sunnypilot v2026.07.20-4574

version: sunnypilot v2026.002.000 (feature-branch)
date: 2026-07-20T03:45:01
master commit: 560cde61ae

.dockerignore

@@ -1,18 +0,0 @@
-**/.git
-.DS_Store
-*.dylib
-*.DSYM
-*.d
-*.pyc
-*.pyo
-.*.swp
-.*.swo
-.*.un~
-*.tmp
-*.o
-*.o-*
-*.os
-*.os-*
-
-venv/
-.venv/

.gitattributes

@@ -1,23 +0,0 @@
-* text=auto
-
-# to move existing files into LFS:
-# git add --renormalize .
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.ttf filter=lfs diff=lfs merge=lfs -text
-*.otf filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_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

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,47 +0,0 @@
-name: Bug report
-description: For issues with running openpilot on your comma device
-labels: ["bug"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
-          * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
-          * Ensure you're running the latest openpilot release.
-          * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: route
-    attributes:
-      label: Provide a route where the issue occurs
-      description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
-      placeholder: 77611a1fac303767|2020-05-11--16-37-07
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version
-      description: If you're not on release, provide the commit hash
-      placeholder: 0.8.10
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/ISSUE_TEMPLATE/config.yml

@@ -1,14 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Car bug report
-    url: https://github.com/commaai/opendbc/issues/new
-    about: For issues with a particular car make or model
-  - name: Join the Discord
-    url: https://discord.comma.ai
-    about: The community Discord is for both openpilot development and experience discussion
-  - name: Report driving behavior feedback
-    url: https://discord.com/channels/469524606043160576/1254834193066623017
-    about: Feedback for the driving and driver monitoring models goes in the #driving-feedback in Discord
-  - name: Community Wiki
-    url: https://github.com/commaai/openpilot/wiki
-    about: Check out our community wiki

.github/ISSUE_TEMPLATE/enhancement.md

@@ -1,8 +0,0 @@
----
-name: Enhancement
-about: For openpilot enhancement suggestions
-title: ''
-labels: 'enhancement'
-assignees: ''
----
-

.github/ISSUE_TEMPLATE/pc_bug_report.yml

@@ -1,42 +0,0 @@
-name: PC bug report
-description: For issues with running openpilot on PC
-labels: ["PC"]
-body:
-
-  - type: markdown
-    attributes:
-      value: >
-        Before creating a **bug report**, please check the following:
-          * Ensure you're running the latest openpilot release.
-          * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
-          * Ensure you're running stock openpilot. We cannot look into bug reports from forks.
-
-        If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
-
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: Also include a description of how to reproduce the bug
-    validations:
-      required: true
-
-  - type: input
-    id: os-version
-    attributes:
-      label: OS Version
-      placeholder: Ubuntu 24.04
-    validations:
-      required: true
-
-  - type: input
-    id: version
-    attributes:
-      label: openpilot version or commit
-      placeholder: bd36f2ec8d3559909678eff2690c10a520938367
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Additional info
-

.github/labeler.yaml

@@ -1,31 +0,0 @@
-ci:
-  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
-
-chore:
-  - changed-files:
-      - any-glob-to-all-files: "{.github/**}"
-
-car:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
-
-simulation:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
-
-ui:
-  - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
-
-tools:
-  - changed-files:
-    - any-glob-to-all-files: 'tools/**'
-
-multilanguage:
-  - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
-
-autonomy:
-  - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"

.github/pull_request_template.md

@@ -1,68 +0,0 @@
-<!-- Please copy and paste the relevant template -->
-
-<!--- ***** Template: Fingerprint *****
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint
-
--->
-
-<!--- ***** Template: Car Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-**Route**
-
-Route: [a route with the bug fix]
-
-
--->
-
-<!--- ***** Template: Bugfix *****
-
-**Description**
-
-A description of the bug and the fix. Also link the issue if it exists. 
-
-**Verification**
-
-Explain how you tested this bug fix. 
-
-
--->
-
-<!--- ***** Template: Car Port *****
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):
-
-
--->
-
-<!--- ***** Template: Refactor *****
-
-**Description**
-
-A description of the refactor, including the goals it accomplishes. 
-
-**Verification**
-
-Explain how you tested the refactor for regressions. 
-
-
--->
-

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

.github/workflows/auto-cache/action.yaml

@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}

.github/workflows/auto_pr_review.yaml

@@ -1,91 +0,0 @@
-name: "PR review"
-on:
-  pull_request_target:
-    types: [ opened, reopened, synchronize, edited ]
-
-jobs:
-  labeler:
-    name: review
-    permissions:
-      contents: read
-      pull-requests: write
-      issues: write
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-
-    # Label PRs
-    - uses: actions/labeler@v5.0.0
-      with:
-        dot: true
-        configuration-path: .github/labeler.yaml
-
-    # Check PR target branch
-    - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
-      env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      with:
-        target: /^(?!master$).*/
-        exclude: /sunnypilot:.*/
-        change-to: ${{ github.base_ref }}
-        already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
-
-  update-pr-labels:
-    name: Update fork's PR Labels
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env:
-      PR_LABEL: 'dev'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });

.github/workflows/badges.yaml

@@ -1,37 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_REGISTRY: ghcr.io/sunnypilot
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Push badges
-      run: |
-        ${{ env.RUN }} "python3 selfdrive/ui/translations/create_badges.py"
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

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

@@ -1,303 +0,0 @@
-name: Build and push all tinygrad models
-
-on:
-  workflow_dispatch:
-    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
-    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use (from GitHub docs repo)
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
-
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
-    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

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

@@ -1,228 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
-        required: false
-        default: true
-        type: boolean
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      model_folder:
-        description: 'Model folder'
-        type: choice
-        default: 'None'
-        options:
-          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: string
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-env:
-  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
-
-jobs:
-  build_model:
-    uses: ./.github/workflows/sunnypilot-build-model.yaml
-    with:
-      upstream_branch: ${{ inputs.upstream_branch }}
-      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
-      artifact_suffix: ${{ inputs.artifact_suffix }}
-    secrets: inherit
-
-  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
-    needs: build_model
-    runs-on: ubuntu-latest
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
-            ARGS="$ARGS --model-folder \"$FOLDER\""
-          fi
-          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
-          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/cereal_validation.yaml

@@ -1,76 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - 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_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - 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:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          submodules: true
-          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
-        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"

.github/workflows/ci_weekly_report.yaml

@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always()
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY

.github/workflows/ci_weekly_run.yaml

@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}

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

@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -1,65 +0,0 @@
-name: docs
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-jobs:
-  docs:
-    name: build docs
-    runs-on: ubuntu-24.04
-    steps:
-    - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-
-    # Build
-    - name: Build docs
-      run: |
-        # TODO: can we install just the "docs" dependency group without the normal deps?
-        pip install mkdocs
-        mkdocs build
-
-    # Push to docs.comma.ai
-    - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
-      with:
-        path: openpilot-docs
-        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
-    - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        set -x
-
-        source release/identity.sh
-
-        cd openpilot-docs
-        git checkout --orphan tmp
-        git rm -rf .
-
-        # copy over docs
-        cp -r ../docs_site/ docs/
-
-        # GitHub pages config
-        touch docs/.nojekyll
-        echo -n docs.comma.ai > docs/CNAME
-
-        git add -f .
-        git commit -m "build docs"
-
-        # docs live in different repo to not bloat openpilot's full clone size
-        git push -f origin tmp:gh-pages

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

@@ -1,59 +0,0 @@
-name: jenkins scan
-
-on:
-  issue_comment:
-    types: [created, edited]
-
-jobs:
-  # TODO: gc old branches in a separate job in this workflow
-  scan-comments:
-    runs-on: ubuntu-latest
-    if: ${{ github.event.issue.pull_request }}
-    permissions:
-      contents: write
-      issues: write
-    steps:
-    - name: Check for trigger phrase
-      id: check_comment
-      uses: actions/github-script@v7
-      with:
-        script: |
-          const triggerPhrase = "trigger-jenkins";
-          const comment = context.payload.comment.body;
-          const commenter = context.payload.comment.user.login;
-
-          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            username: commenter
-          });
-
-          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
-
-          return (hasWriteAccess && comment.includes(triggerPhrase));
-        result-encoding: json
-
-    - name: Checkout repository
-      if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
-      with:
-        ref: refs/pull/${{ github.event.issue.number }}/head
-
-    - name: Push to tmp-jenkins branch
-      if: steps.check_comment.outputs.result == 'true'
-      run: |
-        git config --global user.name "github-actions[bot]"
-        git config --global user.email "github-actions[bot]@users.noreply.github.com"
-        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
-        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
-
-    - name: Delete trigger comment
-      if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v7
-      with:
-        script: |
-          await github.rest.issues.deleteComment({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            comment_id: context.payload.comment.id,
-          });

.github/workflows/lfs-maintenance.yaml

@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master'
-  pull_request:
-    branches:
-      - 'master'
-  workflow_dispatch: # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Checkout master
-        uses: actions/checkout@v4
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - run: pip install onnx
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

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

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

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh prebuilt
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/raylib_ui_preview.yaml

@@ -1,175 +0,0 @@
-name: "raylib ui preview"
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [assigned, opened, synchronize, reopened, edited]
-    branches:
-      - 'master'
-    paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
-  workflow_dispatch:
-
-env:
-  UI_JOB_NAME: "Create raylib UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-raylib-ui"
-
-jobs:
-  preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    name: preview
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    permissions:
-      contents: read
-      pull-requests: write
-      actions: read
-    steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
-
-      - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
-        with:
-          ref: ${{ env.SHA }}
-          check-name: ${{ env.UI_JOB_NAME }}
-          repo-token: ${{ secrets.GITHUB_TOKEN }}
-          allowed-conclusions: success
-          wait-interval: 20
-
-      - name: Getting workflow run ID
-        id: get_run_id
-        run: |
-          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
-
-      - name: Getting proposed ui
-        id: download-artifact
-        uses: dawidd6/action-download-artifact@v6
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          run_id: ${{ steps.get_run_id.outputs.run_id }}
-          search_artifacts: true
-          name: raylib-report-1-${{ env.REPORT_NAME }}
-          path: ${{ github.workspace }}/pr_ui
-
-      - name: Getting master ui
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/ci-artifacts
-          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui_raylib
-          ref: openpilot_master_ui_raylib
-
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git checkout --orphan=new_master_ui_raylib
-          git rm -rf *
-          git branch -D openpilot_master_ui_raylib
-          git branch -m openpilot_master_ui_raylib
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "raylib screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui_raylib --force
-
-      - name: Finding diff
-        if: github.event_name == 'pull_request_target'
-        id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
-
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
-
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
-
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui_raylib/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui_raylib/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
-            fi
-          done
-
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
-
-      - name: Saving proposed ui
-        if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui_raylib
-        run: |
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          git checkout --orphan=${{ env.BRANCH_NAME }}
-          git rm -rf *
-          mv ${{ github.workspace }}/pr_ui/* .
-          git add .
-          git commit -m "raylib screenshots for PR #${{ github.event.number }}"
-          git push origin ${{ env.BRANCH_NAME }} --force
-
-      - name: Comment Screenshots on PR
-        if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
-        with:
-          message: |
-            <!-- _(run_id_screenshots_raylib **${{ github.run_id }}**)_ -->
-            ## raylib UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots_raylib
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release-drafter.yml

@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -1,42 +0,0 @@
-name: release
-on:
-  schedule:
-    - cron: '0 9 * * *'
-  workflow_dispatch:
-
-jobs:
-  build___nightly:
-    name: build __nightly
-    env:
-      ImageOS: ubuntu24
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      checks: read
-      contents: write
-    steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
-    - name: Wait for green check mark
-      if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build __nightly'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-        fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -1,74 +0,0 @@
-name: repo maintenance
-
-on:
-  schedule:
-    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
-  workflow_dispatch:
-
-env:
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  update_translations:
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-        with:
-          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-          commit-message: "Update translations"
-          title: "[bot] Update translations"
-          body: "Automatic PR from repo-maintenance -> update_translations"
-          branch: "update-translations"
-          base: "master"
-          delete-branch: true
-          labels: bot
-
-  package_updates:
-    name: package_updates
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: uv lock
-      if: github.repository == 'commaai/openpilot'
-      run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
-    - name: bump submodules
-      run: |
-        git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
-        git submodule update --remote
-        git add .
-    - name: update car docs
-      run: |
-        export PYTHONPATH="$PWD"
-        scons -j$(nproc) --minimal opendbc_repo
-        python selfdrive/car/docs.py
-        git add docs/CARS.md
-    - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
-      with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
-        commit-message: Update Python packages
-        title: '[bot] Update Python packages'
-        branch: auto-package-updates
-        base: master
-        delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
-        labels: bot

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

@@ -1,52 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-outputs:
-  duration:
-    description: 'Duration of the setup process in seconds'
-    value: ${{ steps.get_duration.outputs.duration }}
-
-runs:
-  using: "composite"
-  steps:
-    - id: start_time
-      shell: bash
-      run: echo "START_TIME=$(date +%s)" >> $GITHUB_ENV
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
-    - id: get_duration
-      shell: bash
-      run: |
-        END_TIME=$(date +%s)
-        DURATION=$((END_TIME - START_TIME))
-        echo "Total duration: $DURATION seconds"
-        echo "duration=$DURATION" >> $GITHUB_OUTPUT

.github/workflows/setup/action.yaml

@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}

.github/workflows/stale.yaml

@@ -1,52 +0,0 @@
-name: stale
-on:
-  schedule:
-    - cron: '30 1 * * *'
-  workflow_dispatch:
-
-env:
-  DAYS_BEFORE_PR_CLOSE: 7
-  DAYS_BEFORE_PR_STALE: 24
-  DAYS_BEFORE_PR_STALE_DRAFT: 30
-
-jobs:
-  stale:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: false
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now
-
-  # same as above, but give draft PRs more time
-  stale_drafts:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/stale@v9
-        with:
-          exempt-all-milestones: true
-
-          # pull request config
-          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
-          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
-          stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
-          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
-          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
-          exempt-draft-pr: true
-
-          # issue config
-          days-before-issue-stale: -1 # ignore issues for now

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

@@ -1,221 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    env:
-      REF: ${{ inputs.upstream_branch }}
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
-      # and fallback to sunnypilot if the ref checkout fails.
-      - name: Checkout commaai/openpilot
-        id: checkout_upstream
-        continue-on-error: true
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/openpilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-
-      - name: Fallback to sunnypilot/sunnypilot
-        if: steps.checkout_upstream.outcome == 'failure'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-      - name: Get commit date
-        id: commit-date
-        run: |
-          cd ${{ github.workspace }}/openpilot
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: [self-hosted, tici]
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-      REF: ${{ inputs.upstream_branch }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            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"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Write artifact name to file
-        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Upload Build Artifacts
-        id: upload-artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Upload artifact name file
-        uses: actions/upload-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

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

@@ -1,372 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-  
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-dev ]
-    tags: [ 'release/*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for tests to finish'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-          
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-  
-  validate_tests:
-    runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
-
-  build:
-    needs: [ validate_tests, prepare_strategy ]
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) 
-      }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
-          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-          
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='*.cc' \
-            --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-  
-  
-  publish:
-    concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
-    runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-      
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
-
-  notify:
-    needs: 
-    - prepare_strategy
-    - build
-    - publish
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure())
-      && needs.publish.result == 'success'
-      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Prepare notification message
-        id: message
-        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
-          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
-          export branch_name="${{ env.SOURCE_BRANCH }}"
-          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
-          export commit_sha="${{ github.sha }}"
-          export commit_short_sha="${{ github.sha }}"
-          export commit_short_sha="${commit_short_sha:0:7}"
-          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
-          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
-
-          MESSAGE=$(cat << 'EOF' | envsubst
-          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
-          EOF
-          )
-          
-          {
-            echo 'content<<EOFMARKER'
-            echo "$MESSAGE"
-            echo 'EOFMARKER'
-          } >> $GITHUB_OUTPUT
-        shell: bash
-
-      - name: Post to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: "system"
-          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
-          message: ${{ steps.message.outputs.content }}
-
-  manage-pr-labels:
-    name: Remove prebuilt label
-    runs-on: ubuntu-latest
-    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    env:
-      LABEL: prebuilt
-    steps:
-      - name: Remove trust-fork-pr label if present
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.LABEL
-            });
-
-            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

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

@@ -1,222 +0,0 @@
-name: Build dev
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [ labeled ]
-    branches:
-      - 'master'
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-      )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-          )
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:40) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
-
-          PR_LIST=${PR_LIST//\'/}
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

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

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

.github/workflows/tests.yaml

@@ -1,300 +0,0 @@
-name: tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
-
-jobs:
-  build_release:
-    name: build release
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        release/check-submodules.sh
-
-  build:
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      if: false # disabling the cache for now because it is breaking macos builds...
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        PYTHONWARNINGS: default  # package install has DeprecationWarnings
-        HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        save: false # No need save here if we manually save it later conditionally
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-
-  static_analysis:
-    name: static analysis
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        # Pre-compile Python bytecode so each pytest worker doesn't need to
-                        $PYTEST --collect-only -m 'not slow' -qq && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  process_replay:
-    name: process replay
-    if: false  # disable process_replay for forks
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
-      run: |
-        ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: false # TODO: move this to github instead of azure
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-
-  simulator_driving:
-    name: simulator driving
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    if: false  # FIXME: Started to timeout recently
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      id: setup-step
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }}
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_raylib_ui_report:
-    name: Create raylib UI Report
-    runs-on: ${{
-      (github.repository == 'commaai/openpilot') &&
-      ((github.event_name != 'pull_request') ||
-      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
-      || fromJSON('["ubuntu-24.04"]') }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create raylib UI Report
-        run: >
-          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                          source selfdrive/test/setup_xvfb.sh &&
-                          python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py"
-      - name: Upload Raylib UI Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/test_ui/raylib_report/screenshots

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

@@ -1,52 +0,0 @@
-name: 'Wait for Tests'
-description: 'Action to wait for workflow tests to start and complete'
-inputs:
-  workflow:
-    description: 'The workflow file name to monitor'
-    required: true
-    default: 'tests.yaml'
-  branch:
-    description: 'The branch to monitor (defaults to current branch)'
-    required: false
-    default: ''
-  github-token:
-    description: 'GitHub token for API access'
-    required: true
-  wait-time:
-    description: 'Initial sleep time in seconds before monitoring starts'
-    required: false
-    default: '30'
-  should-wait-for-start:
-    description: 'Whether to wait for tests to start'
-    required: false
-    default: false
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Wait for tests to start
-      if: inputs.should-wait-for-start == 'true'
-      shell: bash
-      run: |
-        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
-        sleep ${{ inputs.wait-time }}
-
-    - name: Wait for tests to finish
-      shell: bash
-      run: |
-        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
-        
-        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
-        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
-        echo "Watching run ID: $RUN_ID"
-        gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
-      env:
-        GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -13,13 +13,20 @@ venv/
 a.out
 .hypothesis
 .cache/
+bin/
 
-/docs_site/
+# created at launch for TICI PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
+*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,65 +46,57 @@ a.out
 *.mo
 *_pyx.cpp
 *.stats
+*.pkl
+*.pkl*
 config.json
-clcache
 compile_commands.json
 compare_runtime*.html
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+# build artifacts
+docs_site/
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml
 htmlcov
-pandaextra
-
-.mypy_cache/
-flycheck_*
-
-cppcheck_report.txt
-comma*.sh
-
-selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
+*.rlog
 
 build/
 
 !**/.gitkeep
 
-poetry.toml
-Pipfile
 
 ### VisualStudioCode ###
+*.vsix
+.history
+.ionide
 .vscode/*
+.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# Local History for Visual Studio Code
-.history/
-
-# Built Visual Studio Code Extensions
-*.vsix
-
-### VisualStudioCode Patch ###
-# Ignore all local history of files
-.history
-.ionide
+# agents
+.claude/
+.context/
+PLAN.md
+TASK.md
+CLAUDE.md
+SKILL.md
 
 ### JetBrains ###
 !.idea/customTargets.xml

.gitmodules

@@ -1,21 +0,0 @@
-[submodule "panda"]
-  path = panda
-  url = https://github.com/sunnyhaibin/panda.git
-[submodule "opendbc"]
-  path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
-[submodule "msgq"]
-  path = msgq_repo
-  url = https://github.com/commaai/msgq.git
-[submodule "rednose_repo"]
-  path = rednose_repo
-  url = https://github.com/commaai/rednose.git
-[submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
-[submodule "tinygrad"]
-  path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" 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$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.lfsconfig

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
-	locksverify = false

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.python-version

@@ -0,0 +1 @@
+3.12.13

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<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">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" 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 Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build_BIG_UI.run.xml

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

.run/Build_SMALL_UI.run.xml

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

.vscode/launch.json

@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {
@@ -52,6 +52,9 @@
       "type": "lldb",
       "request": "attach",
       "pid": "${command:pickMyProcess}",
+      "sourceMap": {
+        ".": "${workspaceFolder}/opendbc/safety"
+      },
       "initCommands": [
         "script import time; time.sleep(3)"
       ]

.vscode/settings.json

@@ -17,11 +17,5 @@
     "**/.git",
     "**/.venv",
     "**/__pycache__",
-    // exclude directories that should be using the symlinked version
-    "common/**",
-    "selfdrive/**",
-    "system/**",
-    "third_party/**",
-    "tools/**",
   ]
 }

CHANGELOG.md

@@ -1,5 +1,221 @@
-sunnypilot Version 2025.003.000 (20xx-xx-xx)
+sunnypilot Version 2026.002.000 (2026-06-28)
 ========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* 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!
+
+sunnypilot Version 2026.001.000 (2026-05-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Complete rewrite of the user interface from Qt C++ to Raylib Python
+  * comma four support
+  * ui: sunnypilot toggle style by @nayan8teen
+  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
+  * ui: sunnypilot panels by @nayan8teen
+  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
+  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
+  * ui: Platform Selector by @Discountchubbs
+  * ui: vehicle brand settings by @Discountchubbs
+  * ui: sunnylink client-side implementation by @nayan8teen
+  * ui: `NetworkUISP` by @Discountchubbs
+  * ui: add sunnypilot font by @nayan8teen
+  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
+  * ui: sunnylink panel by @nayan8teen
+  * ui: Models panel by @Discountchubbs
+  * ui: software panel by @Discountchubbs
+  * modeld_v2: support planplus outputs by @Discountchubbs
+  * ui: OSM panel by @Discountchubbs
+  * ui: Developer panel extension by @Discountchubbs
+  * sunnylink: Vehicle Selector support by @sunnyhaibin
+  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
+  * [comma 4] ui: sunnylink panel by @nayan8teen
+  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
+  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
+  * sunnylink: block remote modification of SSH key parameters by @zikeji
+  * [TIZI/TICI] ui: rainbow path by @rav4kumar
+  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
+  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
+  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
+  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
+  * SL: Re enable and validate ingestion of swaglogs by @devtekve
+  * modeld_v2: planplus model tuning by @Discountchubbs
+  * ui: fix Always Offroad button visibility by @nayan8teen
+  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
+  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
+  * modeld: configurable camera offset by @Discountchubbs
+  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
+  * ui: Global Brightness Override by @nayan8teen
+  * ui: Customizable Interactive Timeout by @sunnyhaibin
+  * sunnylink: add units to param metadata by @nayan8teen
+  * ui: Customizable Onroad Brightness by @sunnyhaibin
+  * [TIZI/TICI] ui: Steering panel by @nayan8teen
+  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
+  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
+  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
+  * [MICI] ui: display blindspot indicators when available by @rav4kumar
+  * [TIZI/TICI] ui: Road Name by @rav4kumar
+  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
+  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
+  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
+  * [TIZI/TICI] ui: steering arc by @royjr
+  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
+  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
+  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
+  * [MICI] ui: driving models selector by @Discountchubbs
+  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
+  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
+  * Device: Retain QuickBoot state after op switch by @nayan8teen
+  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
+  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
+  * ui: better wake mode support by @nayan8teen
+  * 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
+  * Honda: Nidec hybrid baseline brake support by @mvl-boston
+  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
+  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
+  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
+  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
+  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
+  * Nissan: Parse cruise control buttons by @downquark7
+  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
+  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
+  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
+  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
+  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
+  * 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"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
+  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
+  * @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)
 ========================

Dockerfile.openpilot

@@ -1,14 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/batman/.local/bin/"
-ENV PATH="$UV_BIN:$PATH"
-RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)

Dockerfile.openpilot_base

@@ -1,82 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot

Dockerfile.sunnypilot

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

Dockerfile.sunnypilot_base

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

Jenkinsfile

@@ -1,269 +0,0 @@
-def retryWithDelay(int maxRetries, int delay, Closure body) {
-  for (int i = 0; i < maxRetries; i++) {
-    try {
-      return body()
-    } catch (Exception e) {
-      sleep(delay)
-    }
-  }
-  throw Exception("Failed after ${maxRetries} retries")
-}
-
-def device(String ip, String step_label, String cmd) {
-  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
-    def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
-
-set -e
-
-export TERM=xterm-256color
-
-shopt -s huponexit # kill all child processes when the shell exits
-
-export CI=1
-export PYTHONWARNINGS=error
-export LOGPRINT=debug
-export TEST_DIR=${env.TEST_DIR}
-export SOURCE_DIR=${env.SOURCE_DIR}
-export GIT_BRANCH=${env.GIT_BRANCH}
-export GIT_COMMIT=${env.GIT_COMMIT}
-export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
-export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
-export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
-export PYTEST_ADDOPTS="-n0 -s"
-
-
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
-
-source ~/.bash_profile
-if [ -f /TICI ]; then
-  source /etc/profile
-
-  rm -rf /tmp/tmp*
-  rm -rf ~/.commacache
-  rm -rf /dev/shm/*
-  rm -rf /dev/tmp/tmp*
-
-  if ! systemctl is-active --quiet systemd-resolved; then
-    echo "restarting resolved"
-    sudo systemctl start systemd-resolved
-    sleep 3
-  fi
-
-  # restart aux USB
-  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
-    echo "restarting aux usb"
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
-    sleep 0.5
-    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
-  fi
-fi
-if [ -f /data/openpilot/launch_env.sh ]; then
-  source /data/openpilot/launch_env.sh
-fi
-
-ln -snf ${env.TEST_DIR} /data/pythonpath
-
-cd ${env.TEST_DIR} || true
-time ${cmd}
-END"""
-
-    sh script: ssh_cmd, label: step_label
-  }
-}
-
-def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
-  stage(stageName) {
-    if (currentBuild.result != null) {
-        return
-    }
-
-    if (isReplay()) {
-      error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
-    }
-
-    def extra = extra_env.collect { "export ${it}" }.join('\n');
-    def branch = env.BRANCH_NAME ?: 'master';
-    def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
-
-    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
-      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 35, unit: 'MINUTES') {
-          retry (3) {
-            def date = sh(script: 'date', returnStdout: true).trim();
-            device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
-          }
-          steps.each { item ->
-            def name = item[0]
-            def cmd = item[1]
-
-            def args = item[2]
-            def diffPaths = args.diffPaths ?: []
-            def cmdTimeout = args.timeout ?: 9999
-
-            if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
-              println "Skipping ${name}: no changes in ${diffPaths}."
-              return
-            } else {
-              timeout(time: cmdTimeout, unit: 'SECONDS') {
-                device(device_ip, name, cmd)
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-}
-
-def hasPathChanged(String gitDiff, List<String> paths) {
-  for (path in paths) {
-    if (gitDiff.contains(path)) {
-      return true
-    }
-  }
-  return false
-}
-
-def isReplay() {
-  def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
-  return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
-}
-
-def setupCredentials() {
-  withCredentials([
-    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-  ]) {
-    env.AZURE_TOKEN = "${AZURE_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
-  ]) {
-    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
-  }
-
-  withCredentials([
-    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
-  ]) {
-    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
-  }
-}
-
-def step(String name, String cmd, Map args = [:]) {
-  return [name, cmd, args]
-}
-
-node {
-  env.CI = "1"
-  env.PYTHONWARNINGS = "error"
-  env.TEST_DIR = "/data/openpilot"
-  env.SOURCE_DIR = "/data/openpilot_source/"
-  setupCredentials()
-
-  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
-  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
-
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
-  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
-
-  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
-    properties([
-        disableConcurrentBuilds(abortPrevious: true)
-    ])
-  }
-
-  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 $SOURCE_DIR/release/build_release.sh"),
-      ])
-    }
-
-    if (env.BRANCH_NAME == '__nightly') {
-      parallel (
-        'nightly': {
-          deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-        'nightly-dev': {
-          deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
-          ])
-        },
-      )
-    }
-
-    if (!env.BRANCH_NAME.matches(excludeRegex)) {
-    parallel (
-      'onroad tests': {
-        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
-        ])
-      },
-      'HW + Unit Tests': {
-        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
-        ])
-      },
-      'loopback': {
-        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad OX03C10': {
-        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'camerad OS04C10': {
-        deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
-      'sensord': {
-        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-      },
-      'replay': {
-        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-        ])
-      },
-      'tizi': {
-        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          // TODO: enable once new AGNOS is available
-          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
-        ])
-      },
-
-    )
-    }
-  } catch (Exception e) {
-    currentBuild.result = 'FAILED'
-    throw e
-  }
-}

README.md

@@ -11,66 +11,10 @@ Join the official sunnypilot community forum to stay up to date with all the lat
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
-
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
 
 ## Installation
-Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
-
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
-
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
-
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
-
-### Recommended Branches
-|      Branch     |                 Installation URL              |
-|:---------------:|:---------------------------------------------:|
-| `release`       | `https://release.sunnypilot.ai`               |
-| `staging`       | `https://staging.sunnypilot.ai`               |
-|   `dev`         | `https://dev.sunnypilot.ai`                   |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
-
-> [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
-
-> [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
-
-
-<details>
-
-<summary>Older legacy branches</summary>
-
-### If you want to use our older legacy branches (*not recommended*)
-
-> [**IMPORTANT**]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-</details>
-
+Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.

RELEASES.md

@@ -1,3 +1,33 @@
+Version 0.11.2 (2026-06-15)
+========================
+
+
+Version 0.11.1 (2026-05-18)
+========================
+* 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)
+========================
+* 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!
+
+Version 0.10.3 (2025-12-17)
+========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
+
 Version 0.10.2 (2025-11-19)
 ========================
 * comma four support
@@ -1074,7 +1104,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -1,236 +0,0 @@
-import os
-import subprocess
-import sys
-import sysconfig
-import platform
-import shlex
-import numpy as np
-
-import SCons.Errors
-
-SCons.Warnings.warningAsException(True)
-
-Decider('MD5-timestamp')
-
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
-
-AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
-AddOption('--asan', action='store_true', help='turn on ASAN')
-AddOption('--ubsan', action='store_true', help='turn on UBSan')
-AddOption('--mutation', action='store_true', help='generate mutation-ready code')
-AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=os.path.exists(File('#.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"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and os.path.isfile('/TICI'):
-  arch = "larch64"
-assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
-]
-
-env = Environment(
-  ENV={
-    "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-  },
-  CC='clang',
-  CXX='clang++',
-  CCFLAGS=[
-    "-g",
-    "-fPIC",
-    "-O2",
-    "-Wunused",
-    "-Werror",
-    "-Wshadow",
-    "-Wno-unknown-warning-option",
-    "-Wno-inconsistent-missing-override",
-    "-Wno-c99-designator",
-    "-Wno-reorder-init-list",
-    "-Wno-vla-cxx-extension",
-  ],
-  CFLAGS=["-std=gnu11"],
-  CXXFLAGS=["-std=c++1z"],
-  CPPPATH=[
-    "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-    "#third_party/snpe/include",
-  ],
-  LIBPATH=[
-    "#common",
-    "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/libyuv/{arch}/lib",
-    f"#third_party/acados/{arch}/lib",
-  ],
-  RPATH=[],
-  CYTHONCFILESUFFIX=".cpp",
-  COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
-  tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
-)
-
-# Arch-specific flags and paths
-if arch == "larch64":
-  env.Append(CPPPATH=["#third_party/opencl/include"])
-  env.Append(LIBPATH=[
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    "/usr/lib/aarch64-linux-gnu",
-    "#third_party/snpe/larch64",
-  ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
-  env.Append(CCFLAGS=arch_flags)
-  env.Append(CXXFLAGS=arch_flags)
-elif arch == "Darwin":
-  env.Append(LIBPATH=[
-    f"{brew_prefix}/lib",
-    f"{brew_prefix}/opt/openssl@3.0/lib",
-    f"{brew_prefix}/opt/llvm/lib/c++",
-    "/System/Library/Frameworks/OpenGL.framework/Libraries",
-  ])
-  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
-  env.Append(CPPPATH=[
-    f"{brew_prefix}/include",
-    f"{brew_prefix}/opt/openssl@3.0/include",
-  ])
-else:
-  env.Append(LIBPATH=[
-    "/usr/lib",
-    "/usr/local/lib",
-  ])
-
-  if arch == "x86_64":
-    env.Append(LIBPATH=[
-      f"#third_party/snpe/{arch}"
-    ])
-    env.Append(RPATH=[
-      Dir(f"#third_party/snpe/{arch}").abspath,
-    ])
-
-# Sanitizers and extra CCFLAGS from CLI
-if GetOption('asan'):
-  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
-  env.Append(LINKFLAGS=["-fsanitize=address"])
-elif GetOption('ubsan'):
-  env.Append(CCFLAGS=["-fsanitize=undefined"])
-  env.Append(LINKFLAGS=["-fsanitize=undefined"])
-
-_extra_cc = shlex.split(GetOption('ccflags') or '')
-if _extra_cc:
-  env.Append(CCFLAGS=_extra_cc)
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
-
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
-# ********** Cython build environment **********
-py_include = sysconfig.get_paths()['include']
-envCython = env.Clone()
-envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
-envCython["CCFLAGS"].remove("-Werror")
-
-envCython["LIBS"] = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
-else:
-  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
-
-np_version = SCons.Script.Value(np.__version__)
-Export('envCython', 'np_version')
-
-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)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
-
-# ********** start building stuff **********
-
-# Build common module
-SConscript(['common/SConscript'])
-Import('_common')
-common = [_common, 'json11', 'zmq']
-Export('common')
-
-# Build messaging (cereal + msgq + socketmaster + their dependencies)
-# Enable swaglog include in submodules
-env_swaglog = env.Clone()
-env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
-SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
-
-SConscript(['cereal/SConscript'])
-
-Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
-Export('messaging')
-
-
-# Build other submodules
-SConscript(['panda/SConscript'])
-
-# Build rednose library
-SConscript(['rednose/SConscript'])
-
-# Build system services
-SConscript([
-  'system/ubloxd/SConscript',
-  'system/loggerd/SConscript',
-])
-
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
-
-SConscript(['selfdrive/SConscript'])
-
-SConscript(['sunnypilot/SConscript'])
-
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
-
-
-env.CompilationDatabase('compile_commands.json')

cereal/README.md

@@ -1,95 +0,0 @@
-# What is cereal?
-
-cereal is the messaging system for openpilot. It uses [msgq](https://github.com/commaai/msgq) as a pub/sub backend, and [Cap'n proto](https://capnproto.org/capnp-tool.html) for serialization of the structs.
-
-
-## Messaging Spec
-
-You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`.
-
-All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
-
-### Best Practices
-
-- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
-- In the context of the message they are in, field names should be completely unambiguous.
-- All values should be easy to plot and be human-readable with minimal parsing.
-
-### Maintaining backwards-compatibility
-
-When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can
-be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other
-things are not. Read more details [here](https://capnproto.org/language.html).
-
-### Custom forks
-
-Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging
-spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot
-then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in
-[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your
-fork will remain backwards-compatible with all versions of mainline openpilot and your fork.**
-
-An example of compatible changes:
-```diff
-diff --git a/cereal/custom.capnp b/cereal/custom.capnp
-index 3348e859e..3365c7b98 100644
---- a/cereal/custom.capnp
-+++ b/cereal/custom.capnp
-@@ -10,7 +10,11 @@ $Cxx.namespace("cereal");
- # DO rename the structs
- # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
-
--struct CustomReserved0 @0x81c2f05a394cf4af {
-+struct SteeringInfo @0x81c2f05a394cf4af {
-+  active @0 :Bool;
-+  steeringAngleDeg @1 :Float32;
-+  steeringRateDeg @2 :Float32;
-+  steeringAccelDeg @3 :Float32;
- }
-
- struct CustomReserved1 @0xaedffd8f31e7b55d {
-diff --git a/cereal/log.capnp b/cereal/log.capnp
-index 1209f3fd9..b189f58b6 100644
---- a/cereal/log.capnp
-+++ b/cereal/log.capnp
-@@ -2558,14 +2558,14 @@ struct Event {
-
-     # DO change the name of the field
-     # DON'T change anything after the "@"
--    customReservedRawData0 @124 :Data;
-+    rawCanData @124 :Data;
-     customReservedRawData1 @125 :Data;
-     customReservedRawData2 @126 :Data;
-
-     # DO change the name of the field and struct
-     # DON'T change the ID (e.g. @107)
-     # DON'T change which struct it points to
--    customReserved0 @107 :Custom.CustomReserved0;
-+    steeringInfo @107 :Custom.SteeringInfo;
-     customReserved1 @108 :Custom.CustomReserved1;
-     customReserved2 @109 :Custom.CustomReserved2;
-     customReserved3 @110 :Custom.CustomReserved3;
-```
-
----
-
-Example
----
-```python
-import cereal.messaging as messaging
-
-# in subscriber
-sm = messaging.SubMaster(['sensorEvents'])
-while 1:
-  sm.update()
-  print(sm['sensorEvents'])
-
-```
-
-```python
-# in publisher
-pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message('sensorEvents', size=1)
-dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
-pm.send('sensorEvents', dat)
-```

cereal/SConscript

@@ -1,20 +0,0 @@
-Import('env', 'common', 'msgq')
-
-cereal_dir = Dir('.')
-gen_dir = Dir('gen')
-
-# Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
-
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
-
-# Build messaging
-services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
-
-socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
-
-Export('cereal', 'socketmaster')

cereal/__init__.py

@@ -1,11 +0,0 @@
-import os
-import capnp
-from importlib.resources import as_file, files
-
-capnp.remove_import_hook()
-
-with as_file(files("cereal")) as fspath:
-  CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))

cereal/car.capnp

@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp

cereal/legacy.capnp

@@ -1,574 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0x80ef1ec4889c2a63;
-
-# legacy.capnp: a home for deprecated structs
-
-struct LogRotate @0x9811e1f38f62f2d1 {
-  segmentNum @0 :Int32;
-  path @1 :Text;
-}
-
-struct LiveUI @0xc08240f996aefced {
-  rearViewCam @0 :Bool;
-  alertText1 @1 :Text;
-  alertText2 @2 :Text;
-  awarenessStatus @3 :Float32;
-}
-
-struct UiLayoutState @0x88dcce08ad29dda0 {
-  activeApp @0 :App;
-  sidebarCollapsed @1 :Bool;
-  mapEnabled @2 :Bool;
-  mockEngaged @3 :Bool;
-
-  enum App @0x9917470acf94d285 {
-    home @0;
-    music @1;
-    nav @2;
-    settings @3;
-    none @4;
-  }
-}
-
-struct OrbslamCorrection @0x8afd33dc9b35e1aa {
-  correctionMonoTime @0 :UInt64;
-  prePositionECEF @1 :List(Float64);
-  postPositionECEF @2 :List(Float64);
-  prePoseQuatECEF @3 :List(Float32);
-  postPoseQuatECEF @4 :List(Float32);
-  numInliers @5 :UInt32;
-}
-
-struct EthernetPacket @0xa99a9d5b33cf5859 {
-  pkt @0 :Data;
-  ts @1 :Float32;
-}
-
-struct CellInfo @0xcff7566681c277ce {
-  timestamp @0 :UInt64;
-  repr @1 :Text; # android toString() for now
-}
-
-struct WifiScan @0xd4df5a192382ba0b {
-  bssid @0 :Text;
-  ssid @1 :Text;
-  capabilities @2 :Text;
-  frequency @3 :Int32;
-  level @4 :Int32;
-  timestamp @5 :Int64;
-
-  centerFreq0 @6 :Int32;
-  centerFreq1 @7 :Int32;
-  channelWidth @8 :ChannelWidth;
-  operatorFriendlyName @9 :Text;
-  venueName @10 :Text;
-  is80211mcResponder @11 :Bool;
-  passpoint @12 :Bool;
-
-  distanceCm @13 :Int32;
-  distanceSdCm @14 :Int32;
-
-  enum ChannelWidth @0xcb6a279f015f6b51 {
-    w20Mhz @0;
-    w40Mhz @1;
-    w80Mhz @2;
-    w160Mhz @3;
-    w80Plus80Mhz @4;
-  }
-}
-
-struct LiveEventData @0x94b7baa90c5c321e {
-  name @0 :Text;
-  value @1 :Int32;
-}
-
-struct ModelData @0xb8aad62cffef28a9 {
-  frameId @0 :UInt32;
-  frameAge @12 :UInt32;
-  frameDropPerc @13 :Float32;
-  timestampEof @9 :UInt64;
-  modelExecutionTime @14 :Float32;
-  gpuExecutionTime @16 :Float32;
-  rawPred @15 :Data;
-
-  path @1 :PathData;
-  leftLane @2 :PathData;
-  rightLane @3 :PathData;
-  lead @4 :LeadData;
-  freePath @6 :List(Float32);
-
-  settings @5 :ModelSettings;
-  leadFuture @7 :LeadData;
-  speed @8 :List(Float32);
-  meta @10 :MetaData;
-  longitudinal @11 :LongitudinalData;
-
-  struct PathData @0x8817eeea389e9f08 {
-    points @0 :List(Float32);
-    prob @1 :Float32;
-    std @2 :Float32;
-    stds @3 :List(Float32);
-    poly @4 :List(Float32);
-    validLen @5 :Float32;
-  }
-
-  struct LeadData @0xd1c9bef96d26fa91 {
-    dist @0 :Float32;
-    prob @1 :Float32;
-    std @2 :Float32;
-    relVel @3 :Float32;
-    relVelStd @4 :Float32;
-    relY @5 :Float32;
-    relYStd @6 :Float32;
-    relA @7 :Float32;
-    relAStd @8 :Float32;
-  }
-
-  struct ModelSettings @0xa26e3710efd3e914 {
-    bigBoxX @0 :UInt16;
-    bigBoxY @1 :UInt16;
-    bigBoxWidth @2 :UInt16;
-    bigBoxHeight @3 :UInt16;
-    boxProjection @4 :List(Float32);
-    yuvCorrection @5 :List(Float32);
-    inputTransform @6 :List(Float32);
-  }
-
-  struct MetaData @0x9744f25fb60f2bf8 {
-    engagedProb @0 :Float32;
-    desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
-    desireState @5 :List(Float32);
-  }
-
-  struct LongitudinalData @0xf98f999c6a071122 {
-    distances @2 :List(Float32);
-    speeds @0 :List(Float32);
-    accelerations @1 :List(Float32);
-  }
-}
-
-struct ECEFPoint @0xc25bbbd524983447 {
-  x @0 :Float64;
-  y @1 :Float64;
-  z @2 :Float64;
-}
-
-struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
-  x @0 :Float32;
-  y @1 :Float32;
-  z @2 :Float32;
-}
-
-struct GPSPlannerPoints @0xab54c59699f8f9f3 {
-  curPosDEPRECATED @0 :ECEFPointDEPRECATED;
-  pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
-  curPos @6 :ECEFPoint;
-  points @7 :List(ECEFPoint);
-  valid @2 :Bool;
-  trackName @3 :Text;
-  speedLimit @4 :Float32;
-  accelTarget @5 :Float32;
-}
-
-struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
-  valid @0 :Bool;
-  poly @1 :List(Float32);
-  trackName @2 :Text;
-  speed @3 :Float32;
-  acceleration @4 :Float32;
-  pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
-  points @6 :List(ECEFPoint);
-  xLookahead @7 :Float32;
-}
-
-struct UiNavigationEvent @0x90c8426c3eaddd3b {
-  type @0: Type;
-  status @1: Status;
-  distanceTo @2: Float32;
-  endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
-  endRoadPoint @4: ECEFPoint;
-
-  enum Type @0xe8db07dcf8fcea05 {
-    none @0;
-    laneChangeLeft @1;
-    laneChangeRight @2;
-    mergeLeft @3;
-    mergeRight @4;
-    turnLeft @5;
-    turnRight @6;
-  }
-
-  enum Status @0xb9aa88c75ef99a1f {
-    none @0;
-    passive @1;
-    approaching @2;
-    active @3;
-  }
-}
-
-struct LiveLocationData @0xb99b2bc7a57e8128 {
-  status @0 :UInt8;
-
-  # 3D fix
-  lat @1 :Float64;
-  lon @2 :Float64;
-  alt @3 :Float32;     # m
-
-  # speed
-  speed @4 :Float32;   # m/s
-
-  # NED velocity components
-  vNED @5 :List(Float32);
-
-  # roll, pitch, heading (x,y,z)
-  roll @6 :Float32;     # WRT to center of earth?
-  pitch @7 :Float32;    # WRT to center of earth?
-  heading @8 :Float32;  # WRT to north?
-
-  # what are these?
-  wanderAngle @9 :Float32;
-  trackAngle @10 :Float32;
-
-  # car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
-
-  # gyro, in car frame, deg/s
-  gyro @11 :List(Float32);
-
-  # accel, in car frame, m/s^2
-  accel @12 :List(Float32);
-
-  accuracy @13 :Accuracy;
-
-  source @14 :SensorSource;
-  # if we are fixing a location in the past
-  fixMonoTime @15 :UInt64;
-
-  gpsWeek @16 :Int32;
-  timeOfWeek @17 :Float64;
-
-  positionECEF @18 :List(Float64);
-  poseQuatECEF @19 :List(Float32);
-  pitchCalibration @20 :Float32;
-  yawCalibration @21 :Float32;
-  imuFrame @22 :List(Float32);
-
-  struct Accuracy @0x943dc4625473b03f {
-    pNEDError @0 :List(Float32);
-    vNEDError @1 :List(Float32);
-    rollError @2 :Float32;
-    pitchError @3 :Float32;
-    headingError @4 :Float32;
-    ellipsoidSemiMajorError @5 :Float32;
-    ellipsoidSemiMinorError @6 :Float32;
-    ellipsoidOrientationError @7 :Float32;
-  }
-
-  enum SensorSource @0xc871d3cc252af657 {
-    applanix @0;
-    kalman @1;
-    orbslam @2;
-    timing @3;
-    dummy @4;
-  }
-}
-
-struct OrbOdometry @0xd7700859ed1f5b76 {
-  # timing first
-  startMonoTime @0 :UInt64;
-  endMonoTime @1 :UInt64;
-
-  # fundamental matrix and error
-  f @2: List(Float64);
-  err @3: Float64;
-
-  # number of inlier points
-  inliers @4: Int32;
-
-  # for debug only
-  # indexed by endMonoTime features
-  # value is startMonoTime feature match
-  # -1 if no match
-  matches @5: List(Int16);
-}
-
-struct OrbFeatures @0xcd60164a8a0159ef {
-  timestampEof @0 :UInt64;
-  # transposed arrays of normalized image coordinates
-  # len(xs) == len(ys) == len(descriptors) * 32
-  xs @1 :List(Float32);
-  ys @2 :List(Float32);
-  descriptors @3 :Data;
-  octaves @4 :List(Int8);
-
-  # match index to last OrbFeatures
-  # -1 if no match
-  timestampLastEof @5 :UInt64;
-  matches @6: List(Int16);
-}
-
-struct OrbFeaturesSummary @0xd500d30c5803fa4f {
-  timestampEof @0 :UInt64;
-  timestampLastEof @1 :UInt64;
-
-  featureCount @2 :UInt16;
-  matchCount @3 :UInt16;
-  computeNs @4 :UInt64;
-}
-
-struct OrbKeyFrame @0xc8233c0345e27e24 {
-  # this is a globally unique id for the KeyFrame
-  id @0: UInt64;
-
-  # this is the location of the KeyFrame
-  pos @1: ECEFPoint;
-
-  # these are the features in the world
-  # len(dpos) == len(descriptors) * 32
-  dpos @2 :List(ECEFPoint);
-  descriptors @3 :Data;
-}
-
-struct KalmanOdometry @0x92e21bb7ea38793a {
-  trans @0 :List(Float32); # m/s in device frame
-  rot @1 :List(Float32); # rad/s in device frame
-  transStd @2 :List(Float32); # std m/s in device frame
-  rotStd @3 :List(Float32); # std rad/s in device frame
-}
-
-struct OrbObservation @0x9b326d4e436afec7 {
-  observationMonoTime @0 :UInt64;
-  normalizedCoordinates @1 :List(Float32);
-  locationECEF @2 :List(Float64);
-  matchDistance @3: UInt32;
-}
-
-struct CalibrationFeatures @0x8fdfadb254ea867a {
-  frameId @0 :UInt32;
-
-  p0 @1 :List(Float32);
-  p1 @2 :List(Float32);
-  status @3 :List(Int8);
-}
-
-struct NavStatus @0xbd8822120928120c {
-  isNavigating @0 :Bool;
-  currentAddress @1 :Address;
-
-  struct Address @0xce7cd672cacc7814 {
-    title @0 :Text;
-    lat @1 :Float64;
-    lng @2 :Float64;
-    house @3 :Text;
-    address @4 :Text;
-    street @5 :Text;
-    city @6 :Text;
-    state @7 :Text;
-    country @8 :Text;
-  }
-}
-
-struct NavUpdate @0xdb98be6565516acb {
-  isNavigating @0 :Bool;
-  curSegment @1 :Int32;
-  segments @2 :List(Segment);
-
-  struct LatLng @0x9eaef9187cadbb9b {
-    lat @0 :Float64;
-    lng @1 :Float64;
-  }
-
-  struct Segment @0xa5b39b4fc4d7da3f {
-    from @0 :LatLng;
-    to @1 :LatLng;
-    updateTime @2 :Int32;
-    distance @3 :Int32;
-    crossTime @4 :Int32;
-    exitNo @5 :Int32;
-    instruction @6 :Instruction;
-
-    parts @7 :List(LatLng);
-
-    enum Instruction @0xc5417a637451246f {
-      turnLeft @0;
-      turnRight @1;
-      keepLeft @2;
-      keepRight @3;
-      straight @4;
-      roundaboutExitNumber @5;
-      roundaboutExit @6;
-      roundaboutTurnLeft @7;
-      unkn8 @8;
-      roundaboutStraight @9;
-      unkn10 @10;
-      roundaboutTurnRight @11;
-      unkn12 @12;
-      roundaboutUturn @13;
-      unkn14 @14;
-      arrive @15;
-      exitLeft @16;
-      exitRight @17;
-      unkn18 @18;
-      uturn @19;
-      # ...
-    }
-  }
-}
-
-struct TrafficEvent @0xacfa74a094e62626 {
-  type @0 :Type;
-  distance @1 :Float32;
-  action @2 :Action;
-  resuming @3 :Bool;
-
-  enum Type @0xd85d75253435bf4b {
-    stopSign @0;
-    lightRed @1;
-    lightYellow @2;
-    lightGreen @3;
-    stopLight @4;
-  }
-
-  enum Action @0xa6f6ce72165ccb49 {
-    none @0;
-    yield @1;
-    stop @2;
-    resumeReady @3;
-  }
-
-}
-
-
-struct AndroidGnss @0xdfdf30d03fc485bd {
-  union {
-    measurements @0 :Measurements;
-    navigationMessage @1 :NavigationMessage;
-  }
-
-  struct Measurements @0xa20710d4f428d6cd {
-    clock @0 :Clock;
-    measurements @1 :List(Measurement);
-
-    struct Clock @0xa0e27b453a38f450 {
-      timeNanos @0 :Int64;
-      hardwareClockDiscontinuityCount @1 :Int32;
-
-      hasTimeUncertaintyNanos @2 :Bool;
-      timeUncertaintyNanos @3 :Float64;
-
-      hasLeapSecond @4 :Bool;
-      leapSecond @5 :Int32;
-
-      hasFullBiasNanos @6 :Bool;
-      fullBiasNanos @7 :Int64;
-
-      hasBiasNanos @8 :Bool;
-      biasNanos @9 :Float64;
-
-      hasBiasUncertaintyNanos @10 :Bool;
-      biasUncertaintyNanos @11 :Float64;
-
-      hasDriftNanosPerSecond @12 :Bool;
-      driftNanosPerSecond @13 :Float64;
-
-      hasDriftUncertaintyNanosPerSecond @14 :Bool;
-      driftUncertaintyNanosPerSecond @15 :Float64;
-    }
-
-    struct Measurement @0xd949bf717d77614d {
-      svId @0 :Int32;
-      constellation @1 :Constellation;
-
-      timeOffsetNanos @2 :Float64;
-      state @3 :Int32;
-      receivedSvTimeNanos @4 :Int64;
-      receivedSvTimeUncertaintyNanos @5 :Int64;
-      cn0DbHz @6 :Float64;
-      pseudorangeRateMetersPerSecond @7 :Float64;
-      pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
-      accumulatedDeltaRangeState @9 :Int32;
-      accumulatedDeltaRangeMeters @10 :Float64;
-      accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
-
-      hasCarrierFrequencyHz @12 :Bool;
-      carrierFrequencyHz @13 :Float32;
-      hasCarrierCycles @14 :Bool;
-      carrierCycles @15 :Int64;
-      hasCarrierPhase @16 :Bool;
-      carrierPhase @17 :Float64;
-      hasCarrierPhaseUncertainty @18 :Bool;
-      carrierPhaseUncertainty @19 :Float64;
-      hasSnrInDb @20 :Bool;
-      snrInDb @21 :Float64;
-
-      multipathIndicator @22 :MultipathIndicator;
-
-      enum Constellation @0x9ef1f3ff0deb5ffb {
-        unknown @0;
-        gps @1;
-        sbas @2;
-        glonass @3;
-        qzss @4;
-        beidou @5;
-        galileo @6;
-      }
-
-      enum State @0xcbb9490adce12d72 {
-        unknown @0;
-        codeLock @1;
-        bitSync @2;
-        subframeSync @3;
-        towDecoded @4;
-        msecAmbiguous @5;
-        symbolSync @6;
-        gloStringSync @7;
-        gloTodDecoded @8;
-        bdsD2BitSync @9;
-        bdsD2SubframeSync @10;
-        galE1bcCodeLock @11;
-        galE1c2ndCodeLock @12;
-        galE1bPageSync @13;
-        sbasSync @14;
-      }
-
-      enum MultipathIndicator @0xc04e7b6231d4caa8 {
-        unknown @0;
-        detected @1;
-        notDetected @2;
-      }
-    }
-  }
-
-  struct NavigationMessage @0xe2517b083095fd4e {
-    type @0 :Int32;
-    svId @1 :Int32;
-    messageId @2 :Int32;
-    submessageId @3 :Int32;
-    data @4 :Data;
-    status @5 :Status;
-
-    enum Status @0xec1ff7996b35366f {
-      unknown @0;
-      parityPassed @1;
-      parityRebuilt @2;
-    }
-  }
-}
-
-struct LidarPts @0xe3d6685d4e9d8f7a {
-  r @0 :List(UInt16);        # uint16   m*500.0
-  theta @1 :List(UInt16);    # uint16 deg*100.0
-  reflect @2 :List(UInt8);   # uint8      0-255
-
-  # For storing out of file.
-  idx @3 :UInt64;
-
-  # For storing in file
-  pkt @4 :Data;
-}
-
-

cereal/messaging/__init__.py

@@ -1,257 +0,0 @@
-# must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
-import msgq
-
-import os
-import capnp
-import time
-
-from typing import Optional, List, Union, Dict
-
-from cereal import log
-from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
-
-NO_TRAVERSAL_LIMIT = 2**64-1
-
-
-def reset_context():
-  msgq.context = Context()
-
-
-def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
-  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
-    return msg
-
-
-def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
-  args = {
-    'valid': False,
-    'logMonoTime': int(time.monotonic() * 1e9),
-    **kwargs
-  }
-  dat = log.Event.new_message(**args)
-  if service is not None:
-    if size is None:
-      dat.init(service)
-    else:
-      dat.init(service, size)
-  return dat
-
-
-def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
-  """Receive all message currently available on the queue"""
-  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
-  return [log_from_bytes(m) for m in msgs]
-
-
-# TODO: print when we drop packets?
-def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  """Same as drain sock, but only returns latest message. Consider using conflate instead."""
-  dat = None
-
-  while 1:
-    if wait and dat is None:
-      recv = sock.receive()
-    else:
-      recv = sock.receive(non_blocking=True)
-
-    if recv is None:  # Timeout hit
-      break
-
-    dat = recv
-
-  if dat is not None:
-    dat = log_from_bytes(dat)
-
-  return dat
-
-
-def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  dat = sock.receive()
-  if dat is not None:
-    dat = log_from_bytes(dat)
-  return dat
-
-
-def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
-  dat = sock.receive(non_blocking=True)
-  if dat is not None:
-    dat = log_from_bytes(dat)
-  return dat
-
-
-def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
-  """Keep receiving until we get a message"""
-  while True:
-    dat = sock.receive()
-    if dat is not None:
-      return log_from_bytes(dat)
-
-
-class FrequencyTracker:
-  def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
-    freq = max(min(service_freq, update_freq), 1.)
-    if is_poll:
-      min_freq = max_freq = freq
-    else:
-      max_freq = min(freq, update_freq)
-      if service_freq >= 2 * update_freq:
-        min_freq = update_freq
-      elif update_freq >= 2* service_freq:
-        min_freq = freq
-      else:
-        min_freq = min(freq, freq / 2.)
-
-    self.min_freq = min_freq * 0.8
-    self.max_freq = max_freq * 1.2
-    self.avg_dt = MovingAverage(int(10 * freq))
-    self.recent_avg_dt = MovingAverage(int(freq))
-    self.prev_time = 0.0
-
-  def record_recv_time(self, cur_time: float) -> None:
-    # TODO: Handle case where cur_time is less than prev_time
-    if self.prev_time > 1e-5:
-      dt = cur_time - self.prev_time
-
-      self.avg_dt.add_value(dt)
-      self.recent_avg_dt.add_value(dt)
-
-    self.prev_time = cur_time
-
-  @property
-  def valid(self) -> bool:
-    if self.avg_dt.count == 0:
-      return False
-
-    avg_freq = 1.0 / self.avg_dt.get_average()
-    if self.min_freq <= avg_freq <= self.max_freq:
-      return True
-
-    avg_freq_recent = 1.0 / self.recent_avg_dt.get_average()
-    return self.min_freq <= avg_freq_recent <= self.max_freq
-
-
-class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[str] = None,
-               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
-    self.frame = -1
-    self.services = services
-    self.seen = {s: False for s in services}
-    self.updated = {s: False for s in services}
-    self.recv_time = {s: 0. for s in services}
-    self.recv_frame = {s: 0 for s in services}
-    self.sock = {}
-    self.data = {}
-    self.logMonoTime = {s: 0 for s in services}
-
-    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
-    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
-    self.static_freq_services = set(s for s in services if not on_demand[s])
-    self.alive = {s: on_demand[s] for s in services}
-    self.freq_ok = {s: on_demand[s] for s in services}
-    self.valid = {s: on_demand[s] for s in services}
-
-    self.freq_tracker: Dict[str, FrequencyTracker] = {}
-    self.poller = Poller()
-    polled_services = set([poll, ] if poll is not None else services)
-    self.non_polled_services = set(services) - polled_services
-
-    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
-    self.ignore_alive = [] if ignore_alive is None else ignore_alive
-    self.ignore_valid = [] if ignore_valid is None else ignore_valid
-
-    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
-
-    # if freq and poll aren't specified, assume the max to be conservative
-    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
-    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
-
-    for s in services:
-      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-
-      try:
-        data = new_message(s)
-      except capnp.lib.capnp.KjException:
-        data = new_message(s, 0) # lists
-
-      self.data[s] = getattr(data.as_reader(), s)
-      self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
-
-  def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
-    return self.data[s]
-
-  def _check_avg_freq(self, s: str) -> bool:
-    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
-
-  def update(self, timeout: int = 100) -> None:
-    msgs = []
-    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
-
-    # non-blocking receive for non-polled sockets
-    for s in self.non_polled_services:
-      msgs.append(recv_one_or_none(self.sock[s]))
-    self.update_msgs(time.monotonic(), msgs)
-
-  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
-    self.frame += 1
-    self.updated = dict.fromkeys(self.services, False)
-    for msg in msgs:
-      if msg is None:
-        continue
-
-      s = msg.which()
-      self.seen[s] = True
-      self.updated[s] = True
-
-      self.freq_tracker[s].record_recv_time(cur_time)
-      self.recv_time[s] = cur_time
-      self.recv_frame[s] = self.frame
-      self.data[s] = getattr(msg, s)
-      self.logMonoTime[s] = msg.logMonoTime
-      self.valid[s] = msg.valid
-
-    for s in self.static_freq_services:
-      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
-      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
-      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
-
-  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
-
-  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.freq_ok[s] for s in (service_list or self.services) if self._check_avg_freq(s))
-
-  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
-    return all(self.valid[s] for s in (service_list or self.services) if s not in self.ignore_valid)
-
-  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
-    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
-
-
-class PubMaster:
-  def __init__(self, services: List[str]):
-    self.sock = {}
-    for s in services:
-      self.sock[s] = pub_sock(s)
-
-  def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
-    if not isinstance(dat, bytes):
-      dat = dat.to_bytes()
-    self.sock[s].send(dat)
-
-  def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    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()  # type: ignore

cereal/messaging/msgq_to_zmq.h

@@ -1,37 +0,0 @@
-#pragma once
-
-#include <condition_variable>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <vector>
-
-#define private public
-#include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
-
-class MsgqToZmq {
-public:
-  MsgqToZmq() {}
-  void run(const std::vector<std::string> &endpoints, const std::string &ip);
-
-protected:
-  void registerSockets();
-  void zmqMonitorThread();
-
-  struct SocketPair {
-    std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
-    std::unique_ptr<MSGQSubSocket> sub_sock;
-    int connected_clients = 0;
-  };
-
-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
-  std::mutex mutex;
-  std::condition_variable cv;
-  std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
-  std::vector<SocketPair> socket_pairs;
-};

cereal/messaging/tests/test_messaging.py

@@ -1,185 +0,0 @@
-import os
-import capnp
-import multiprocessing
-import numbers
-import random
-import threading
-import time
-from parameterized import parameterized
-import pytest
-
-from cereal import log, car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
-
-events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
-
-def random_sock():
-  return random.choice(events)
-
-def random_socks(num_socks=10):
-  return list({random_sock() for _ in range(num_socks)})
-
-def random_bytes(length=1000):
-  return bytes([random.randrange(0xFF) for _ in range(length)])
-
-def zmq_sleep(t=1):
-  if "ZMQ" in os.environ:
-    time.sleep(t)
-
-
-# TODO: this should take any capnp struct and returrn a msg with random populated data
-def random_carstate():
-  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
-  msg = messaging.new_message("carState")
-  cs = msg.carState
-  for f in fields:
-    setattr(cs, f, random.random() * 10)
-  return msg
-
-# TODO: this should compare any capnp structs
-def assert_carstate(cs1, cs2):
-  for f in car.CarState.schema.non_union_fields:
-    # TODO: check all types
-    val1, val2 = getattr(cs1, f), getattr(cs2, f)
-    if isinstance(val1, numbers.Number):
-      assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'"
-
-def delayed_send(delay, sock, dat):
-  def send_func():
-    sock.send(dat)
-  threading.Timer(delay, send_func).start()
-
-
-class TestMessaging:
-  def setUp(self):
-    # TODO: ZMQ tests are too slow; all sleeps will need to be
-    # replaced with logic to block on the necessary condition
-    if "ZMQ" in os.environ:
-      pytest.skip()
-
-    # ZMQ pub socket takes too long to die
-    # sleep to prevent multiple publishers error between tests
-    zmq_sleep()
-
-  @parameterized.expand(events)
-  def test_new_message(self, evt):
-    try:
-      msg = messaging.new_message(evt)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(evt, random.randrange(200))
-    assert (time.monotonic() - msg.logMonoTime) < 0.1
-    assert not msg.valid
-    assert evt == msg.which()
-
-  @parameterized.expand(events)
-  def test_pub_sock(self, evt):
-    messaging.pub_sock(evt)
-
-  @parameterized.expand(events)
-  def test_sub_sock(self, evt):
-    messaging.sub_sock(evt)
-
-  @parameterized.expand([
-    (messaging.drain_sock, capnp._DynamicStructReader),
-    (messaging.drain_sock_raw, bytes),
-  ])
-  def test_drain_sock(self, func, expected_type):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no wait and no msgs in queue
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert len(msgs) == 0
-
-    # no wait but msgs are queued up
-    num_msgs = random.randrange(3, 10)
-    for _ in range(num_msgs):
-      pub_sock.send(messaging.new_message(sock).to_bytes())
-    time.sleep(0.1)
-    msgs = func(sub_sock)
-    assert isinstance(msgs, list)
-    assert all(isinstance(msg, expected_type) for msg in msgs)
-    assert len(msgs) == num_msgs
-
-  def test_recv_sock(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=100)
-    zmq_sleep()
-
-    # no wait and no msg in queue, socket should timeout
-    recvd = messaging.recv_sock(sub_sock)
-    assert recvd is None
-
-    # no wait and one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    time.sleep(0.01)
-    recvd = messaging.recv_sock(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    # https://github.com/python/mypy/issues/13038
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=1000)
-    zmq_sleep()
-
-    # no msg in queue, socket should timeout
-    recvd = messaging.recv_one(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
-  def test_recv_one_or_none(self):
-    sock = "carState"
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock)
-    zmq_sleep()
-
-    # no msg in queue, socket shouldn't block
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert recvd is None
-
-    # one msg in queue
-    msg = random_carstate()
-    pub_sock.send(msg.to_bytes())
-    recvd = messaging.recv_one_or_none(sub_sock)
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)
-
-  def test_recv_one_retry(self):
-    sock = "carState"
-    sock_timeout = 0.1
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000))
-    zmq_sleep()
-
-    # this test doesn't work with ZMQ since multiprocessing interrupts it
-    if "ZMQ" not in os.environ:
-      # wait 5 socket timeouts and make sure it's still retrying
-      p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
-      p.start()
-      time.sleep(sock_timeout*5)
-      assert p.is_alive()
-      p.terminate()
-
-    # wait 5 socket timeouts before sending
-    msg = random_carstate()
-    start_time = time.monotonic()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
-    recvd = messaging.recv_one_retry(sub_sock)
-    assert (time.monotonic() - start_time) >= sock_timeout*5
-    assert isinstance(recvd, capnp._DynamicStructReader)
-    assert_carstate(msg.carState, recvd.carState)

cereal/messaging/tests/test_services.py

@@ -1,21 +0,0 @@
-import os
-import tempfile
-from typing import Dict
-from parameterized import parameterized
-
-import cereal.services as services
-from cereal.services import SERVICE_LIST
-
-
-class TestServices:
-
-  @parameterized.expand(SERVICE_LIST.keys())
-  def test_services(self, s):
-    service = SERVICE_LIST[s]
-    assert service.frequency <= 104
-    assert service.decimation != 0
-
-  def test_generated_header(self):
-    with tempfile.NamedTemporaryFile(suffix=".h") as f:
-      ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
-      assert ret == 0, "generated services header is not valid C"

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,222 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import sys
-from typing import Any, List, Tuple
-
-DEBUG = False
-
-
-def print_debug(string: str) -> None:
-  if DEBUG:
-    print(string)
-
-
-def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
-  """
-  Create a new instance of a schema type, handling different field types.
-
-  Args:
-      struct: The Cap'n Proto schema structure
-      prop: A tuple containing the field name and field metadata
-
-  Returns:
-      A new initialized schema instance
-  """
-  struct_instance = struct.new_message()
-  field_name, field_metadata = prop
-
-  try:
-    field_type = field_metadata.proto.slot.type.which()
-
-    # Initialize different types of fields
-    if field_type in ('list', 'text', 'data'):
-      struct_instance.init(field_name, 1)
-      print_debug(f"Initialized list/text/data field: {field_name}")
-    elif field_type in ('struct', 'object'):
-      struct_instance.init(field_name)
-      print_debug(f"Initialized struct/object field: {field_name}")
-
-    return struct_instance
-
-  except Exception as e:
-    print(f"Error creating instance for {field_name}: {e}")
-    return None
-
-
-def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
-  """
-  Retrieve all fields from a given schema structure.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of field names and their metadata
-  """
-  try:
-    # Get all fields from the schema
-    schema_fields = list(schema_struct.schema.fields.items())
-
-    print_debug("Discovered schema fields:")
-    for field_name, field_metadata in schema_fields:
-      print_debug(f"- {field_name}")
-
-    return schema_fields
-
-  except Exception as e:
-    print(f"Error retrieving schema fields: {e}")
-    return []
-
-
-def generate_schema_instances(schema_struct: Any) -> List[Any]:
-  """
-  Generate instances for all fields in a given schema.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of schema instances
-  """
-  schema_fields = get_schema_fields(schema_struct)
-  instances = []
-
-  for field_prop in schema_fields:
-    try:
-      instance = create_schema_instance(schema_struct, field_prop)
-      if instance is not None:
-        instances.append(instance)
-    except Exception as e:
-      print(f"Skipping field due to error: {e}")
-
-  print(f"Generated {len(instances)} schema instances")
-  return instances
-
-
-def persist_instances(instances: List[Any], filename: str) -> None:
-  """
-  Write schema instances to a binary file.
-
-  Args:
-      instances: List of schema instances
-      filename: Output file path
-  """
-  try:
-    with open(filename, 'wb') as f:
-      for instance in instances:
-        f.write(instance.to_bytes())
-
-    print(f"Successfully wrote {len(instances)} instances to {filename}")
-
-  except Exception as e:
-    print(f"Error persisting instances: {e}")
-    sys.exit(1)
-
-
-def read_instances(filename: str, schema_type: Any) -> List[Any]:
-  """
-  Read schema instances from a binary file.
-
-  Args:
-      filename: Input file path
-      schema_type: The schema type to use for reading
-
-  Returns:
-      A list of read schema instances
-  """
-  try:
-    with open(filename, 'rb') as f:
-      data = f.read()
-
-    instances = list(schema_type.read_multiple_bytes(data))
-
-    print(f"Read {len(instances)} instances from {filename}")
-    return instances
-
-  except Exception as e:
-    print(f"Error reading instances: {e}")
-    sys.exit(1)
-
-
-def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
-  """
-  Compare original and read-back instances to detect potential breaking changes.
-
-  Args:
-      original_instances: List of originally generated instances
-      read_instances: List of instances read back from file
-
-  Returns:
-      Boolean indicating whether schemas appear compatible
-  """
-  if len(original_instances) != len(read_instances):
-    print("❌ Schema Compatibility Warning: Instance count mismatch")
-    return False
-
-  compatible = True
-  for struct in read_instances:
-    try:
-      getattr(struct, struct.which())  # Attempting to access the field to validate readability
-    except Exception as e:
-      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
-      compatible = False
-
-  return compatible
-
-
-def main():
-  """
-  CLI entry point for schema compatibility testing.
-  """
-  # Setup argument parser
-  parser = argparse.ArgumentParser(
-    description='Cap\'n Proto Schema Compatibility Testing Tool',
-    epilog='Test schema compatibility by generating and reading back instances.'
-  )
-
-  # Add mutually exclusive group for generation or reading mode
-  mode_group = parser.add_mutually_exclusive_group(required=True)
-  mode_group.add_argument('-g', '--generate', action='store_true',
-                          help='Generate schema instances')
-  mode_group.add_argument('-r', '--read', action='store_true',
-                          help='Read and validate schema instances')
-
-  # Common arguments
-  parser.add_argument('-f', '--file',
-                      default='schema_instances.bin',
-                      help='Output/input binary file (default: schema_instances.bin)')
-
-  # Parse arguments
-  args = parser.parse_args()
-
-  # Import the schema dynamically 
-  try:
-    from cereal import log
-    schema_type = log.Event
-  except ImportError:
-    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
-    sys.exit(1)
-
-  # Execute based on mode
-  if args.generate:
-    print("🔧 Generating Schema Instances")
-    instances = generate_schema_instances(schema_type)
-    persist_instances(instances, args.file)
-    print("✅ Instance generation complete")
-
-  elif args.read:
-    print("🔍 Reading and Validating Schema Instances")
-    generated_instances = generate_schema_instances(schema_type)
-    read_back_instances = read_instances(args.file, schema_type)
-
-    # Compare schemas
-    if compare_schemas(generated_instances, read_back_instances):
-      print("✅ Schema Compatibility: No breaking changes detected")
-      sys.exit(0)
-    else:
-      print("❌ Potential Schema Breaking Changes Detected")
-      sys.exit(1)
-
-
-if __name__ == "__main__":
-  main()

cereal/services.py

@@ -1,139 +0,0 @@
-#!/usr/bin/env python3
-from typing import Optional
-
-
-class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
-    self.should_log = should_log
-    self.frequency = frequency
-    self.decimation = decimation
-
-
-_services: dict[str, tuple] = {
-  # service: (should_log, frequency, qlog decimation (optional))
-  # note: the "EncodeIdx" packets will still be in the log
-  "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
-  "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25.),
-  "lightSensor": (True, 100., 100),
-  "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
-  "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
-  "touch": (True, 20., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10),
-  "selfdriveState": (True, 100., 10),
-  "pandaStates": (True, 10., 1),
-  "peripheralState": (True, 2., 1),
-  "radarState": (True, 20., 5),
-  "roadEncodeIdx": (False, 20., 1),
-  "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139),
-  "logMessage": (True, 0.),
-  "errorLogMessage": (True, 0., 1),
-  "liveCalibration": (True, 4., 4),
-  "liveTorqueParameters": (True, 4., 1),
-  "liveDelay": (True, 4., 1),
-  "androidLog": (True, 0.),
-  "carState": (True, 100., 10),
-  "carControl": (True, 100., 10),
-  "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 10),
-  "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15),
-  "gpsLocationExternal": (True, 10., 10),
-  "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),
-  "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 10),
-  "thumbnail": (True, 1 / 60., 1),
-  "onroadEvents": (True, 1., 1),
-  "carParams": (True, 0.02, 1),
-  "roadCameraState": (True, 20., 20),
-  "driverCameraState": (True, 20., 20),
-  "driverEncodeIdx": (False, 20., 1),
-  "driverStateV2": (True, 20., 10),
-  "driverMonitoringState": (True, 20., 10),
-  "wideRoadEncodeIdx": (False, 20., 1),
-  "wideRoadCameraState": (True, 20., 20),
-  "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
-  "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),
-  "rawAudioData": (False, 20.),
-  "bookmarkButton": (True, 0., 1),
-  "audioFeedback": (True, 0., 1),
-
-  # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
-  "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),
-  "onroadEventsSP": (True, 1., 1),
-  "carParamsSP": (True, 0.02, 1),
-  "carControlSP": (True, 100., 10),
-  "carStateSP": (True, 100., 10),
-  "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20.),
-  "liveLocationKalman": (True, 20.),
-
-  # debug
-  "uiDebug": (True, 0., 1),
-  "testJoystick": (True, 0.),
-  "alertDebug": (True, 20., 5),
-  "roadEncodeData": (False, 20.),
-  "driverEncodeData": (False, 20.),
-  "wideRoadEncodeData": (False, 20.),
-  "qRoadEncodeData": (False, 20.),
-  "livestreamWideRoadEncodeIdx": (False, 20.),
-  "livestreamRoadEncodeIdx": (False, 20.),
-  "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20.),
-  "livestreamRoadEncodeData": (False, 20.),
-  "livestreamDriverEncodeData": (False, 20.),
-  "customReservedRawData0": (True, 0.),
-  "customReservedRawData1": (True, 0.),
-  "customReservedRawData2": (True, 0.),
-}
-SERVICE_LIST = {name: Service(*vals) for
-                idx, (name, vals) in enumerate(_services.items())}
-
-
-def build_header():
-  h = ""
-  h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
-  h += "#ifndef __SERVICES_H\n"
-  h += "#define __SERVICES_H\n"
-
-  h += "#include <map>\n"
-  h += "#include <string>\n"
-
-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
-  h += "static std::map<std::string, service> services = {\n"
-  for k, v in SERVICE_LIST.items():
-    should_log = "true" if v.should_log else "false"
-    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
-  h += "};\n"
-
-  h += "#endif\n"
-  return h
-
-
-if __name__ == "__main__":
-  print(build_header())

common/.gitignore

@@ -1 +0,0 @@
-*.cpp

common/SConscript

@@ -1,29 +0,0 @@
-Import('env', 'envCython', 'arch')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-  'clutil.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
-
-Export('common_python')

common/api/__init__.py

@@ -1,26 +0,0 @@
-from openpilot.common.api.comma_connect import CommaConnectApi
-
-
-class Api:
-  def __init__(self, dongle_id):
-    self.service = CommaConnectApi(dongle_id)
-
-  def request(self, method, endpoint, **params):
-    return self.service.request(method, endpoint, **params)
-
-  def get(self, *args, **kwargs):
-    return self.service.get(*args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.service.post(*args, **kwargs)
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    return self.service.get_token(payload_extra, expiry_hours)
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
-
-
-def get_key_pair():
-  return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -1,70 +0,0 @@
-import jwt
-import os
-import requests
-import unicodedata
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-       # name : jwt signature algorithm
-KEYS = {"id_rsa" : "RS256",
-        "id_ecdsa" : "ES256"}
-
-
-class BaseApi:
-  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
-    self.dongle_id = dongle_id
-    self.api_host = api_host
-    self.user_agent = user_agent
-    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours),
-      **extra_payload
-    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    return self._get_token(payload_extra, expiry_hours)
-
-  def remove_non_ascii_chars(self, text):
-    normalized_text = unicodedata.normalize('NFD', text)
-    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
-    return ascii_encoded_text.decode()
-
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
-    headers = {}
-    if access_token is not None:
-      headers['Authorization'] = "JWT " + access_token
-
-    version = self.remove_non_ascii_chars(get_version())
-    headers['User-Agent'] = self.user_agent + version
-
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
-
-  @staticmethod
-  def get_key_pair():
-    for key in KEYS:
-      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
-          return KEYS[key], private.read(), public.read()
-    return None, None, None

common/clutil.cc

@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}

common/clutil.h

@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/filter_simple.py

@@ -1,34 +0,0 @@
-class FirstOrderFilter:
-  def __init__(self, x0, rc, dt, initialized=True):
-    self.x = x0
-    self.dt = dt
-    self.update_alpha(rc)
-    self.initialized = initialized
-
-  def update_alpha(self, rc):
-    self.alpha = self.dt / (rc + self.dt)
-
-  def update(self, x):
-    if self.initialized:
-      self.x = (1. - self.alpha) * self.x + self.alpha * x
-    else:
-      self.initialized = True
-      self.x = x
-    return self.x
-
-
-class BounceFilter(FirstOrderFilter):
-  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
-    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
-    self.bounce = bounce
-    super().__init__(x0, rc, dt, initialized)
-
-  def update(self, x):
-    super().update(x)
-    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
-    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
-    self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-5:
-      self.velocity.x = 0.0
-    self.x += self.velocity.x
-    return self.x

common/mat.h

@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
-  float v[3];
-} vec3;
-
-typedef struct vec4 {
-  float v[4];
-} vec4;
-
-typedef struct mat3 {
-  float v[3*3];
-} mat3;
-
-typedef struct mat4 {
-  float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
-  mat3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      float v = 0.0;
-      for (int k=0; k<3; k++) {
-        v += a.v[r*3+k] * b.v[k*3+c];
-      }
-      ret.v[r*3+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
-  vec3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      ret.v[r] += a.v[r*3+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
-  mat4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      float v = 0.0;
-      for (int k=0; k<4; k++) {
-        v += a.v[r*4+k] * b.v[k*4+c];
-      }
-      ret.v[r*4+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
-  vec4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      ret.v[r] += a.v[r*4+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
-  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
-  mat3 transform_out = {{
-    1.0f/s, 0.0f, 0.5f,
-    0.0f, 1.0f/s, 0.5f,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  mat3 transform_in = {{
-    s,  0.0f, -0.5f*s,
-    0.0f, s, -0.5f*s,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  return matmul3(transform_in, matmul3(in, transform_out));
-}

common/mock/__init__.py

@@ -1,50 +0,0 @@
-"""
-Utilities for generating mock messages for testing.
-example in common/tests/test_mock.py
-"""
-
-
-import functools
-import threading
-from cereal.messaging import PubMaster
-from cereal.services import SERVICE_LIST
-from openpilot.common.mock.generators import generate_livePose
-from openpilot.common.realtime import Ratekeeper
-
-
-MOCK_GENERATOR = {
-  "livePose": generate_livePose
-}
-
-
-def generate_messages_loop(services: list[str], done: threading.Event):
-  pm = PubMaster(services)
-  rk = Ratekeeper(100)
-  i = 0
-  while not done.is_set():
-    for s in services:
-      should_send = i % (100/SERVICE_LIST[s].frequency) == 0
-      if should_send:
-        message = MOCK_GENERATOR[s]()
-        pm.send(s, message)
-    i += 1
-    rk.keep_time()
-
-
-def mock_messages(services: list[str] | str):
-  if isinstance(services, str):
-    services = [services]
-
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      done = threading.Event()
-      t = threading.Thread(target=generate_messages_loop, args=(services, done))
-      t.start()
-      try:
-        return func(*args, **kwargs)
-      finally:
-        done.set()
-        t.join()
-    return wrapper
-  return decorator

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "The Cool People (Default)"

common/pid.py

@@ -1,63 +0,0 @@
-import numpy as np
-from numbers import Number
-
-class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
-
-    self.set_limits(pos_limit, neg_limit)
-
-    self.i_dt = 1.0 / rate
-    self.speed = 0.0
-
-    self.reset()
-
-  @property
-  def k_p(self):
-    return np.interp(self.speed, self._k_p[0], self._k_p[1])
-
-  @property
-  def k_i(self):
-    return np.interp(self.speed, self._k_i[0], self._k_i[1])
-
-  @property
-  def k_d(self):
-    return np.interp(self.speed, self._k_d[0], self._k_d[1])
-
-  def reset(self):
-    self.p = 0.0
-    self.i = 0.0
-    self.d = 0.0
-    self.f = 0.0
-    self.control = 0
-
-  def set_limits(self, pos_limit, neg_limit):
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
-
-  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
-    self.speed = speed
-    self.p = self.k_p * float(error)
-    self.d = self.k_d * error_rate
-    self.f = feedforward
-
-    if not freeze_integrator:
-      i = self.i + self.k_i * self.i_dt * error
-
-      # Don't allow windup if already clipping
-      test_control = self.p + i + self.d + self.f
-      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
-      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
-      self.i = np.clip(i, i_lowerbound, i_upperbound)
-
-    control = self.p + self.i + self.d + self.f
-    self.control = np.clip(control, self.neg_limit, self.pos_limit)
-    return self.control

common/prefix.h

@@ -1,39 +0,0 @@
-#pragma once
-
-#include <cassert>
-#include <string>
-
-#include "common/params.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-class OpenpilotPrefix {
-public:
-  OpenpilotPrefix(std::string prefix = {}) {
-    if (prefix.empty()) {
-      prefix = util::random_string(15);
-    }
-    msgq_path = Path::shm_path() + "/" + prefix;
-    bool ret = util::create_directories(msgq_path, 0777);
-    assert(ret);
-    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
-  }
-
-  ~OpenpilotPrefix() {
-    auto param_path = Params().getParamPath();
-    if (util::file_exists(param_path)) {
-      std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
-      unlink(param_path.c_str());
-    }
-    if (getenv("COMMA_CACHE") == nullptr) {
-      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
-    }
-    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
-    unsetenv("OPENPILOT_PREFIX");
-  }
-
-private:
-  std::string msgq_path;
-};

common/tests/test_file_helpers.py

@@ -1,19 +0,0 @@
-import os
-from uuid import uuid4
-
-from openpilot.common.utils import atomic_write_in_dir
-
-
-class TestFileHelpers:
-  def run_atomic_write_func(self, atomic_write_func):
-    path = f"/tmp/tmp{uuid4()}"
-    with atomic_write_func(path) as f:
-      f.write("test")
-      assert not os.path.exists(path)
-
-    with open(path) as f:
-      assert f.read() == "test"
-    os.remove(path)
-
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)

common/tests/test_params.cc

@@ -1,27 +0,0 @@
-#include "catch2/catch.hpp"
-#define private public
-#include "common/params.h"
-#include "common/util.h"
-
-TEST_CASE("params_nonblocking_put") {
-  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
-  const std::string param_path = mkdtemp(tmp_path);
-  auto param_names = {"CarParams", "IsMetric"};
-  {
-    Params params(param_path);
-    for (const auto &name : param_names) {
-      params.putNonBlocking(name, "1");
-      // param is empty
-      REQUIRE(params.get(name).empty());
-    }
-
-    // check if thread is running
-    REQUIRE(params.future.valid());
-    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
-  }
-  // check results
-  Params p(param_path);
-  for (const auto &name : param_names) {
-    REQUIRE(p.get(name) == "1");
-  }
-}

common/transformations/.gitignore

@@ -1,2 +0,0 @@
-transformations
-transformations.cpp

common/transformations/SConscript

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

common/transformations/transformations.pxd

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

common/transformations/transformations.pyx

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

common/util.cc

@@ -1,317 +0,0 @@
-#include "common/util.h"
-#include "common/swaglog.h"
-
-#include <sys/ioctl.h>
-#include <sys/stat.h>
-#include <sys/resource.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <dirent.h>
-#include <fstream>
-#include <iomanip>
-#include <random>
-#include <sstream>
-#include <limits>
-
-#ifdef __linux__
-#include <sys/prctl.h>
-#include <sys/syscall.h>
-#ifndef __USE_GNU
-#define __USE_GNU
-#endif
-#include <sched.h>
-#endif  // __linux__
-
-namespace util {
-
-void set_thread_name(const char* name) {
-#ifdef __linux__
-  // pthread_setname_np is dumb (fails instead of truncates)
-  prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0);
-#endif
-}
-
-int set_realtime_priority(int level) {
-#ifdef __linux__
-  long tid = syscall(SYS_gettid);
-
-  // should match python using chrt
-  struct sched_param sa;
-  memset(&sa, 0, sizeof(sa));
-  sa.sched_priority = level;
-  return sched_setscheduler(tid, SCHED_FIFO, &sa);
-#else
-  return -1;
-#endif
-}
-
-int set_core_affinity(std::vector<int> cores) {
-#ifdef __linux__
-  long tid = syscall(SYS_gettid);
-  cpu_set_t cpu;
-
-  CPU_ZERO(&cpu);
-  for (const int n : cores) {
-    CPU_SET(n, &cpu);
-  }
-  return sched_setaffinity(tid, sizeof(cpu), &cpu);
-#else
-  return -1;
-#endif
-}
-
-int set_file_descriptor_limit(uint64_t limit_val) {
-  struct rlimit limit;
-  int status;
-
-  if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
-    return status;
-
-  limit.rlim_cur = limit_val;
-  if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
-    return status;
-
-  return 0;
-}
-
-std::string read_file(const std::string& fn) {
-  std::ifstream f(fn, std::ios::binary | std::ios::in);
-  if (f.is_open()) {
-    f.seekg(0, std::ios::end);
-    std::streamsize size = f.tellg();
-    // seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
-    if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
-      std::string result(size, '\0');
-      f.seekg(0, std::ios::beg);
-      f.read(result.data(), size);
-      // return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count)
-      if (f.good() || f.eof()) {
-        result.resize(f.gcount());
-        return result;
-      }
-    }
-    // fallback for files created on read, e.g. procfs
-    std::stringstream buffer;
-    buffer << f.rdbuf();
-    return buffer.str();
-  }
-  return std::string();
-}
-
-std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
-  std::map<std::string, std::string> ret;
-  DIR *d = opendir(path.c_str());
-  if (!d) return ret;
-
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      ret[de->d_name] = util::read_file(path + "/" + de->d_name);
-    }
-  }
-
-  closedir(d);
-  return ret;
-}
-
-int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
-  int fd = HANDLE_EINTR(open(path, flags, mode));
-  if (fd == -1) {
-    return -1;
-  }
-  ssize_t n = HANDLE_EINTR(write(fd, data, size));
-  close(fd);
-  return (n >= 0 && (size_t)n == size) ? 0 : -1;
-}
-
-FILE* safe_fopen(const char* filename, const char* mode) {
-  FILE* fp = NULL;
-  do {
-    fp = fopen(filename, mode);
-  } while ((nullptr == fp) && (errno == EINTR));
-  return fp;
-}
-
-size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) {
-  size_t written = 0;
-  do {
-    size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream);
-    if (ret == 0 && errno != EINTR) break;
-    written += ret;
-  } while (written != count);
-  return written;
-}
-
-int safe_fflush(FILE *stream) {
-  int ret = EOF;
-  do {
-    ret = fflush(stream);
-  } while ((EOF == ret) && (errno == EINTR));
-  return ret;
-}
-
-int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
-  int ret;
-  do {
-    ret = ioctl(fd, request, argp);
-  } while ((ret == -1) && (errno == EINTR));
-
-  if (ret == -1 && exception_msg) {
-    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
-    throw std::runtime_error(exception_msg);
-  }
-  return ret;
-}
-
-std::string readlink(const std::string &path) {
-  char buff[4096];
-  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
-  if (len != -1) {
-    buff[len] = '\0';
-    return std::string(buff);
-  }
-  return "";
-}
-
-bool file_exists(const std::string& fn) {
-  struct stat st = {};
-  return stat(fn.c_str(), &st) != -1;
-}
-
-static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& dir) -> bool {
-    struct stat st = {};
-    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
-  };
-  // remove trailing /'s
-  while (dir.size() > 1 && dir.back() == '/') {
-    dir.pop_back();
-  }
-  // try to mkdir this directory
-  if (mkdir(dir.c_str(), mode) == 0) return true;
-  if (errno == EEXIST) return verify_dir(dir);
-  if (errno != ENOENT) return false;
-
-  // mkdir failed because the parent dir doesn't exist, so try to create it
-  size_t slash = dir.rfind('/');
-  if ((slash == std::string::npos || slash < 1) ||
-      !createDirectory(dir.substr(0, slash), mode)) {
-    return false;
-  }
-
-  // try again
-  if (mkdir(dir.c_str(), mode) == 0) return true;
-  return errno == EEXIST && verify_dir(dir);
-}
-
-bool create_directories(const std::string& dir, mode_t mode) {
-  if (dir.empty()) return false;
-  return createDirectory(dir, mode);
-}
-
-std::string getenv(const char* key, std::string default_val) {
-  const char* val = ::getenv(key);
-  return val ? val : default_val;
-}
-
-int getenv(const char* key, int default_val) {
-  const char* val = ::getenv(key);
-  return val ? atoi(val) : default_val;
-}
-
-float getenv(const char* key, float default_val) {
-  const char* val = ::getenv(key);
-  return val ? atof(val) : default_val;
-}
-
-std::string hexdump(const uint8_t* in, const size_t size) {
-  std::stringstream ss;
-  ss << std::hex << std::setfill('0');
-  for (size_t i = 0; i < size; i++) {
-    ss << std::setw(2) << static_cast<unsigned int>(in[i]);
-  }
-  return ss.str();
-}
-
-int random_int(int min, int max) {
-  std::random_device dev;
-  std::mt19937 rng(dev());
-  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
-  return dist(rng);
-}
-
-std::string random_string(std::string::size_type length) {
-  const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
-  std::mt19937 rg{std::random_device{}()};
-  std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
-  std::string s;
-  s.reserve(length);
-  while (length--) {
-    s += chrs[pick(rg)];
-  }
-  return s;
-}
-
-bool starts_with(const std::string &s1, const std::string &s2) {
-  return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
-}
-
-bool ends_with(const std::string& s, const std::string& suffix) {
-  return s.size() >= suffix.size() &&
-         strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
-}
-
-std::string strip(const std::string &str) {
-  auto should_trim = [](unsigned char ch) {
-    return std::isspace(ch) || ch == '\0';
-  };
-
-  size_t start = 0;
-  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
-    start++;
-  }
-
-  if (start == str.size()) {
-    return "";
-  }
-
-  size_t end = str.size() - 1;
-  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
-    end--;
-  }
-
-  return str.substr(start, end - start + 1);
-}
-
-std::string check_output(const std::string& command) {
-  char buffer[128];
-  std::string result;
-  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
-
-  if (!pipe) {
-    return "";
-  }
-
-  while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) {
-    result += std::string(buffer);
-  }
-
-  return result;
-}
-
-bool system_time_valid() {
-  // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
-  time_t min_date = mktime(&min_tm);
-
-  struct stat st;
-  if (stat("/lib/systemd/systemd", &st) == 0) {
-    min_date = std::max(min_date, st.st_mtime + 86400);  // Add 1 day (86400 seconds)
-  }
-
-  return time(nullptr) > min_date;
-}
-
-}  // namespace util

common/util.h

@@ -1,188 +0,0 @@
-#pragma once
-
-#include <fcntl.h>
-#include <sys/stat.h>
-#include <unistd.h>
-
-#include <algorithm>
-#include <atomic>
-#include <chrono>
-#include <csignal>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <thread>
-#include <vector>
-
-// keep trying if x gets interrupted by a signal
-#define HANDLE_EINTR(x)                                        \
-  ({                                                           \
-    decltype(x) ret_;                                          \
-    int try_cnt = 0;                                           \
-    do {                                                       \
-      ret_ = (x);                                              \
-    } while (ret_ == -1 && errno == EINTR && try_cnt++ < 100); \
-    ret_;                                                       \
-  })
-
-#ifndef sighandler_t
-typedef void (*sighandler_t)(int sig);
-#endif
-
-const double MILE_TO_KM = 1.609344;
-const double KM_TO_MILE = 1. / MILE_TO_KM;
-const double MS_TO_KPH = 3.6;
-const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
-const double METER_TO_MILE = KM_TO_MILE / 1000.0;
-const double METER_TO_FOOT = 3.28084;
-const double METER_TO_KM = 1. / 1000.0;
-
-#define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
-
-namespace util {
-
-void set_thread_name(const char* name);
-int set_realtime_priority(int level);
-int set_core_affinity(std::vector<int> cores);
-int set_file_descriptor_limit(uint64_t limit);
-
-// ***** math helpers *****
-
-// map x from [a1, a2] to [b1, b2]
-template <typename T>
-T map_val(T x, T a1, T a2, T b1, T b2) {
-  x = std::clamp(x, a1, a2);
-  T ra = a2 - a1;
-  T rb = b2 - b1;
-  return (x - a1) * rb / ra + b1;
-}
-
-// ***** string helpers *****
-
-template <typename... Args>
-std::string string_format(const std::string& format, Args... args) {
-  size_t size = snprintf(nullptr, 0, format.c_str(), args...) + 1;
-  std::unique_ptr<char[]> buf(new char[size]);
-  snprintf(buf.get(), size, format.c_str(), args...);
-  return std::string(buf.get(), buf.get() + size - 1);
-}
-
-std::string getenv(const char* key, std::string default_val = "");
-int getenv(const char* key, int default_val);
-float getenv(const char* key, float default_val);
-
-std::string hexdump(const uint8_t* in, const size_t size);
-bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s, const std::string &suffix);
-std::string strip(const std::string &str);
-
-// ***** random helpers *****
-int random_int(int min, int max);
-std::string random_string(std::string::size_type length);
-
-// **** file helpers *****
-std::string read_file(const std::string& fn);
-std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
-
-FILE* safe_fopen(const char* filename, const char* mode);
-size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
-int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
-
-std::string readlink(const std::string& path);
-bool file_exists(const std::string& fn);
-bool create_directories(const std::string &dir, mode_t mode);
-
-std::string check_output(const std::string& command);
-
-bool system_time_valid();
-
-inline void sleep_for(const int milliseconds) {
-  if (milliseconds > 0) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
-  }
-}
-
-}  // namespace util
-
-class ExitHandler {
-public:
-  ExitHandler() {
-    std::signal(SIGINT, (sighandler_t)set_do_exit);
-    std::signal(SIGTERM, (sighandler_t)set_do_exit);
-
-#ifndef __APPLE__
-    std::signal(SIGPWR, (sighandler_t)set_do_exit);
-#endif
-  }
-  inline static std::atomic<bool> power_failure = false;
-  inline static std::atomic<int> signal = 0;
-  inline operator bool() { return do_exit; }
-  inline ExitHandler& operator=(bool v) {
-    signal = 0;
-    do_exit = v;
-    return *this;
-  }
-private:
-  static void set_do_exit(int sig) {
-#ifndef __APPLE__
-    power_failure = (sig == SIGPWR);
-#endif
-    signal = sig;
-    do_exit = true;
-  }
-  inline static std::atomic<bool> do_exit = false;
-};
-
-struct unique_fd {
-  unique_fd(int fd = -1) : fd_(fd) {}
-  unique_fd& operator=(unique_fd&& uf) {
-    fd_ = uf.fd_;
-    uf.fd_ = -1;
-    return *this;
-  }
-  ~unique_fd() {
-    if (fd_ != -1) close(fd_);
-  }
-  operator int() const { return fd_; }
-  int fd_;
-};
-
-class FirstOrderFilter {
-public:
-  FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) {
-    k_ = (dt / ts) / (1.0 + dt / ts);
-    x_ = x0;
-    initialized_ = initialized;
-  }
-  inline float update(float x) {
-    if (initialized_) {
-      x_ = (1. - k_) * x_ + k_ * x;
-    } else {
-      initialized_ = true;
-      x_ = x;
-    }
-    return x_;
-  }
-  inline void reset(float x) { x_ = x; }
-  inline float x(){ return x_; }
-
-private:
-  float x_, k_;
-  bool initialized_;
-};
-
-template<typename T>
-void update_max_atomic(std::atomic<T>& max, T const& value) {
-  T prev = max;
-  while (prev < value && !max.compare_exchange_weak(prev, value)) {}
-}
-
-typedef struct Rect {
-  int x;
-  int y;
-  int w;
-  int h;
-} Rect;

common/util.py

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

common/utils.py

@@ -1,118 +0,0 @@
-import io
-import os
-import tempfile
-import contextlib
-import subprocess
-import time
-import functools
-from subprocess import Popen, PIPE, TimeoutExpired
-import zstandard as zstd
-from openpilot.common.swaglog import cloudlog
-
-LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
-
-
-class CallbackReader:
-  """Wraps a file, but overrides the read method to also
-  call a callback function with the number of bytes read so far."""
-  def __init__(self, f, callback, *args):
-    self.f = f
-    self.callback = callback
-    self.cb_args = args
-    self.total_read = 0
-
-  def __getattr__(self, attr):
-    return getattr(self.f, attr)
-
-  def read(self, *args, **kwargs):
-    chunk = self.f.read(*args, **kwargs)
-    self.total_read += len(chunk)
-    self.callback(*self.cb_args, self.total_read)
-    return chunk
-
-
-@contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                        overwrite: bool = False):
-  """Write to a file atomically using a temporary file in the same directory as the destination file."""
-  dir_name = os.path.dirname(path)
-
-  if not overwrite and os.path.exists(path):
-    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
-
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size
-
-
-# remove all keys that end in DEPRECATED
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-
-
-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
-def retry(attempts=3, delay=1.0, ignore_failure=False):
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      for _ in range(attempts):
-        try:
-          return func(*args, **kwargs)
-        except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
-          time.sleep(delay)
-
-      if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
-      else:
-        raise Exception(f"{func.__name__} failed after retry")
-    return wrapper
-  return decorator

common/version.h

@@ -1 +0,0 @@
-#define COMMA_VERSION "0.10.2"

compile_commands.json

@@ -0,0 +1,518 @@
+[
+    {
+        "command": "clang++ -o openpilot/common/params.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/params.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/params.cc",
+        "output": "/data/openpilot/openpilot/common/params.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/swaglog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/swaglog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/swaglog.cc",
+        "output": "/data/openpilot/openpilot/common/swaglog.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/util.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/util.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/util.cc",
+        "output": "/data/openpilot/openpilot/common/util.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/ratekeeper.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/ratekeeper.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/ratekeeper.cc",
+        "output": "/data/openpilot/openpilot/common/ratekeeper.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/yuv.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/common/yuv.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/yuv.cc",
+        "output": "/data/openpilot/openpilot/common/yuv.o"
+    },
+    {
+        "command": "clang++ -o openpilot/common/params_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include openpilot/common/params_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/common/params_pyx.cpp",
+        "output": "/data/openpilot/openpilot/common/params_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/ipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/event.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/event.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/event.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/event.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/impl_msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/impl_fake.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/impl_fake.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/impl_fake.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/impl_fake.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/msgq.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/msgq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/msgq.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/msgq.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/ipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/ipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/ipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/ipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionipc.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_server.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_server.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_client.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_client.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionbuf_ion.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -DSWAGLOG=\"\\\"common/swaglog.h\\\"\" -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.cc",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionbuf_ion.os"
+    },
+    {
+        "command": "clang++ -o msgq_repo/msgq/visionipc/visionipc_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.cpp",
+        "output": "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/log.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/log.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/log.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/log.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/deprecated.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/deprecated.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/deprecated.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/deprecated.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/custom.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/custom.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/custom.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/custom.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/gen/cpp/car.capnp.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/gen/cpp/car.capnp.c++",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/gen/cpp/car.capnp.c++",
+        "output": "/data/openpilot/openpilot/cereal/gen/cpp/car.capnp.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/bridge.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/bridge.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/bridge.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/bridge.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/msgq_to_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/msgq_to_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/msgq_to_zmq.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/msgq_to_zmq.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/bridge_zmq.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/bridge_zmq.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/bridge_zmq.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/bridge_zmq.o"
+    },
+    {
+        "command": "clang++ -o openpilot/cereal/messaging/socketmaster.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/cereal/messaging/socketmaster.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/cereal/messaging/socketmaster.cc",
+        "output": "/data/openpilot/openpilot/cereal/messaging/socketmaster.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/main.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_jungle_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_jungle_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_jungle_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_jungle_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/panda_jungle_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/jungle/board/obj/panda_jungle_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_JUNGLE -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/jungle/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/jungle/main.c",
+        "output": "/data/openpilot/panda/board/jungle/board/obj/panda_jungle_h7main.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/rsa.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7rsa.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/crypto/sha.c",
+        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7sha.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/bootstub.c",
+        "output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
+    },
+    {
+        "command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xBE6AD9D2U -DCAN_PACKET_VERSION_HASH=0x75ABF276U -DJUNGLE_HEALTH_PACKET_VERSION=0xA39967B7U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/panda/board/body/main.c",
+        "output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
+    },
+    {
+        "command": "clang++ -o rednose_repo/rednose/helpers/ekf_load.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install rednose_repo/rednose/helpers/ekf_load.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose_repo/rednose/helpers/ekf_load.cc",
+        "output": "/data/openpilot/rednose_repo/rednose/helpers/ekf_load.os"
+    },
+    {
+        "command": "clang++ -o rednose_repo/rednose/helpers/ekf_sym.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install rednose_repo/rednose/helpers/ekf_sym.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym.cc",
+        "output": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym.os"
+    },
+    {
+        "command": "clang++ -o rednose_repo/rednose/helpers/ekf_sym_pyx.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install rednose_repo/rednose/helpers/ekf_sym_pyx.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp",
+        "output": "/data/openpilot/rednose_repo/rednose/helpers/ekf_sym_pyx.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/logger.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/logger.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/logger.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/logger.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/zstd_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/zstd_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/zstd_writer.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/zstd_writer.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/video_writer.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/video_writer.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/video_writer.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/video_writer.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoder/encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoder/encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoder/encoder.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoder/encoder.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoder/jpeg_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoder/jpeg_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoder/jpeg_encoder.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoder/jpeg_encoder.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoder/v4l_encoder.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoder/v4l_encoder.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoder/v4l_encoder.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoder/v4l_encoder.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/loggerd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/loggerd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/loggerd.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/loggerd.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/encoderd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/encoderd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/encoderd.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/encoderd.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/loggerd/bootlog.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/loggerd/bootlog.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/loggerd/bootlog.cc",
+        "output": "/data/openpilot/openpilot/system/loggerd/bootlog.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/camera_qcom2.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/camera_qcom2.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/camera_qcom2.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/camera_qcom2.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/camera_common.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/camera_common.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/camera_common.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/camera_common.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/spectra.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/spectra.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/spectra.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/spectra.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/cameras/cdm.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/cameras/cdm.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/cameras/cdm.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/cameras/cdm.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/sensors/ox03c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/sensors/ox03c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/sensors/ox03c10.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/sensors/ox03c10.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/sensors/os04c10.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/sensors/os04c10.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/sensors/os04c10.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/sensors/os04c10.o"
+    },
+    {
+        "command": "clang++ -o openpilot/system/camerad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/system/camerad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/system/camerad/main.cc",
+        "output": "/data/openpilot/openpilot/system/camerad/main.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/panda.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/panda.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/panda.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/panda.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/spi.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/spi.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/spi.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/spi.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/main.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/main.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/main.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/main.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/pandad.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/pandad.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/pandad.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/pandad.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/pandad/panda_safety.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/pandad/panda_safety.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/pandad/panda_safety.cc",
+        "output": "/data/openpilot/openpilot/selfdrive/pandad/panda_safety.o"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os -c -std=gnu11 -DACADOS_WITH_QPOASES -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-unused -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.os"
+    },
+    {
+        "command": "clang -o openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o -c -std=gnu11 -g -fPIC -O2 -Wunused -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Wno-#warnings -Wno-cpp -Wno-shadow -Wno-deprecated-declarations -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/include/python3.12 -I/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c",
+        "output": "/data/openpilot/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.o"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/locationd/models/generated/pose.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install openpilot/selfdrive/locationd/models/generated/pose.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/pose.cpp",
+        "output": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/pose.os"
+    },
+    {
+        "command": "clang++ -o openpilot/selfdrive/locationd/models/generated/car.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install openpilot/selfdrive/locationd/models/generated/car.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/car.cpp",
+        "output": "/data/openpilot/openpilot/selfdrive/locationd/models/generated/car.os"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/common/transformations/orientation.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/common/transformations/orientation.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/common/transformations/orientation.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/common/transformations/orientation.o"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/common/transformations/coordinates.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/common/transformations/coordinates.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/common/transformations/coordinates.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/common/transformations/coordinates.o"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/selfdrive/locationd/models/generated/live.os -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -fPIC -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. -I/usr/local/venv/lib/python3.12/site-packages/eigen/install openpilot/sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.cpp",
+        "output": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/generated/live.os"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/selfdrive/locationd/locationd.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/selfdrive/locationd/locationd.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/locationd.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/locationd.o"
+    },
+    {
+        "command": "clang++ -o openpilot/sunnypilot/selfdrive/locationd/models/live_kf.o -c -std=c++1z -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -g -fPIC -O2 -Wunused -Werror -Wshadow -Wno-unknown-warning-option -Wno-inconsistent-missing-override -Wno-c99-designator -Wno-reorder-init-list -Wno-vla-cxx-extension -D__TICI__ -mcpu=cortex-a57 -DQCOM2 -Iopenpilot -Imsgq_repo -Iopendbc_repo -Irednose_repo -Irednose_repo/rednose -Iopenpilot/cereal/gen/cpp -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/blasfeo/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include/hpipm/include -I/usr/local/venv/lib/python3.12/site-packages/acados/install/include -I/usr/local/venv/lib/python3.12/site-packages/bzip2/install/include -I/usr/local/venv/lib/python3.12/site-packages/capnproto/install/include -I/usr/local/venv/lib/python3.12/site-packages/catch2/install/include -I/usr/local/venv/lib/python3.12/site-packages/eigen/install -I/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/include -I/usr/local/venv/lib/python3.12/site-packages/json11/install/include -I/usr/local/venv/lib/python3.12/site-packages/ncurses/install/include -I/usr/local/venv/lib/python3.12/site-packages/zeromq/install/include -I/usr/local/venv/lib/python3.12/site-packages/zstd/install/include -I. openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "directory": "/data/openpilot",
+        "file": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.cc",
+        "output": "/data/openpilot/openpilot/sunnypilot/selfdrive/locationd/models/live_kf.o"
+    }
+]

conftest.py

@@ -5,19 +5,18 @@ import pytest
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.common.hardware import TICI, HARDWARE
 
-# 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
+# these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [
-  "selfdrive/ui/tests/test_translations",
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
+  "openpilot/selfdrive/test/process_replay/test_processes.py",
+  "openpilot/selfdrive/test/process_replay/test_regen.py",
+
+  "openpilot/tools/sim/",
+
+  # 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.
+  "openpilot/sunnypilot/modeld_v2/tests/test_warp.py",
 ]
 
 
@@ -98,15 +97,3 @@ 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)

docs/CARS.md

@@ -10,22 +10,21 @@ A supported vehicle is one that just works when you install a comma device. All
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|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">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 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Audi|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|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|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 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 Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 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 Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 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 Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -33,34 +32,34 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>|||
+|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>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 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>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 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|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|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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga 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>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -75,37 +74,38 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|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 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 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 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Clarity 2018-21|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 + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">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|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|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 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 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|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 CR-V Hybrid 2023-25">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|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 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|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|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|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 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 (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>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
@@ -117,16 +117,16 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 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>|||
@@ -137,19 +137,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
@@ -159,31 +157,30 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Niro EV (with HDA II) 2024-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Niro EV (without HDA II) 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2018">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
-|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2023-24">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
@@ -192,57 +189,60 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
 |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
 |Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>6</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 USB-C coupler<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>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 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>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 USB-C coupler<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 USB-C coupler<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>|||
+|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>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/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"></img></a>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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>|||
@@ -253,120 +253,121 @@ A supported vehicle is one that just works when you install a comma device. All
 |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"></img></a>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|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>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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 USB-C coupler<br>- 1 comma four<br>- 1 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>|||
+|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>|||
 |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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>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"></img></a>||
+|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 Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry Hybrid 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|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness 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>|||
+|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>|||
 
 ### Footnotes
-<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
-<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>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>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 />
+<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 />
 
 ## 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/).
@@ -384,7 +385,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |

docs/CONTRIBUTING.md

@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ## What contributions are we looking for?
 
 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
 
 ### What gets merged?
 
 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
 
 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,17 +29,17 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **style changes**: code is art, and it's up to the author to make it beautiful 
+* **style changes**: code is art, and it's up to the author to make it beautiful
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There are a lot of bounties that don't require a comma four or a car.
 
 ## Pull Requests
 
@@ -68,6 +68,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/DEVELOPMENT.md

@@ -0,0 +1,24 @@
+# Docs development
+
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
+uv pip install .[docs]
+```
+
+**2. Build the new site**
+``` bash
+docs build
+```
+
+**3. Run the new site locally**
+``` bash
+docs serve
+```
+
+References:
+* https://zensical.org/docs/

docs/README.md

@@ -1,26 +0,0 @@
-# openpilot docs
-
-This is the source for [docs.comma.ai](https://docs.comma.ai).
-The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
-
-## Development
-NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
-
-**1. Install the docs dependencies**
-``` bash
-pip install .[docs]
-```
-
-**2. Build the new site**
-``` bash
-mkdocs build
-```
-
-**3. Run the new site locally**
-``` bash
-mkdocs serve
-```
-
-References:
-* https://www.mkdocs.org/getting-started/
-* https://github.com/ntno/mkdocs-terminal