path(usbgpu: bool):
-  prefix = 'big_' if usbgpu else ''
-  return MODELS_DIR / f'{prefix}driving_tinygrad.pkl'
-
-def usbgpu_present() -> bool:
-  for d in Path("/sys/bus/usb/devices").glob("*"):
-    try:
-      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
-          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
-        return True
-    except Exception:
-      pass
-  return False
@@ -1,12 +1,18 @@
 #!/usr/bin/env python3
 import os
-os.environ['GMMU'] = '0' # for usbgpu fast loading, noop for qcom
+from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
 from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
+from pathlib import Path
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -20,50 +26,53 @@ from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
-from openpilot.selfdrive.modeld.compile_modeld import make_input_queues, WARP_INPUTS, POLICY_INPUTS
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.common.file_chunker import read_file_chunked, get_manifest_path
+from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import usbgpu_present, modeld_pkl_path, get_tg_input_devices

 from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase

+
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

+MODELS_DIR = Path(__file__).parent / 'models'
+VISION_PKL_PATH = MODELS_DIR / 'driving_vision_tinygrad.pkl'
+VISION_METADATA_PATH = MODELS_DIR / 'driving_vision_metadata.pkl'
+POLICY_PKL_PATH = MODELS_DIR / 'driving_policy_tinygrad.pkl'
+POLICY_METADATA_PATH = MODELS_DIR / 'driving_policy_metadata.pkl'
+
 LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3

+IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
+assert IMG_QUEUE_SHAPE[0] == 30
+

 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                          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, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
                                                     plan[:,Plan.ACCELERATION][:,0],
                                                     ModelConstants.T_IDXS,
                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+
    desired_curvature = get_curvature_from_plan(plan[:,Plan.T_FROM_CURRENT_EULER][:,2],
                                                plan[:,Plan.ORIENTATION_RATE][:,2],
                                                ModelConstants.T_IDXS,
                                                v_ego,
                                                lat_action_t)
-  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)
-  desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-  if v_ego > MIN_LAT_CONTROL_SPEED:
-    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
-  else:
-    desired_curvature = prev_action.desiredCurvature
-
-  return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
-                                desiredAcceleration=float(desired_accel),
-                                shouldStop=bool(should_stop))
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature

+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                  desiredAcceleration=float(desired_accel),
+                                  shouldStop=bool(should_stop))

 class FrameMeta:
  frame_id: int = 0
@@ -74,95 +83,176 @@ class FrameMeta:
    if vipc is not None:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

+class InputQueues:
+  def __init__ (self, model_fps, env_fps, n_frames_input):
+    assert env_fps % model_fps == 0
+    assert env_fps >= model_fps
+    self.model_fps = model_fps
+    self.env_fps = env_fps
+    self.n_frames_input = n_frames_input
+
+    self.dtypes = {}
+    self.shapes = {}
+    self.q = {}
+
+  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
+    self.dtypes.update(input_dtypes)
+    if self.env_fps == self.model_fps:
+      self.shapes.update(input_shapes)
+    else:
+      for k in input_shapes:
+        shape = list(input_shapes[k])
+        if 'img' in k:
+          n_channels = shape[1] // self.n_frames_input
+          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
+        else:
+          shape[1] = (self.env_fps // self.model_fps) * shape[1]
+        self.shapes[k] = tuple(shape)
+
+  def reset(self) -> None:
+    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
+
+  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
+    for k in inputs.keys():
+      if inputs[k].dtype != self.dtypes[k]:
+        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
+      input_shape = list(self.shapes[k])
+      input_shape[1] = -1
+      single_input = inputs[k].reshape(tuple(input_shape))
+      sz = single_input.shape[1]
+      self.q[k][:,:-sz] = self.q[k][:,sz:]
+      self.q[k][:,-sz:] = single_input
+
+  def get(self, *names) -> dict[str, np.ndarray]:
+    if self.env_fps == self.model_fps:
+      return {k: self.q[k] for k in names}
+    else:
+      out = {}
+      for k in names:
+        shape = self.shapes[k]
+        if 'img' in k:
+          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
+          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
+        elif 'pulse' in k:
+          # any pulse within interval counts
+          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
+        else:
+          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
+          out[k] = self.q[k][:, idxs]
+      return out

 class ModelState(ModelStateBase):
+  inputs: dict[str, np.ndarray]
+  output: np.ndarray
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse

-  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
+  def __init__(self):
    ModelStateBase.__init__(self)
    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
-    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
-    self.WARP_DEV, self.QUEUE_DEV = input_devices['WARP_DEV'], input_devices['QUEUE_DEV']
-    jits = pickle.loads(read_file_chunked(modeld_pkl_path(usbgpu)))
-    vision_metadata = jits['metadata']['vision']
-    self.vision_input_shapes = vision_metadata['input_shapes']
-    self.vision_input_names = list(self.vision_input_shapes.keys())
-    self.vision_output_slices = vision_metadata['output_slices']
+    with open(VISION_METADATA_PATH, 'rb') as f:
+      vision_metadata = pickle.load(f)
+      self.vision_input_shapes =  vision_metadata['input_shapes']
+      self.vision_input_names = list(self.vision_input_shapes.keys())
+      self.vision_output_slices = vision_metadata['output_slices']
+      vision_output_size = vision_metadata['output_shapes']['outputs'][1]

-    policy_metadata = jits['metadata']['on_policy']
-    self.policy_input_shapes = policy_metadata['input_shapes']
-    self.policy_output_slices = policy_metadata['output_slices']
+    with open(POLICY_METADATA_PATH, 'rb') as f:
+      policy_metadata = pickle.load(f)
+      self.policy_input_shapes =  policy_metadata['input_shapes']
+      self.policy_output_slices = policy_metadata['output_slices']
+      policy_output_size = policy_metadata['output_shapes']['outputs'][1]

    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)

-    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
-    self.input_queues, self.npy = make_input_queues(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
-    self.full_frames: dict[str, Tensor] = {}
-    self._blob_cache: dict[int, Tensor] = {}
+    # policy inputs
+    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
+    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
+    for k in ['desire_pulse', 'features_buffer']:
+      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
+    self.full_input_queues.reset()
+
+    self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
+                       'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
+    self.full_frames : dict[str, Tensor] = {}
+    self._blob_cache : dict[int, Tensor] = {}
+    self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
+    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
+    self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
+    self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+    self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
    self.parser = Parser()
-    self.frame_buf_params = {k: get_nv12_info(cam_w, cam_h) for k in ('img', 'big_img')}
-    self.run_policy = jits['run_policy']
-    self.warp_enqueue = jits[(cam_w,cam_h)]
+    self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
+    self.update_imgs = None
+    self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
+    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))

  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
    return parsed_model_outputs

  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
-          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
+    inputs['desire_pulse'][0] = 0
+    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
+    if self.update_imgs is None:
+      for key in bufs.keys():
+        w, h = bufs[key].width, bufs[key].height
+        self.frame_buf_params[key] = get_nv12_info(w, h)
+      warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+      with open(warp_path, "rb") as f:
+        self.update_imgs = pickle.load(f)
+
    for key in bufs.keys():
-      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      ptr = bufs[key].data.ctypes.data
      yuv_size = self.frame_buf_params[key][3]
      # There is a ringbuffer of imgs, just cache tensors pointing to all of them
      cache_key = (key, ptr)
      if cache_key not in self._blob_cache:
-        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8', device=self.WARP_DEV)
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
      self.full_frames[key] = self._blob_cache[cache_key]
+    for key in bufs.keys():
+      self.transforms_np[key][:,:] = transforms[key][:,:]

-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire_pulse'][0] = 0
-    self.npy['desire'][:] = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
-    self.prev_desire[:] = inputs['desire_pulse']
-    self.npy['traffic_convention'][:] = inputs['traffic_convention']
-    self.npy['action_t'][:] = inputs['action_t']
-    self.npy['tfm'][:,:] = transforms['img'][:,:]
-    self.npy['big_tfm'][:,:] = transforms['big_img'][:,:]
-
-    img, big_img = self.warp_enqueue(**{k: self.input_queues[k] for k in WARP_INPUTS}, frame=self.full_frames['img'], big_frame=self.full_frames['big_img'])
+    out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
+                           self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
+    self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
+    vision_inputs = {'img': out[1], 'big_img': out[3]}

    if prepare_only:
      return None

-    vision_output, on_policy_output = self.run_policy(
-      **{k: self.input_queues[k] for k in POLICY_INPUTS}, img=img, big_img=big_img
-    )
+    self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))

-    vision_output = vision_output.numpy().flatten()
-    on_policy_output = on_policy_output.numpy().flatten()
-    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
-    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(on_policy_output, self.policy_output_slices))
+    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
+    for k in ['desire_pulse', 'features_buffer']:
+      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
+
+    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
-
    if SEND_RAW_PRED:
-      combined_outputs_dict['raw_pred'] = np.concatenate([vision_output.copy(), on_policy_output.copy()])
+      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
+
    return combined_outputs_dict


 def main(demo=False):
  cloudlog.warning("modeld init")

-  _present = usbgpu_present()
-  _compiled = os.path.isfile(get_manifest_path(modeld_pkl_path(usbgpu=True)))
-  USBGPU = _present and _compiled
-  params = Params()
-  params.put_bool("UsbGpuPresent", _present)
-  params.put_bool("UsbGpuCompiled", _compiled)
-
  if not USBGPU:
    # USB GPU currently saturates a core so can't do this yet,
    # also need to move the aux USB interrupts for good timings
    config_realtime_process(7, 54)

+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = ModelState()
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
+
  # visionipc clients
  while True:
    available_streams = VisionIpcClient.available_streams("camerad", block=False)
@@ -186,11 +276,6 @@ def main(demo=False):
  if use_extra_client:
    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")

-  st = time.monotonic()
-  cloudlog.warning("loading model")
-  model = ModelState(vipc_client_main.width, vipc_client_main.height, USBGPU)
-  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
-
  # messaging
  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
@@ -211,6 +296,7 @@ def main(demo=False):
  meta_main = FrameMeta()
  meta_extra = FrameMeta()

+
  if demo:
    CP = get_demo_car_params()
  else:
@@ -294,14 +380,9 @@ def main(demo=False):

    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
-    frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
-    action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
-    lat_action_t = lat_delay + frame_delay + action_delay
-    long_action_t = long_delay + frame_delay + action_delay
-    inputs: dict[str, np.ndarray] = {
+    inputs:dict[str, np.ndarray] = {
      'desire_pulse': vec_desire,
      'traffic_convention': traffic_convention,
-      'action_t': np.array([lat_action_t, long_action_t], dtype=np.float32),
    }

    mt1 = time.perf_counter()
@@ -315,7 +396,9 @@ def main(demo=False):
      posenet_send = messaging.new_message('cameraOdometry')
      mdv2sp_send = messaging.new_message('modelDataV2SP')

-      action = get_action_from_model(model_output, prev_action, lat_action_t, long_action_t, v_ego)
+      frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
+      action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
+      action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
      prev_action = action
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:565e53c38dcd64c50dd3fe4d5ee1530213aeefd66c3f6b67ea6a72a32612a6bf
-size 14061419
@@ -0,0 +1 @@
+driving_policy.onnx
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1f0cab5033fe9e3bc5e174a2e790fa277f7d9fc44c65822d734064d2f899a9a0
-size 296203378
@@ -0,0 +1 @@
+driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3e7b31dfbc0a5234f1baf196513b77fc6af12204b8a8ffe8ee0417e48352f316
-size 7494962
+oid sha256:2fd471febb6e973313ac0d0c6755f6410c1937ba92230b58a433761e8c883072
+size 7364290
--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`#define DEFAULT_MODEL "POP model (Default)"`