license

Merge branch 'master' into move-to-steering
Live delay in steering panel instead
2026-06-20 23:32:07 +08:00 · 2025-08-11 10:42:15 -07:00 · 2025-08-11 10:37:09 -07:00 · 2025-08-11 10:35:06 -07:00 · 2025-08-11 09:18:24 -07:00 · 2025-08-11 10:24:05 -04:00
172 changed files with 17147 additions and 4116 deletions
@@ -1,6 +1,6 @@
 ci:
  - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
+    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"

 chore:
  - changed-files:
@@ -16,7 +16,24 @@ jobs:
      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
      json_file: ${{ steps.get-json.outputs.json_file }}
      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
+      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
    steps:
+      - name: Checkout sunnypilot repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          path: sunnypilot
+          submodules: recursive
+
+      - name: Get tinygrad_repo ref
+        id: get-tinygrad-ref
+        run: |
+          cd sunnypilot
+          export PYTHONPATH=$(pwd)
+          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
+          echo "tinygrad_ref is $ref"
+
      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
        uses: actions/checkout@v4
        with:
@@ -269,6 +286,7 @@ jobs:
          ARGS=""
          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
          ARGS="$ARGS --sort-by-date"
+          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
@@ -42,11 +42,11 @@ on:
      recompiled_dir:
        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
-        type: number
+        type: string
      json_version:
        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
        required: true
-        type: number
+        type: string
      model_folder:
        description: 'Model folder'
        type: choice
@@ -67,11 +67,11 @@ on:
      generation:
        description: 'Model generation'
        required: false
-        type: number
+        type: string
      version:
        description: 'Minimum selector version'
        required: false
-        type: number
+        type: string
 env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
@@ -21,8 +21,8 @@ concurrency:

 env:
  PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
+  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:
@@ -59,7 +59,7 @@ jobs:
    steps:
      - uses: actions/checkout@v4
        with:
-          repository: 'sunnypilot/sunnypilot'
+          repository: 'commaai/openpilot'
          submodules: true
          ref: "refs/heads/master"
      - uses: ./.github/workflows/setup-with-retry
@@ -9,6 +9,9 @@ jobs:
  scan-comments:
    runs-on: ubuntu-latest
    if: ${{ github.event.issue.pull_request }}
+    permissions:
+      contents: write
+      issues: write
    steps:
    - name: Check for trigger phrase
      id: check_comment
@@ -43,3 +46,14 @@ jobs:
        git config --global user.email "github-actions[bot]@users.noreply.github.com"
        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+
+    - name: Delete trigger comment
+      if: steps.check_comment.outputs.result == 'true' && always()
+      uses: actions/github-script@v7
+      with:
+        script: |
+          await github.rest.issues.deleteComment({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            comment_id: context.payload.comment.id,
+          });
@@ -189,7 +189,8 @@ jobs:
    - name: Run unit tests
      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
      run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -13,9 +13,11 @@ venv/
 model2.png
 a.out
 .hypothesis
+.cache/

 /docs_site/

+*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -1,10 +1,14 @@
-Version 0.10.0 (2025-07-07)
+Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
-  * Lead car ground-truth fixes
-  * Ported over VAE from the MLSIM stack
-  * New training architecture described in CVPR paper
+  * New training architecture
+     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
+     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
+  * Low-speed lead car ground-truth fixes
+
 * Enable live-learned steering actuation delay
+* Record driving feedback using LKAS button when MADS is disabled
 * Opt-in audio recording for dashcam video

 Version 0.9.9 (2025-05-23)
@@ -17,7 +17,7 @@ AGNOS = TICI

 Decider('MD5-timestamp')

-SetOption('num_jobs', int(os.cpu_count()/2))
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))

 AddOption('--kaitai',
          action='store_true',
@@ -127,8 +127,9 @@ struct OnroadEvent @0xc4fa6047f024e718 {
    espActive @90;
    personalityChanged @91;
    aeb @92;
-    userFlag @95;
+    userBookmark @95;
    excessiveActuation @96;
+    audioFeedback @97;

    soundsUnavailableDEPRECATED @47;
  }
@@ -2468,7 +2469,7 @@ struct DebugAlert {
  alertText2 @1 :Text;
 }

-struct UserFlag {
+struct UserBookmark @0xfe346a9de48d9b50 {
 }

 struct SoundPressure @0xdc24138990726023 {
@@ -2486,6 +2487,11 @@ struct AudioData {
  sampleRate @1 :UInt32;
 }

+struct AudioFeedback {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
+}
+
 struct Touch {
  sec @0 :Int64;
  usec @1 :Int64;
@@ -2586,9 +2592,13 @@ struct Event {
    mapRenderState @105: MapRenderState;

    # UI services
-    userFlag @93 :UserFlag;
    uiDebug @102 :UIDebug;

+    # driving feedback
+    userBookmark @93 :UserBookmark;
+    bookmarkButton @148 :UserBookmark;
+    audioFeedback @149 :AudioFeedback;
+
    # *********** debug ***********
    testJoystick @52 :Joystick;
    roadEncodeData @86 :EncodeData;
@@ -177,8 +177,8 @@ class TestMessaging:

    # wait 5 socket timeouts before sending
    msg = random_carstate()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
    start_time = time.monotonic()
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
    recvd = messaging.recv_one_retry(sub_sock)
    assert (time.monotonic() - start_time) >= sock_timeout*5
    assert isinstance(recvd, capnp._DynamicStructReader)
@@ -86,7 +86,7 @@ class TestSubMaster:
        "cameraOdometry": (20, 10),
        "liveCalibration": (4, 4),
        "carParams": (None, None),
-        "userFlag": (None, None),
+        "userBookmark": (None, None),
      }

      for service, (max_freq, min_freq) in checks.items():
@@ -72,9 +72,11 @@ _services: dict[str, tuple] = {
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
  "qRoadEncodeIdx": (False, 20.),
-  "userFlag": (True, 0., 1),
+  "userBookmark": (True, 0., 1),
  "soundPressure": (True, 10., 10),
  "rawAudioData": (False, 20.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),

  # sunnypilot
  "modelManagerSP": (False, 1., 1),
@@ -1,6 +1,7 @@
 import numpy as np

-class Conversions:
+# conversions
+class CV:
  # Speed
  MPH_TO_KPH = 1.609344
  KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -17,3 +18,6 @@ class Conversions:

  # Mass
  LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
@@ -12,7 +12,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ApiCache_Device", {PERSISTENT, STRING}},
    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
    {"AssistNowToken", {PERSISTENT, STRING}},
-    {"AthenadPid", {PERSISTENT, STRING}},
+    {"AthenadPid", {PERSISTENT, INT}},
    {"AthenadUploadQueue", {PERSISTENT, JSON}},
    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
    {"BootCount", {PERSISTENT, INT}},
@@ -105,6 +105,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
    {"PrimeType", {PERSISTENT, INT}},
    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
@@ -139,7 +140,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
-    {"CarPlatformBundle", {PERSISTENT | BACKUP, STRING}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
@@ -162,11 +163,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},

    // Model Manager params
-    {"ModelManager_ActiveBundle", {PERSISTENT, STRING}},
+    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, STRING}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -177,7 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
    {"SunnylinkDongleId", {PERSISTENT, STRING}},
-    {"SunnylinkdPid", {PERSISTENT, STRING}},
+    {"SunnylinkdPid", {PERSISTENT, INT}},
    {"SunnylinkEnabled", {PERSISTENT, BOOL}},

    // Backup Manager params
@@ -192,19 +193,19 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // model panel params
    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"LagdToggleDesc", {PERSISTENT, STRING}},
    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
    {"MapdVersion", {PERSISTENT, STRING, ""}},
    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
    {"OSMDownloadBounds", {PERSISTENT, STRING}},
    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
-    {"OSMDownloadLocations", {PERSISTENT, STRING}},
+    {"OSMDownloadLocations", {PERSISTENT, JSON}},
    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
    {"OsmLocal", {PERSISTENT, BOOL}},
    {"OsmLocationName", {PERSISTENT, STRING}},
@@ -103,14 +103,14 @@ cdef class Params:
      return cast(value)
    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")

-  def cpp2python(self, t, value, default, key):
+  def _cpp2python(self, t, value, default, key):
    if value is None:
      return None
    try:
      return CPP_2_PYTHON[t](value)
    except (KeyError, TypeError, ValueError):
      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
-      return self.cpp2python(t, default, None, key)
+      return self._cpp2python(t, default, None, key)

  def get(self, key, bool block=False, bool return_default=False):
    cdef string k = self.check_key(key)
@@ -127,8 +127,8 @@ cdef class Params:
        # it means we got an interrupt while waiting
        raise KeyboardInterrupt
      else:
-        return self.cpp2python(t, default_val, None, key)
-    return self.cpp2python(t, val, default_val, key)
+        return self._cpp2python(t, default_val, None, key)
+    return self._cpp2python(t, val, default_val, key)

  def get_bool(self, key, bool block=False):
    cdef string k = self.check_key(key)
@@ -189,4 +189,9 @@ cdef class Params:
    cdef string k = self.check_key(key)
    cdef ParamKeyType t = self.p.getKeyType(k)
    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    return self.cpp2python(t, default.value(), None, key) if default.has_value() else None
+    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
+
+  def cpp2python(self, key, value):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return self._cpp2python(t, value, None, key)
@@ -9,20 +9,19 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT

 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
+    self.create_dirs_on_enter = create_dirs_on_enter
    self.clean_dirs_on_exit = clean_dirs_on_exit
    self.shared_download_cache = shared_download_cache

  def __enter__(self):
    self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
    os.environ['OPENPILOT_PREFIX'] = self.prefix
-    try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
+
+    if self.create_dirs_on_enter:
+      self.create_dirs()

    if self.shared_download_cache:
      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -40,6 +39,13 @@ class OpenpilotPrefix:
      pass
    return False

+  def create_dirs(self):
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+
  def clean_dirs(self):
    symlink_path = Params().get_param_path()
    if os.path.exists(symlink_path):
@@ -37,9 +37,9 @@ class TestParams:

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

  def test_params_get_block(self):
    def _delayed_writer():
@@ -1,4 +1,5 @@
 #include "common/util.h"
+#include "common/swaglog.h"

 #include <sys/ioctl.h>
 #include <sys/stat.h>
@@ -151,11 +152,16 @@ int safe_fflush(FILE *stream) {
  return ret;
 }

-int safe_ioctl(int fd, unsigned long request, void *argp) {
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
  int ret;
  do {
    ret = ioctl(fd, request, argp);
  } while ((ret == -1) && (errno == EINTR));
+
+  if (ret == -1 && exception_msg) {
+    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
+    throw std::runtime_error(exception_msg);
+  }
  return ret;
 }

@@ -88,7 +88,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp);
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);

 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);
@@ -4,7 +4,7 @@

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

-# 313 Supported Cars
+# 321 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -72,6 +72,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2023|All|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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>||
@@ -117,6 +118,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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>||
@@ -179,7 +181,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
@@ -212,7 +214,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
@@ -220,10 +224,14 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x?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>|||
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.4"
+  export AGNOS_VERSION="12.6"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -120,7 +120,6 @@ dev = [

 tools = [
  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  #"rerun-sdk >= 0.18",  # this is pretty big, so only enable once we use it
 ]

 [project.urls]
@@ -152,6 +151,7 @@ markers = [
 testpaths = [
  "common",
  "selfdrive",
+  "system/manager",
  "system/updated",
  "system/athena",
  "system/camerad",
@@ -4,20 +4,24 @@
 ## release checklist

 **Go to `devel-staging`**
+- [ ] make issue to track release
 - [ ] update RELEASES.md
- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
+- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
+- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
+- [ ] build new userdata partition from `release3-staging`
 - [ ] open a pull request from `devel-staging` to `devel`
- [ ] post on Discord
+- [ ] post on Discord, tag `@release crew`

 **Go to `devel`**
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request
+- [ ] before merging the pull request, test the following:
  - [ ] update from previous release -> new release
  - [ ] update from new release -> previous release
  - [ ] fresh install with `openpilot-test.comma.ai`
  - [ ] drive on fresh install
  - [ ] no submodules or LFS
  - [ ] check sentry, MTBF, etc.
+  - [ ] stress test in production

 **Go to `release3`**
 - [ ] publish the blog post
@@ -57,7 +57,7 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)

      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
        events.add(EventName.belowEngageSpeed)
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
@@ -107,7 +106,7 @@ class Car:
        with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
          cached_params = _cached_params

-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle") or "{}").get("platform", None)
+      fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)

      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
      sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
@@ -2,7 +2,7 @@ import math
 import numpy as np

 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP


@@ -6,7 +6,7 @@ from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

 ButtonEvent = car.CarState.ButtonEvent
@@ -439,7 +439,9 @@ class TestCarModelBase(unittest.TestCase):
        if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
          brake_pressed = False
      checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      # TODO: remove this exception before closing commaai/opendbc#1100
+      if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
+        checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()

      if self.CP.pcmCruise:
@@ -2,11 +2,11 @@
 import math
 import threading
 import time
-from typing import SupportsFloat
+from numbers import Number

 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
@@ -21,6 +21,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose

+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt

 State = log.SelfdriveState.OpenpilotState
@@ -30,15 +32,16 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())


-class Controls(ControlsExt):
+class Controls(ControlsExt, ModelStateBase):
  def __init__(self) -> None:
    self.params = Params()
    cloudlog.info("controlsd is waiting for CarParams")
    self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
    cloudlog.info("controlsd got CarParams")

-    # Initialize sunnypilot controlsd extension
+    # Initialize sunnypilot controlsd extension and base model state
    ControlsExt.__init__(self, self.CP, self.params)
+    ModelStateBase.__init__(self)

    self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)

@@ -93,8 +96,9 @@ class Controls(ControlsExt):
                                           torque_params.frictionCoefficientFiltered)

      self.LaC.extension.update_model_v2(self.sm['modelV2'])
-      calculated_lag = self.LaC.extension.lagd_torqued_main(self.CP, self.sm['liveDelay'])
-      self.LaC.extension.update_lateral_lag(calculated_lag)
+
+      self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
+      self.LaC.extension.update_lateral_lag(self.lat_delay)

    long_plan = self.sm['longitudinalPlan']
    model_v2 = self.sm['modelV2']
@@ -143,7 +147,7 @@ class Controls(ControlsExt):
    # Ensure no NaNs/Infs
    for p in ACTUATOR_FIELDS:
      attr = getattr(actuators, p)
-      if not isinstance(attr, SupportsFloat):
+      if not isinstance(attr, Number):
        continue

      if not math.isfinite(attr):
@@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode

@@ -1,5 +1,5 @@
 import numpy as np
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL

 MIN_SPEED = 1.0
@@ -2,9 +2,9 @@ import math
 import numpy as np

 from cereal import log
-from opendbc.car import FRICTION_THRESHOLD, get_friction
+from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from opendbc.car.interfaces import LatControlInputs
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController

@@ -1,6 +1,6 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV


 CAMERA_OFFSET = 0.04
@@ -4,7 +4,7 @@ import numpy as np

 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -21,7 +21,7 @@ LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
-ALLOW_THROTTLE_THRESHOLD = 0.5
+ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5

 # Lookup table for turns
@@ -188,7 +188,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])

    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
@@ -1,23 +1,25 @@
 #!/usr/bin/env python3
-
 import argparse

 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
 from openpilot.tools.lib.logreader import LogReader, save_log

+ALLOW_PROCS = {c.proc_name for c in CONFIGS}
+
 if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="Run process on route and create new logs",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--fingerprint", help="The fingerprint to use")
  parser.add_argument("route", help="The route name to use")
-  parser.add_argument("process", nargs='+', help="The process(s) to run")
+  parser.add_argument("--fingerprint", help="The fingerprint to use")
+  parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
+  parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
  args = parser.parse_args()

-  cfgs = [c for c in CONFIGS if c.proc_name in args.process]
-
-  lr = LogReader(args.route)
-  inputs = list(lr)
+  allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
+  cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]

+  inputs = list(LogReader(args.route))
  outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)

  # Remove message generated by the process under test and merge in the new messages
@@ -25,6 +27,6 @@ if __name__ == "__main__":
  inputs = [i for i in inputs if i.which() not in produces]
  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)

-  fn = f"{args.route.replace('/', '_')}_{'_'.join(args.process)}.zst"
+  fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
  print(f"Saving log to {fn}")
  save_log(fn, outputs)
@@ -14,7 +14,7 @@ from typing import NoReturn
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
@@ -12,6 +12,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle

 BLOCK_SIZE = 100
 BLOCK_NUM = 50
@@ -374,6 +375,8 @@ def main():
    lag, valid_blocks = initial_lag_params
    lag_learner.reset(lag, valid_blocks)

+  lagd_toggle = LagdToggle(CP)
+
  while True:
    sm.update()
    if sm.all_checks():
@@ -392,3 +395,6 @@ def main():

      if sm.frame % 1200 == 0: # cache every 60 seconds
        params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
+        lagd_toggle.update(lag_msg)
@@ -5,7 +5,7 @@ from typing import Any

 import numpy as np

-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog

@@ -4,14 +4,13 @@ from collections import deque, defaultdict

 import cereal.messaging as messaging
 from cereal import car, log
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay

 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -34,7 +33,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs

 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']


 def slope2rot(slope):
@@ -51,7 +50,7 @@ class TorqueBuckets(PointBuckets):
        break


-class TorqueEstimator(ParameterEstimator, LagdToggle):
+class TorqueEstimator(ParameterEstimator):
  def __init__(self, CP, decimated=False, track_all_points=False):
    super().__init__()
    self.CP = CP
@@ -99,6 +98,7 @@ class TorqueEstimator(ParameterEstimator, LagdToggle):

    # try to restore cached params
    params = Params()
+    self.params = params
    params_cache = params.get("CarParamsPrevRoute")
    torque_cache = params.get("LiveTorqueParameters")
    if params_cache is not None and torque_cache is not None:
@@ -180,7 +180,7 @@ class TorqueEstimator(ParameterEstimator, LagdToggle):
    elif which == "liveCalibration":
      self.calibrator.feed_live_calib(msg)
    elif which == "liveDelay":
-      self.lag = self.lagd_torqued_main(self.CP, msg)
+      self.lag = get_lat_delay(self.params, msg.lateralDelay)
    # calculate lateral accel from past steering torque
    elif which == "livePose":
      if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -31,7 +31,8 @@ from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address

-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase


 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -79,13 +80,14 @@ class FrameMeta:
    if vipc is not None:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

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

  def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
    with open(VISION_METADATA_PATH, 'rb') as f:
      vision_metadata = pickle.load(f)
@@ -249,8 +251,6 @@ def main(demo=False):
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("modeld got CarParams: %s", CP.brand)

-  modeld_lagd = LagdToggle()
-
  # TODO this needs more thought, use .2s extra for now to estimate other delays
  # TODO Move smooth seconds to action function
  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
@@ -296,7 +296,9 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = modeld_lagd.lagd_main(CP, sm, model)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -84,6 +84,15 @@ Panda *connect(std::string serial="", uint32_t index=0) {
    panda->set_can_fd_auto(i, true);
  }

+  bool is_deprecated_panda = std::find(DEPRECATED_PANDA_TYPES.begin(),
+                                       DEPRECATED_PANDA_TYPES.end(),
+                                       panda->hw_type) != DEPRECATED_PANDA_TYPES.end();
+
+  if (is_deprecated_panda) {
+    LOGW("panda %s is deprecated (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+    return panda.release();
+  }
+
  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
  }
@@ -8,6 +8,17 @@

 void pandad_main_thread(std::vector<std::string> serials);

+// deprecated devices
+static const std::vector<cereal::PandaState::PandaType> DEPRECATED_PANDA_TYPES = {
+  cereal::PandaState::PandaType::WHITE_PANDA,
+  cereal::PandaState::PandaType::GREY_PANDA,
+  cereal::PandaState::PandaType::BLACK_PANDA,
+  cereal::PandaState::PandaType::PEDAL,
+  cereal::PandaState::PandaType::UNO,
+  cereal::PandaState::PandaType::RED_PANDA_V2
+};
+
+
 class PandaSafety {
 public:
  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
@@ -36,6 +36,12 @@ def flash_panda(panda_serial: str) -> Panda:
  panda_signature = b"" if panda.bootstub else panda.get_signature()
  cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}")

+  # skip flashing if the detected device is deprecated from upstream
+  hw_type = panda.get_type()
+  if hw_type in Panda.DEPRECATED_DEVICES:
+    cloudlog.warning(f"Panda {panda_serial} is deprecated (hw_type: {hw_type}), skipping flash...")
+    return panda
+
  if panda.bootstub or panda_signature != fw_signature:
    cloudlog.info("Panda firmware out of date, update required")
    panda.flash()
@@ -66,58 +66,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
  // 50MHz is the max of the 845. note that some older
  // revs of the comma three may not support this speed
  uint32_t spi_speed = 50000000;
-
-  if (!util::file_exists(SPI_DEVICE)) {
-    goto fail;
-  }
-
-  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
-  if (spi_fd < 0) {
-    LOGE("failed opening SPI device %d", spi_fd);
-    goto fail;
-  }
-
-  // SPI settings
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
-  if (ret < 0) {
-    LOGE("failed setting SPI mode %d", ret);
-    goto fail;
-  }
-
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
-  if (ret < 0) {
-    LOGE("failed setting SPI speed");
-    goto fail;
-  }
-
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
-  if (ret < 0) {
-    LOGE("failed setting SPI bits per word");
-    goto fail;
-  }
-
-  // get hw UID/serial
-  ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
-  if (ret == uid_len) {
-    std::stringstream stream;
-    for (int i = 0; i < uid_len; i++) {
-      stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+  try {
+    if (!util::file_exists(SPI_DEVICE)) {
+      throw std::runtime_error("Error connecting to panda: SPI device not found");
    }
-    hw_serial = stream.str();
-  } else {
-    LOGD("failed to get serial %d", ret);
-    goto fail;
-  }

-  if (!serial.empty() && (serial != hw_serial)) {
-    goto fail;
-  }
+    spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
+    if (spi_fd < 0) {
+      LOGE("failed opening SPI device %d", spi_fd);
+      throw std::runtime_error("Error connecting to panda: failed to open SPI device");
+    }

+    // SPI settings
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
+
+    // get hw UID/serial
+    ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
+    if (ret == uid_len) {
+      std::stringstream stream;
+      for (int i = 0; i < uid_len; i++) {
+        stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+      }
+      hw_serial = stream.str();
+    } else {
+      LOGD("failed to get serial %d", ret);
+      throw std::runtime_error("Error connecting to panda: failed to get serial");
+    }
+
+    if (!serial.empty() && (serial != hw_serial)) {
+      throw std::runtime_error("Error connecting to panda: serial mismatch");
+    }
+
+  } catch (...) {
+    cleanup();
+    throw;
+  }
  return;
-
-fail:
-  cleanup();
-  throw std::runtime_error("Error connecting to panda");
 }

 PandaSpiHandle::~PandaSpiHandle() {
@@ -46,7 +46,7 @@
    "severity": 0
  },
  "Offroad_ExcessiveActuation": {
-    "text": "openpilot has detected excessive %1 actuation. This may be due to a software bug. Please contact support at https://comma.ai/support.",
+    "text": "openpilot detected excessive %1 actuation on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
    "severity": 1,
    "_comment": "Set extra field to lateral or longitudinal."
  }
@@ -4,10 +4,12 @@ import os

 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION

 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
  NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
@@ -40,6 +42,7 @@ class Events(EventsBase):
    return log.OnroadEvent


+
 # ********** helper functions **********
 def get_display_speed(speed_ms: float, metric: bool) -> str:
  speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
@@ -92,6 +95,14 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
    Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)


+def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
+  return NormalPermanentAlert(
+    "Recording Audio Feedback",
+    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
+    priority=Priority.LOW)
+
+
 # *** debug alerts ***

 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -203,6 +214,7 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
  return NormalPermanentAlert("Invalid LKAS setting", text)


+
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  # ********** events with no alerts **********

@@ -824,9 +836,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
    ET.WARNING: personality_changed_alert,
  },

-  EventName.userFlag: {
+  EventName.userBookmark: {
    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
  },
+
+  EventName.audioFeedback: {
+    ET.PERMANENT: audio_feedback_alert,
+  },
 }


@@ -0,0 +1,54 @@
+import math
+from enum import StrEnum, auto
+
+from cereal import car, messaging
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.helpers import Pose
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.lateral import ISO_LATERAL_ACCEL
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+
+MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
+MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
+
+
+class ExcessiveActuationType(StrEnum):
+  LONGITUDINAL = auto()
+  LATERAL = auto()
+
+
+class ExcessiveActuationCheck:
+  def __init__(self):
+    self._excessive_counter = 0
+    self._engaged_counter = 0
+
+  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
+    # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
+    # longitudinal
+    accel_calibrated = calibrated_pose.acceleration.x
+    excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
+
+    # lateral
+    yaw_rate = calibrated_pose.angular_velocity.yaw
+    roll = sm['liveParameters'].roll
+    roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
+
+    # Prevent false positives after overriding
+    excessive_lat_actuation = False
+    self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
+    if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
+      if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
+        excessive_lat_actuation = True
+
+    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
+    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
+    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
+
+    excessive_type = None
+    if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
+      if excessive_long_actuation:
+        excessive_type = ExcessiveActuationType.LONGITUDINAL
+      else:
+        excessive_type = ExcessiveActuationType.LATERAL
+
+    return excessive_type
@@ -7,7 +7,6 @@ import cereal.messaging as messaging

 from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX


 from openpilot.common.params import Params
@@ -18,6 +17,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert

@@ -34,7 +34,6 @@ SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ

 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
-MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)

 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.SelfdriveState.OpenpilotState
@@ -48,21 +47,6 @@ SafetyModel = car.CarParams.SafetyModel
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)


-def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibrator: PoseCalibrator, counter: int) -> tuple[int, bool]:
-  # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
-  device_pose = Pose.from_live_pose(sm['livePose'])
-  calibrated_pose = calibrator.build_calibrated_pose(device_pose)
-  accel_calibrated = calibrated_pose.acceleration.x
-
-  # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
-  accel_valid = abs(CS.aEgo - accel_calibrated) < 2
-
-  excessive_actuation = accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2
-  counter = counter + 1 if sm['carControl'].longActive and excessive_actuation and accel_valid else 0
-
-  return counter, counter > MIN_EXCESSIVE_ACTUATION_COUNT
-
-
 class SelfdriveD(CruiseHelper):
  def __init__(self, CP=None, CP_SP=None):
    self.params = Params()
@@ -85,7 +69,11 @@ class SelfdriveD(CruiseHelper):
      self.CP_SP = CP_SP

    self.car_events = CarSpecificEvents(self.CP)
-    self.calibrator = PoseCalibrator()
+
+    self.pose_calibrator = PoseCalibrator()
+    self.calibrated_pose: Pose | None = None
+    self.excessive_actuation_check = ExcessiveActuationCheck()
+    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None

    # Setup sockets
    self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -107,7 +95,7 @@ class SelfdriveD(CruiseHelper):
    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback'] + \
                                   self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -143,8 +131,6 @@ class SelfdriveD(CruiseHelper):
    self.experimental_mode = False
    self.personality = self.params.get("LongitudinalPersonality", return_default=True)
    self.recalibrating_seen = False
-    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
-    self.excessive_actuation_counter = 0
    self.state_machine = StateMachine()
    self.rk = Ratekeeper(100, print_delay_threshold=None)

@@ -205,9 +191,12 @@ class SelfdriveD(CruiseHelper):
      self.events.add(EventName.selfdriveInitializing)
      return

-    # Check for user flag (bookmark) press
-    if self.sm.updated['userFlag']:
-      self.events.add(EventName.userFlag)
+    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    if self.sm.updated['userBookmark']:
+      self.events.add(EventName.userBookmark)
+
+    if self.sm.updated['audioFeedback']:
+      self.events.add(EventName.audioFeedback)

    # Don't add any more events while in dashcam mode
    if self.CP.passive:
@@ -276,14 +265,18 @@ class SelfdriveD(CruiseHelper):
      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
        self.events.add(EventName.ldw)

-    # Check for excessive (longitudinal) actuation
+    # Check for excessive actuation
    if self.sm.updated['liveCalibration']:
-      self.calibrator.feed_live_calib(self.sm['liveCalibration'])
+      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
+    if self.sm.updated['livePose']:
+      device_pose = Pose.from_live_pose(self.sm['livePose'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)

-    self.excessive_actuation_counter, excessive_actuation = check_excessive_actuation(self.sm, CS, self.calibrator, self.excessive_actuation_counter)
-    if not self.excessive_actuation and excessive_actuation:
-      set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text="longitudinal")
-      self.excessive_actuation = True
+    if self.calibrated_pose is not None:
+      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
+      if not self.excessive_actuation and excessive_actuation is not None:
+        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
+        self.excessive_actuation = True

    if self.excessive_actuation:
      self.events.add(EventName.excessiveActuation)
@@ -339,13 +332,12 @@ class SelfdriveD(CruiseHelper):
          self.events.add(EventName.cameraFrameRate)
    if not REPLAY and self.rk.lagging:
      self.events.add(EventName.selfdrivedLagging)
-    if not self.sm.valid['radarState']:
-      if self.sm['radarState'].radarErrors.canError:
-        self.events.add(EventName.canError)
-      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-        self.events.add(EventName.radarTempUnavailable)
-      else:
-        self.events.add(EventName.radarFault)
+    if self.sm['radarState'].radarErrors.canError:
+      self.events.add(EventName.canError)
+    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+      self.events.add(EventName.radarTempUnavailable)
+    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+      self.events.add(EventName.radarFault)
    if not self.sm.valid['pandaStates']:
      self.events.add(EventName.usbError)
    if CS.canTimeout:
@@ -4,8 +4,9 @@ import time
 import copy
 import heapq
 import signal
-from collections import Counter, OrderedDict
+from collections import Counter
 from dataclasses import dataclass, field
+from itertools import islice
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
@@ -16,12 +17,13 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -30,22 +32,10 @@ from openpilot.tools.lib.logreader import LogIterable
 from openpilot.tools.lib.framereader import FrameReader

 # Numpy gives different results based on CPU features after version 19
-NUMPY_TOLERANCE = 1e-7
+NUMPY_TOLERANCE = 1e-2
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")

-class DummySocket:
-  def __init__(self):
-    self.data: list[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> bytes | None:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)

 class LauncherWithCapture:
  def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
@@ -63,8 +53,7 @@ class ReplayContext:
    self.pubs = cfg.pubs
    self.main_pub = cfg.main_pub
    self.main_pub_drained = cfg.main_pub_drained
-    self.unlocked_pubs = cfg.unlocked_pubs
-    assert(len(self.pubs) != 0 or self.main_pub is not None)
+    assert len(self.pubs) != 0 or self.main_pub is not None

  def __enter__(self):
    self.open_context()
@@ -79,9 +68,8 @@ class ReplayContext:
    messaging.set_fake_prefix(self.proc_name)

    if self.main_pub is None:
-      self.events = OrderedDict()
-      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
-      for pub in pubs_with_events:
+      self.events = {}
+      for pub in self.pubs:
        self.events[pub] = messaging.fake_event_handle(pub, enable=True)
    else:
      self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
@@ -138,16 +126,21 @@ class ProcessConfig:
  processing_time: float = 0.001
  timeout: int = 30
  simulation: bool = True
+  # Set to service process receives on first
  main_pub: str | None = None
-  main_pub_drained: bool = True
+  main_pub_drained: bool = False
  vision_pubs: list[str] = field(default_factory=list)
  ignore_alive_pubs: list[str] = field(default_factory=list)
-  unlocked_pubs: list[str] = field(default_factory=list)
+
+  def __post_init__(self):
+    # If the process is polling a service, we can just lock that one to speed up replay
+    if self.main_pub is None and isinstance(self.should_recv_callback, MessageBasedRcvCallback):
+      self.main_pub = self.should_recv_callback.trigger_msg_type


 class ProcessContainer:
  def __init__(self, cfg: ProcessConfig):
-    self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
+    self.prefix = OpenpilotPrefix(create_dirs_on_enter=False, clean_dirs_on_exit=False)
    self.cfg = copy.deepcopy(cfg)
    self.process = copy.deepcopy(managed_processes[cfg.proc_name])
    self.msg_queue: list[capnp._DynamicStructReader] = []
@@ -229,6 +222,7 @@ class ProcessContainer:
    fingerprint: str | None, capture_output: bool
  ):
    with self.prefix as p:
+      self.prefix.create_dirs()
      self._setup_env(params_config, environ_config)

      if self.cfg.config_callback is not None:
@@ -254,11 +248,6 @@ class ProcessContainer:
      if self.cfg.init_callback is not None:
        self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)

-      # wait for process to startup
-      with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
-        while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
-          time.sleep(0)
-
  def stop(self):
    with self.prefix:
      self.process.signal(signal.SIGKILL)
@@ -267,28 +256,42 @@ class ProcessContainer:
      self.prefix.clean_dirs()
      self._clean_env()

+  def get_output_msgs(self, start_time: int):
+    assert self.rc and self.sockets
+
+    output_msgs = []
+    self.rc.wait_for_recv_called()
+    for socket in self.sockets:
+      ms = messaging.drain_sock(socket)
+      for m in ms:
+        m = m.as_builder()
+        m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
+        output_msgs.append(m.as_reader())
+    return output_msgs
+
  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
    assert self.rc and self.pm and self.sockets and self.process.proc

    output_msgs = []
-    with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
-      end_of_cycle = True
-      if self.cfg.should_recv_callback is not None:
-        end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
-
-      self.msg_queue.append(msg)
-      if end_of_cycle:
-        self.rc.wait_for_recv_called()
+    end_of_cycle = True
+    if self.cfg.should_recv_callback is not None:
+      end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)

+    self.msg_queue.append(msg)
+    if end_of_cycle:
+      with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
        # call recv to let sub-sockets reconnect, after we know the process is ready
        if self.cnt == 0:
          for s in self.sockets:
            messaging.recv_one_or_none(s)

-        # empty recv on drained pub indicates the end of messages, only do that if there're any
+        # certain processes use drain_sock. need to cause empty recv to break from this loop
        trigger_empty_recv = False
        if self.cfg.main_pub and self.cfg.main_pub_drained:
-          trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
+          trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
+
+        # get output msgs from previous inputs
+        output_msgs = self.get_output_msgs(msg.logMonoTime)

        for m in self.msg_queue:
          self.pm.send(m.which(), m.as_builder())
@@ -303,14 +306,8 @@ class ProcessContainer:
        self.msg_queue = []

        self.rc.unlock_sockets()
-        self.rc.wait_for_next_recv(trigger_empty_recv)
-
-        for socket in self.sockets:
-          ms = messaging.drain_sock(socket)
-          for m in ms:
-            m = m.as_builder()
-            m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
-            output_msgs.append(m.as_reader())
+        if trigger_empty_recv:
+          self.rc.unlock_sockets()
        self.cnt += 1
    assert self.process.proc.is_alive()

@@ -320,7 +317,7 @@ class ProcessContainer:
 def card_fingerprint_callback(rc, pm, msgs, fingerprint):
  print("start fingerprinting")
  params = Params()
-  canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
+  canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))

  # card expects one arbitrary can and pandaState
  rc.send_sync(pm, "can", messaging.new_message("can", 1))
@@ -345,36 +342,27 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
    CP = CarInterface.get_non_essential_params(fingerprint)
    CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
  else:
-    can = DummySocket()
-    sendcan = DummySocket()
-
-    canmsgs = [msg for msg in msgs if msg.which() == "can"]
+    can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can")
    cached_params_raw = params.get("CarParamsCache")
-    has_cached_cp = cached_params_raw is not None
-    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
-    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+    assert next(can_msgs, None), "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \
            "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."

-    for m in canmsgs[:300]:
-      can.send(m.as_builder().to_bytes())
-    can_callbacks = can_comm_callbacks(can, sendcan)
+    def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+      return [next(can_msgs, [])]

    cached_params = None
-    if has_cached_cp:
+    if cached_params_raw is not None:
      with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
        cached_params = _cached_params

-    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
+    _CI = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
    CP, CP_SP = _CI.CP, _CI.CP_SP

  params.put("CarParams", CP.to_bytes())
  params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())


-def selfdrived_rcv_callback(msg, cfg, frame):
-  return (frame - 1) == 0 or msg.which() == 'carState'
-
-
 def card_rcv_callback(msg, cfg, frame):
  # no sendcan until card is initialized
  if msg.which() != "can":
@@ -389,21 +377,6 @@ def card_rcv_callback(msg, cfg, frame):
  return len(socks) > 0


-def calibration_rcv_callback(msg, cfg, frame):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
-
-
-def torqued_rcv_callback(msg, cfg, frame):
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'livePose'
-
-
-def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
-  return msg.which() == "driverCameraState"
-
-
 class ModeldCameraSyncRcvCallback:
  def __init__(self):
    self.road_present = False
@@ -428,26 +401,13 @@ class ModeldCameraSyncRcvCallback:


 class MessageBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
+  def __init__(self, trigger_msg_type: str, first_frame: bool = False):
    self.trigger_msg_type = trigger_msg_type
+    self.first_frame = first_frame

  def __call__(self, msg, cfg, frame):
-    return msg.which() == self.trigger_msg_type
-
-
-class FrequencyBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
-    self.trigger_msg_type = trigger_msg_type
-
-  def __call__(self, msg, cfg, frame):
-    if msg.which() != self.trigger_msg_type:
-      return False
-
-    resp_sockets = [
-      s for s in cfg.subs
-      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
-    ]
-    return bool(len(resp_sockets))
+    # publish on first frame or trigger msg
+    return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type


 def selfdrived_config_callback(params, cfg, lr):
@@ -462,16 +422,16 @@ CONFIGS = [
    proc_name="selfdrived",
    pubs=[
      "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
-      "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
+      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
+      "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
+      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
    ],
    subs=["selfdriveState", "onroadEvents"],
    ignore=["logMonoTime"],
    config_callback=selfdrived_config_callback,
    init_callback=get_car_params_callback,
-    should_recv_callback=selfdrived_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("carState", True),
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.004,
  ),
@@ -496,6 +456,7 @@ CONFIGS = [
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.004,
    main_pub="can",
+    main_pub_drained=True,
  ),
  ProcessConfig(
    proc_name="radard",
@@ -503,7 +464,7 @@ CONFIGS = [
    subs=["radarState"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
+    should_recv_callback=MessageBasedRcvCallback("modelV2"),
  ),
  ProcessConfig(
    proc_name="plannerd",
@@ -511,7 +472,7 @@ CONFIGS = [
    subs=["longitudinalPlan", "driverAssistance"],
    ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
+    should_recv_callback=MessageBasedRcvCallback("modelV2"),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
@@ -520,14 +481,14 @@ CONFIGS = [
    subs=["liveCalibration"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=calibration_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
  ),
  ProcessConfig(
    proc_name="dmonitoringd",
    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
    subs=["driverMonitoringState"],
    ignore=["logMonoTime"],
-    should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
+    should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
@@ -539,7 +500,6 @@ CONFIGS = [
    ignore=["logMonoTime"],
    should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
    tolerance=NUMPY_TOLERANCE,
-    unlocked_pubs=["accelerometer", "gyroscope"],
  ),
  ProcessConfig(
    proc_name="paramsd",
@@ -547,7 +507,7 @@ CONFIGS = [
    subs=["liveParameters"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.004,
  ),
@@ -572,7 +532,7 @@ CONFIGS = [
    subs=["liveTorqueParameters"],
    ignore=["logMonoTime"],
    init_callback=get_car_params_callback,
-    should_recv_callback=torqued_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose", True),
    tolerance=NUMPY_TOLERANCE,
  ),
  ProcessConfig(
@@ -584,7 +544,6 @@ CONFIGS = [
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.020,
    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
-    main_pub_drained=False,
    vision_pubs=["roadCameraState", "wideRoadCameraState"],
    ignore_alive_pubs=["wideRoadCameraState"],
    init_callback=get_car_params_callback,
@@ -594,11 +553,10 @@ CONFIGS = [
    pubs=["liveCalibration", "driverCameraState"],
    subs=["driverStateV2"],
    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
    tolerance=NUMPY_TOLERANCE,
    processing_time=0.020,
    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
-    main_pub_drained=False,
    vision_pubs=["driverCameraState"],
    ignore_alive_pubs=["driverCameraState"],
  ),
@@ -706,8 +664,8 @@ def _replay_multi_process(

  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
  log_msgs = []
+  containers = []
  try:
-    containers = []
    for cfg in cfgs:
      container = ProcessContainer(cfg)
      containers.append(container)
@@ -742,6 +700,11 @@ def _replay_multi_process(
            internal_pub_queue.append(m)
            heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
        log_msgs.extend(output_msgs)
+
+    # flush last set of messages from each process
+    for container in containers:
+      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
+      log_msgs.extend(container.get_output_msgs(last_time))
  finally:
    for container in containers:
      container.stop()
@@ -1 +1 @@
-c289a0359d1b1f26cf4d9e73a2c04b2bbfec840f
+62b3e8590fe85f87494517b3177a0ccaad1e17e5
@@ -54,6 +54,7 @@ while true; do
  #  /data/ciui.py &
  #fi

+  awk '{print \$1}' /proc/uptime > /var/tmp/power_watchdog
  sleep 5s
 done

@@ -55,6 +55,7 @@ PROCS = {
  "selfdrive.locationd.paramsd": 9.0,
  "selfdrive.locationd.lagd": 11.0,
  "selfdrive.ui.soundd": 3.0,
+  "selfdrive.ui.feedback.feedbackd": 1.0,
  "selfdrive.monitoring.dmonitoringd": 4.0,
  "./proclogd": 2.0,
  "system.logmessaged": 1.0,
@@ -70,14 +70,8 @@ if GetOption('extras'):
  qt_src.remove("main.cc")  # replaced by test_runner
  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)

-  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
-
-  # setup
-  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
-                 LIBS=qt_libs + ['curl', 'common'])
-
+  # build installers
  if arch != "Darwin":
-    # build installers
    raylib_env = env.Clone()
    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
@@ -109,7 +103,3 @@ if GetOption('extras'):
      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
      # keep installers small
      assert f[0].get_size() < 1900*1e3, f[0].get_size()
-
-# build watch3
-if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from cereal import car
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+
+FEEDBACK_MAX_DURATION = 10.0
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def main():
+  params = Params()
+  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
+  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
+  should_record_audio = False
+  block_num = 0
+  waiting_for_release = False
+  early_stop_triggered = False
+
+  while True:
+    sm.update()
+    should_send_bookmark = False
+
+    # only allow the LKAS button to record feedback when MADS is disabled
+    if sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+      for be in sm['carState'].buttonEvents:
+        if be.type == ButtonType.lkas:
+          if be.pressed:
+            if not should_record_audio:
+              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
+                should_record_audio = True
+                block_num = 0
+                waiting_for_release = False
+                early_stop_triggered = False
+                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
+              else:
+                should_send_bookmark = True  # immediately send bookmark if toggle false
+                cloudlog.info("LKAS button pressed - bookmarking")
+            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
+              waiting_for_release = True
+          elif waiting_for_release:  # Second press released
+            waiting_for_release = False
+            early_stop_triggered = True
+            cloudlog.info("LKAS button released - ending recording early")
+
+    if should_record_audio and sm.updated['rawAudioData']:
+      raw_audio = sm['rawAudioData']
+      msg = messaging.new_message('audioFeedback', valid=True)
+      msg.audioFeedback.audio.data = raw_audio.data
+      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
+      msg.audioFeedback.blockNum = block_num
+      block_num += 1
+      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
+        should_send_bookmark = True  # send bookmark at end of audio segment
+        should_record_audio = False
+        early_stop_triggered = False
+        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
+      pm.send('audioFeedback', msg)
+
+    if sm.updated['bookmarkButton']:
+      cloudlog.info("Bookmark button pressed!")
+      should_send_bookmark = True
+
+    if should_send_bookmark:
+      msg = messaging.new_message('userBookmark', valid=True)
+      pm.send('userBookmark', msg)
+
+
+if __name__ == '__main__':
+  main()
@@ -19,7 +19,7 @@ class MainLayout(Widget):
  def __init__(self):
    super().__init__()

-    self._pm = messaging.PubMaster(['userFlag'])
+    self._pm = messaging.PubMaster(['bookmarkButton'])

    self._sidebar = Sidebar()
    self._current_mode = MainState.HOME
@@ -40,7 +40,7 @@ class MainLayout(Widget):

  def _setup_callbacks(self):
    self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
-                                on_flag=self._on_flag_clicked)
+                                on_flag=self._on_bookmark_clicked)
    self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
    self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
    self._layouts[MainState.ONROAD].set_callbacks(on_click=self._on_onroad_clicked)
@@ -76,10 +76,10 @@ class MainLayout(Widget):
  def _on_settings_clicked(self):
    self.open_settings(PanelType.DEVICE)

-  def _on_flag_clicked(self):
-    user_flag = messaging.new_message('userFlag')
-    user_flag.valid = True
-    self._pm.send('userFlag', user_flag)
+  def _on_bookmark_clicked(self):
+    user_bookmark = messaging.new_message('bookmarkButton')
+    user_bookmark.valid = True
+    self._pm.send('bookmarkButton', user_bookmark)

  def _on_onroad_clicked(self):
    self._sidebar.set_visible(not self._sidebar.is_visible)
@@ -23,6 +23,10 @@ DESCRIPTIONS = {
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
+  "RecordAudioFeedback": (
+    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
+    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
+  ),
 }


@@ -81,6 +85,12 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordAudio"),
        icon="microphone.png",
      ),
+      toggle_item(
+        "Record Audio Feedback with LKAS button",
+        DESCRIPTIONS["RecordAudioFeedback"],
+        self._params.get_bool("RecordAudioFeedback"),
+        icon="microphone.png",
+      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
      ),
@@ -146,7 +146,7 @@ class Sidebar(Widget):

  def _draw_buttons(self, rect: rl.Rectangle):
    mouse_pos = rl.get_mouse_position()
-    mouse_down = self._is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
+    mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)

    # Settings button
    settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
@@ -141,6 +141,9 @@ class CameraView(Widget):

    self.client = None

+  def __del__(self):
+    self.close()
+
  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
    if not self.frame:
      return np.eye(3)
@@ -337,16 +340,7 @@ class CameraView(Widget):


 if __name__ == "__main__":
-  gui_app.init_window("watch3")
-  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
-  try:
-    for _ in gui_app.render():
-      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
-      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-  finally:
-    road_camera_view.close()
-    driver_camera_view.close()
-    wide_road_camera_view.close()
+  gui_app.init_window("camera view")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
@@ -50,7 +50,7 @@ class ExpButton(Widget):
    center_y = int(self._rect.y + self._rect.height // 2)

    mouse_over = rl.check_collision_point_rec(rl.get_mouse_position(), self._rect)
-    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._is_pressed
+    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
    self._white_color.a = 180 if (mouse_down and mouse_over) or not self._engageable else 255

    texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
@@ -1,6 +1,6 @@
 import pyray as rl
 from dataclasses import dataclass
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
@@ -75,6 +75,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/microphone.png",
      true,
    },
+    {
+      "RecordAudioFeedback",
+      tr("Record Audio Feedback with LKAS button"),
+      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
+      "../assets/icons/microphone.png",
+      false,
+    },
    {
      "IsMetric",
      tr("Use Metric System"),
@@ -1,23 +0,0 @@
-import os
-import platform
-from cffi import FFI
-
-import sip
-
-from openpilot.common.basedir import BASEDIR
-
-def suffix():
-  return ".dylib" if platform.system() == "Darwin" else ".so"
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("void set_main_window(void *w);")
-  return ffi, ffi.dlopen(lib)
-
-
-def set_main_window(widget):
-  ffi, lib = get_ffi()
-  lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))
@@ -1,541 +0,0 @@
-#include "selfdrive/ui/qt/setup/setup.h"
-
-#include <cstdio>
-#include <cstdlib>
-#include <sstream>
-#include <string>
-
-#include <QApplication>
-#include <QLabel>
-#include <QVBoxLayout>
-
-#include <curl/curl.h>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/network/networking.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-
-const std::string USER_AGENT = "AGNOSSetup-";
-const QString OPENPILOT_URL = "https://openpilot.comma.ai";
-
-bool is_elf(char *fname) {
-  FILE *fp = fopen(fname, "rb");
-  if (fp == NULL) {
-    return false;
-  }
-  char buf[4];
-  size_t n = fread(buf, 1, 4, fp);
-  fclose(fp);
-  return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
-}
-
-void Setup::download(QString url) {
-  // autocomplete incomplete urls
-  if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
-    url.prepend("https://installer.comma.ai/");
-  }
-
-  CURL *curl = curl_easy_init();
-  if (!curl) {
-    emit finished(url, tr("Something went wrong. Reboot the device."));
-    return;
-  }
-
-  auto version = util::read_file("/VERSION");
-
-  struct curl_slist *list = NULL;
-  std::string header = "X-openpilot-serial: " + Hardware::get_serial();
-  list = curl_slist_append(list, header.c_str());
-
-  char tmpfile[] = "/tmp/installer_XXXXXX";
-  FILE *fp = fdopen(mkstemp(tmpfile), "wb");
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
-  curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
-  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
-
-  int ret = curl_easy_perform(curl);
-  long res_status = 0;
-  curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
-
-  if (ret != CURLE_OK || res_status != 200) {
-    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
-  } else if (!is_elf(tmpfile)) {
-    emit finished(url, tr("No custom software found at this URL."));
-  } else {
-    rename(tmpfile, "/tmp/installer");
-
-    FILE *fp_url = fopen("/tmp/installer_url", "w");
-    fprintf(fp_url, "%s", url.toStdString().c_str());
-    fclose(fp_url);
-
-    emit finished(url);
-  }
-
-  curl_slist_free_all(list);
-  curl_easy_cleanup(curl);
-  fclose(fp);
-}
-
-QWidget * Setup::low_voltage() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  // inner text layout: warning icon, title, and body
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 144, 365, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *triangle = new QLabel();
-  triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png"));
-  inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
-  inner_layout->addSpacing(80);
-
-  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  // power off + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *poweroff = new QPushButton(tr("Power off"));
-  poweroff->setObjectName("navBtn");
-  blayout->addWidget(poweroff);
-  QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
-    Hardware::poweroff();
-  });
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::custom_software_warning() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 110, 300, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *title = new QLabel(tr("WARNING: Custom Software"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 65px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  blayout->addWidget(back);
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, [=]() {
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(software_selection_widget);
-    }
-  });
-
-  return widget;
-}
-
-QWidget * Setup::getting_started() {
-  QWidget *widget = new QWidget();
-
-  QHBoxLayout *main_layout = new QHBoxLayout(widget);
-  main_layout->setMargin(0);
-
-  QVBoxLayout *vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(165, 280, 100, 0);
-  main_layout->addLayout(vlayout);
-
-  QLabel *title = new QLabel(tr("Getting Started"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addSpacing(90);
-  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
-  desc->setWordWrap(true);
-  desc->setStyleSheet("font-size: 80px; font-weight: 300;");
-  vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addStretch();
-
-  QPushButton *btn = new QPushButton();
-  btn->setIcon(QIcon(":/images/button_continue_triangle.svg"));
-  btn->setIconSize(QSize(54, 106));
-  btn->setFixedSize(310, 1080);
-  btn->setProperty("primary", true);
-  btn->setStyleSheet("border: none;");
-  main_layout->addWidget(btn, 0, Qt::AlignRight);
-  QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::network_setup() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-
-  // title
-  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(25);
-
-  // wifi widget
-  Networking *networking = new Networking(this, false);
-  networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}");
-  main_layout->addWidget(networking, 1);
-
-  main_layout->addSpacing(35);
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton();
-  cont->setObjectName("navBtn");
-  cont->setProperty("primary", true);
-  cont->setEnabled(false);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-  blayout->addWidget(cont);
-
-  // setup timer for testing internet connection
-  HttpRequest *request = new HttpRequest(this, false, 2500);
-  QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
-    cont->setEnabled(success);
-    if (success) {
-      const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
-      cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
-    } else {
-      cont->setText(tr("Waiting for internet"));
-    }
-    repaint();
-  });
-  request->sendRequest(OPENPILOT_URL);
-  QTimer *timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, [=]() {
-    if (!request->active() && cont->isVisible()) {
-      request->sendRequest(OPENPILOT_URL);
-    }
-  });
-  timer->start(1000);
-
-  return widget;
-}
-
-QWidget * radio_button(QString title, QButtonGroup *group) {
-  QPushButton *btn = new QPushButton(title);
-  btn->setCheckable(true);
-  group->addButton(btn);
-  btn->setStyleSheet(R"(
-    QPushButton {
-      height: 230;
-      padding-left: 100px;
-      padding-right: 100px;
-      text-align: left;
-      font-size: 80px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-    QPushButton:checked {
-      background-color: #465BEA;
-    }
-  )");
-
-  // checkmark icon
-  QPixmap pix(":/icons/circled_check.svg");
-  btn->setIcon(pix);
-  btn->setIconSize(QSize(0, 0));
-  btn->setLayoutDirection(Qt::RightToLeft);
-  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
-    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
-  });
-  return btn;
-}
-
-QWidget * Setup::software_selection() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-  main_layout->setSpacing(0);
-
-  // title
-  QLabel *title = new QLabel(tr("Choose Software to Install"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(50);
-
-  // sunnypilot + custom radio buttons
-  QButtonGroup *group = new QButtonGroup(widget);
-  group->setExclusive(true);
-
-  QWidget *openpilot = radio_button(tr("sunnypilot"), group);
-  main_layout->addWidget(openpilot);
-
-  main_layout->addSpacing(30);
-
-  QWidget *custom = radio_button(tr("Custom Software"), group);
-  main_layout->addWidget(custom);
-
-  main_layout->addStretch();
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  cont->setEnabled(false);
-  cont->setProperty("primary", true);
-  blayout->addWidget(cont);
-
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    if (group->checkedButton() != openpilot) {
-      QTimer::singleShot(0, [=]() {
-        setCurrentWidget(custom_software_warning_widget);
-      });
-    } else {
-      QTimer::singleShot(0, [=]() {
-        setCurrentWidget(downloading_widget);
-      });
-      QTimer::singleShot(1000, this, [=]() {
-        download(OPENPILOT_URL);
-      });
-    }
-  });
-
-  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
-    btn->setChecked(true);
-    cont->setEnabled(true);
-  });
-
-  return widget;
-}
-
-QWidget * Setup::downloading() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel(tr("Downloading..."));
-  txt->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(txt, 0, Qt::AlignCenter);
-  return widget;
-}
-
-QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 185, 55, 55);
-  main_layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Download Failed"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  main_layout->addSpacing(67);
-
-  url->setWordWrap(true);
-  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
-  main_layout->addWidget(url);
-
-  main_layout->addSpacing(48);
-
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
-  main_layout->addWidget(body);
-
-  main_layout->addStretch();
-
-  // reboot + start over buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *reboot = new QPushButton(tr("Reboot device"));
-  reboot->setObjectName("navBtn");
-  blayout->addWidget(reboot);
-  QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
-    Hardware::reboot();
-  });
-
-  QPushButton *restart = new QPushButton(tr("Start over"));
-  restart->setObjectName("navBtn");
-  restart->setProperty("primary", true);
-  blayout->addWidget(restart);
-  QObject::connect(restart, &QPushButton::clicked, this, [=]() {
-    setCurrentIndex(1);
-  });
-
-  widget->setStyleSheet(R"(
-    QLabel {
-      margin-left: 117;
-    }
-  )");
-  return widget;
-}
-
-void Setup::prevPage() {
-  setCurrentIndex(currentIndex() - 1);
-}
-
-void Setup::nextPage() {
-  setCurrentIndex(currentIndex() + 1);
-}
-
-Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
-  if (std::getenv("MULTILANG")) {
-    selectLanguage();
-  }
-
-  std::stringstream buffer;
-  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
-  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
-    addWidget(low_voltage());
-  }
-
-  addWidget(getting_started());
-  addWidget(network_setup());
-  software_selection_widget = software_selection();
-  addWidget(software_selection_widget);
-  custom_software_warning_widget = custom_software_warning();
-  addWidget(custom_software_warning_widget);
-  downloading_widget = downloading();
-  addWidget(downloading_widget);
-
-  QLabel *url_label = new QLabel();
-  QLabel *body_label = new QLabel();
-  failed_widget = download_failed(url_label, body_label);
-  addWidget(failed_widget);
-
-  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
-    qDebug() << "finished" << url << error;
-    if (error.isEmpty()) {
-      // hide setup on success
-      QTimer::singleShot(3000, this, &QWidget::hide);
-    } else {
-      url_label->setText(url);
-      body_label->setText(error);
-      setCurrentWidget(failed_widget);
-    }
-  });
-
-  // TODO: revisit pressed bg color
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: Inter;
-    }
-    Setup {
-      background-color: black;
-    }
-    QPushButton#navBtn {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled {
-      color: #808080;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:pressed {
-      background-color: #444444;
-    }
-    QPushButton[primary='true'], #navBtn[primary='true'] {
-      background-color: #465BEA;
-    }
-    QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] {
-      background-color: #3049F4;
-    }
-  )");
-}
-
-void Setup::selectLanguage() {
-  QMap<QString, QString> langs = getSupportedLanguages();
-  QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this);
-  if (!selection.isEmpty()) {
-    QString selectedLang = langs[selection];
-    Params().put("LanguageSetting", selectedLang.toStdString());
-    if (translator.load(":/" + selectedLang)) {
-      qApp->installTranslator(&translator);
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  QApplication a(argc, argv);
-  Setup setup;
-  setMainWindow(&setup);
-  return a.exec();
-}
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QStackedWidget>
-#include <QString>
-#include <QTranslator>
-#include <QWidget>
-
-class Setup : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  explicit Setup(QWidget *parent = 0);
-
-private:
-  void selectLanguage();
-  QWidget *low_voltage();
-  QWidget *custom_software_warning();
-  QWidget *getting_started();
-  QWidget *network_setup();
-  QWidget *software_selection();
-  QWidget *downloading();
-  QWidget *download_failed(QLabel *url, QLabel *body);
-
-  QWidget *failed_widget;
-  QWidget *downloading_widget;
-  QWidget *custom_software_warning_widget;
-  QWidget *software_selection_widget;
-  QTranslator translator;
-
-signals:
-  void finished(const QString &url, const QString &error = "");
-
-public slots:
-  void nextPage();
-  void prevPage();
-  void download(QString url);
-};
@@ -38,7 +38,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(

  QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);

-  pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
+  pm = std::make_unique<PubMaster>(std::vector<const char*>{"bookmarkButton"});
 }

 void Sidebar::mousePressEvent(QMouseEvent *event) {
@@ -61,8 +61,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
  }
  if (onroad && home_btn.contains(event->pos())) {
    MessageBuilder msg;
-    msg.initEvent().initUserFlag();
-    pm->send("userFlag", msg);
+    msg.initEvent().initBookmarkButton();
+    pm->send("bookmarkButton", msg);
  } else if (settings_btn.contains(event->pos())) {
    emit openSettings();
  } else if (recording_audio && mic_indicator_btn.contains(event->pos())) {
@@ -45,6 +45,7 @@ qt_src = [

 lateral_panel_qt_src = [
  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
@@ -0,0 +1,98 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
+
+LagdToggleSettings::LagdToggleSettings(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
+  // Back button
+  PanelBackButton *back = new PanelBackButton();
+  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
+  main_layout->addWidget(back, 0, Qt::AlignLeft);
+
+  // lagd toggle
+  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
+  lagd_toggle_control->showDescription();
+  main_layout->addWidget(lagd_toggle_control);
+
+  int liveDelayMaxInt = 30;
+  std::string liveDelayBytes = params.get("LiveDelay");
+  if (!liveDelayBytes.empty()) {
+    capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+      reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+      liveDelayBytes.size() / sizeof(capnp::word)));
+    auto event = msg.getRoot<cereal::Event>();
+    if (event.hasLiveDelay()) {
+      auto liveDelay = event.getLiveDelay();
+      float lateralDelay = liveDelay.getLateralDelay();
+      liveDelayMaxInt = static_cast<int>(lateralDelay * 100.0f) + 20;
+    }
+  }
+  // optioncontrol for lagd 'off' state
+  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
+                                     tr("The default software delay value is 0.2"),
+                                     "", {5, liveDelayMaxInt}, 1, false, nullptr, true, true);
+
+  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+  });
+  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
+    delay_control->setVisible(!state);
+  });
+  delay_control->showDescription();
+  main_layout->addWidget(delay_control);
+}
+
+void LagdToggleSettings::refresh() {
+  // Update toggle descriptions
+  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
+                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience.");
+  bool lagdEnabled = params.getBool("LagdToggle");
+  if (lagdEnabled) {
+    std::string liveDelayBytes = params.get("LiveDelay");
+    if (!liveDelayBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(liveDelayBytes.data()),
+        liveDelayBytes.size() / sizeof(capnp::word)));
+      auto event = msg.getRoot<cereal::Event>();
+      if (event.hasLiveDelay()) {
+        auto liveDelay = event.getLiveDelay();
+        float lateralDelay = liveDelay.getLateralDelay();
+        desc += QString("<br><br><b><span style=\"color:#e0e0e0\">%1</span></b> <span style=\"color:#e0e0e0\">%2 s</span>")
+                .arg(tr("Live Steer Delay:")).arg(QString::number(lateralDelay, 'f', 2));
+      }
+    }
+  } else {
+    std::string carParamsBytes = params.get("CarParamsPersistent");
+    if (!carParamsBytes.empty()) {
+      capnp::FlatArrayMessageReader msg(kj::ArrayPtr<const capnp::word>(
+        reinterpret_cast<const capnp::word*>(carParamsBytes.data()),
+        carParamsBytes.size() / sizeof(capnp::word)));
+      auto carParams = msg.getRoot<cereal::CarParams>();
+      float steerDelay = carParams.getSteerActuatorDelay();
+      float softwareDelay = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+      float totalLag = steerDelay + softwareDelay;
+      desc += QString("<br><br><span style=\"color:#e0e0e0\">"
+                      "<b>%1</b> %2 s + <b>%3</b> %4 s = <b>%5</b> %6 s</span>")
+           .arg(tr("Actuator Delay:"), QString::number(steerDelay, 'f', 2),
+                tr("Software Delay:"), QString::number(softwareDelay, 'f', 2),
+                tr("Total Delay:"), QString::number(totalLag, 'f', 2));
+    }
+  }
+  lagd_toggle_control->setDescription(desc);
+  lagd_toggle_control->showDescription();
+
+  delay_control->setVisible(!params.getBool("LagdToggle"));
+  if (delay_control->isVisible()) {
+    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
+    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
+    delay_control->showDescription();
+  }
+}
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class LagdToggleSettings : public QWidget {
+  Q_OBJECT
+public:
+  explicit LagdToggleSettings(QWidget *parent = nullptr);
+  void refresh();
+
+signals:
+  void backPress();
+
+private:
+  Params params;
+  ParamControlSP *lagd_toggle_control = nullptr;
+  OptionControlSP *delay_control = nullptr;
+};
@@ -46,20 +46,41 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  list->addItem(horizontal_line());
  list->addItem(vertical_space());

-  // Lane Change Settings
-  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
+
+  // Inline lagd toggle and lane change buttons
+  QHBoxLayout *inlineBtnLayout = new QHBoxLayout();
+  inlineBtnLayout->setSpacing(15);
+
+  lagdSettingsButton = new PushButtonSP(tr("Customize Live Delay"), 740);
+  lagdSettingsButton->setObjectName("lagd_btn");
+  connect(lagdSettingsButton, &QPushButton::clicked, [=]() {
+    lagdToggleSettings->refresh();
+    main_layout->setCurrentWidget(lagdToggleSettings);
+  });
+  inlineBtnLayout->addWidget(lagdSettingsButton);
+
+  lagdToggleSettings = new LagdToggleSettings(this);
+  connect(lagdToggleSettings, &LagdToggleSettings::backPress, [=]() {
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+
+  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"), 740);
  laneChangeSettingsButton->setObjectName("lane_change_btn");
  connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
    sunnypilotScroller->setLastScrollPosition();
    main_layout->setCurrentWidget(laneChangeWidget);
  });
+  inlineBtnLayout->addWidget(laneChangeSettingsButton);

  laneChangeWidget = new LaneChangeSettings(this);
  connect(laneChangeWidget, &LaneChangeSettings::backPress, [=]() {
    sunnypilotScroller->restoreScrollPosition();
    main_layout->setCurrentWidget(sunnypilotScreen);
  });
-  list->addItem(laneChangeSettingsButton);
+
+  QWidget *inlineBtnWidget = new QWidget();
+  inlineBtnWidget->setLayout(inlineBtnLayout);
+  list->addItem(inlineBtnWidget);

  list->addItem(vertical_space(0));
  list->addItem(horizontal_line());
@@ -94,11 +115,16 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
  };
  QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);

+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, [=]() {
+    updateToggles(offroad);
+  });
+
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

  main_layout->addWidget(sunnypilotScreen);
  main_layout->addWidget(madsWidget);
+  main_layout->addWidget(lagdToggleSettings);
  main_layout->addWidget(laneChangeWidget);

  setStyleSheet(R"(
@@ -151,6 +177,7 @@ void LateralPanel::updateToggles(bool _offroad) {
  madsSettingsButton->setEnabled(madsToggle->isToggled());

  blinkerPauseLateralSettings->refresh();
+  lagdToggleSettings->refresh();

  offroad = _offroad;
 }
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lagd_toggle_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
@@ -41,6 +42,8 @@ private:
  ParamControl *madsToggle;
  PushButtonSP *madsSettingsButton;
  MadsSettings *madsWidget = nullptr;
+  PushButtonSP *lagdSettingsButton = nullptr;
+  LagdToggleSettings *lagdToggleSettings = nullptr;
  PushButtonSP *laneChangeSettingsButton;
  LaneChangeSettings *laneChangeWidget = nullptr;
  NeuralNetworkLateralControl *nnlcToggle = nullptr;
@@ -68,6 +68,14 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
  list->addItem(currentModelLblBtn);

+  refreshAvailableModelsBtn = new ButtonControlSP(tr("Refresh Model List"), tr("REFRESH"), "", this);
+  connect(refreshAvailableModelsBtn, &ButtonControlSP::clicked, this, [=]() {
+    params.put("ModelManager_LastSyncTime", "0");
+    ConfirmationDialog::alert(tr("Fetching Latest Models"), this);
+  });
+
+  list->addItem(refreshAvailableModelsBtn);
+
  clearModelCacheBtn = new ButtonControlSP(tr("Clear Model Cache"), tr("CLEAR"), "", this);
  connect(clearModelCacheBtn, &ButtonControlSP::clicked, this, &ModelsPanel::clearModelCache);

@@ -95,27 +103,6 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
  list->addItem(policyFrame);

  list->addItem(horizontal_line());
-
-  // LiveDelay toggle
-  lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
-  lagd_toggle_control->showDescription();
-  list->addItem(lagd_toggle_control);
-
-  // Software delay control
-  delay_control = new OptionControlSP("LagdToggleDelay", tr("Adjust Software Delay"),
-                                     tr("Adjust the software delay when Live Learning Steer Delay is toggled off."
-                                        "\nThe default software delay value is 0.2"),
-                                     "", {5, 30}, 1, false, nullptr, true, true);
-
-  connect(delay_control, &OptionControlSP::updateLabels, [=]() {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  });
-  connect(lagd_toggle_control, &ParamControlSP::toggleFlipped, [=](bool state) {
-    delay_control->setVisible(!state);
-  });
-  delay_control->showDescription();
-  list->addItem(delay_control);
 }

 QProgressBar* ModelsPanel::createProgressBar(QWidget *parent) {
@@ -357,22 +344,6 @@ void ModelsPanel::updateLabels() {
  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
  currentModelLblBtn->setValue(GetActiveModelInternalName());

-  // Update lagdToggle description with current value
-  QString desc = tr("Enable this for the car to learn and adapt its steering response time. "
-                   "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience. "
-                   "The Current value is updated automatically when the vehicle is Onroad.");
-  QString current = QString::fromStdString(params.get("LagdToggleDesc", false));
-  if (!current.isEmpty()) {
-    desc += "<br><br><b><span style=\"color:#e0e0e0\">" + tr("Current:") + "</span></b> <span style=\"color:#e0e0e0\">" + current + "</span>";
-  }
-  lagd_toggle_control->setDescription(desc);
-
-  delay_control->setVisible(!params.getBool("LagdToggle"));
-  if (delay_control->isVisible()) {
-    float value = QString::fromStdString(params.get("LagdToggleDelay")).toFloat();
-    delay_control->setLabel(QString::number(value, 'f', 2) + "s");
-  }
-
  clearModelCacheBtn->setValue(QString::number(calculateCacheSize(), 'f', 2) + " MB");
 }

@@ -425,8 +396,4 @@ double ModelsPanel::calculateCacheSize() {
 }

 void ModelsPanel::showEvent(QShowEvent *event) {
-  lagd_toggle_control->showDescription();
-  if (delay_control->isVisible()) {
-    delay_control->showDescription();
-  }
 }
@@ -67,8 +67,6 @@ private:
  bool is_onroad = false;

  ButtonControlSP *currentModelLblBtn;
-  ParamControlSP *lagd_toggle_control;
-  OptionControlSP *delay_control;
  QProgressBar *supercomboProgressBar;
  QFrame *supercomboFrame;
  QProgressBar *navigationProgressBar;
@@ -79,5 +77,6 @@ private:
  QFrame *policyFrame;
  Params params;
  ButtonControlSP *clearModelCacheBtn;
+  ButtonControlSP *refreshAvailableModelsBtn;

 };
@@ -0,0 +1,52 @@
+import pytest
+import cereal.messaging as messaging
+from cereal import car
+from openpilot.common.params import Params
+from openpilot.system.manager.process_config import managed_processes
+
+
+class TestFeedbackd:
+  def setup_method(self):
+    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
+    self.sm = messaging.SubMaster(['audioFeedback'])
+
+  def _send_lkas_button(self, pressed: bool):
+    msg = messaging.new_message('carState')
+    msg.carState.canValid = True
+    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
+    self.pm.send('carState', msg)
+
+  def _send_audio_data(self, count: int = 5):
+    for _ in range(count):
+      audio_msg = messaging.new_message('rawAudioData')
+      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
+      audio_msg.rawAudioData.sampleRate = 16000
+      self.pm.send('rawAudioData', audio_msg)
+      self.sm.update(timeout=100)
+
+  @pytest.mark.parametrize("record_feedback", [False, True])
+  def test_audio_feedback(self, record_feedback):
+    Params().put_bool("RecordAudioFeedback", record_feedback)
+
+    managed_processes["feedbackd"].start()
+    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
+    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
+
+    self._send_lkas_button(pressed=True)
+    self._send_audio_data()
+    self._send_lkas_button(pressed=False)
+    self._send_audio_data()
+
+    if record_feedback:
+      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
+    else:
+      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
+
+    self._send_lkas_button(pressed=True)
+    self._send_audio_data()
+    self._send_lkas_button(pressed=False)
+    self._send_audio_data()
+
+    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
+
+    managed_processes["feedbackd"].stop()
@@ -0,0 +1,8 @@
+import time
+from openpilot.selfdrive.test.helpers import with_processes
+
+
+@with_processes(["raylib_ui"])
+def test_raylib_ui():
+  """Test initialization of the UI widgets is successful."""
+  time.sleep(1)
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import capnp
-import json
 import pathlib
 import shutil
 import sys
@@ -265,12 +264,12 @@ def setup_settings_trips(click, pm: PubMaster, scroll=None):
  time.sleep(UI_DELAY)

 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
-  Params().put("CarPlatformBundle", json.dumps(
+  Params().put("CarPlatformBundle",
    {
      "platform": "HONDA_CIVIC_2022",
      "name": "Honda Civic 2022-24"
    }
-  ))
+  )

  setup_settings_device(click, pm)
  scroll(-400, 278, 962)
@@ -1,33 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-  layout->setMargin(0);
-  layout->setSpacing(0);
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
-  }
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
-  }
-
-  return a.exec();
-}
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import pyray as rl
+
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+    driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+    wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
@@ -14,7 +14,6 @@ class ExperimentalModeButton(Widget):

    self.params = Params()
    self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.is_pressed = False

    self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
    self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
@@ -32,19 +31,12 @@ class ExperimentalModeButton(Widget):
    rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
                                 start_color, end_color)

-  def _handle_interaction(self, rect):
-    mouse_pos = rl.get_mouse_position()
-    mouse_in_rect = rl.check_collision_point_rec(mouse_pos, rect)
-
-    self.is_pressed = mouse_in_rect and rl.is_mouse_button_down(rl.MOUSE_BUTTON_LEFT)
-    return mouse_in_rect and rl.is_mouse_button_released(rl.MOUSE_BUTTON_LEFT)
+  def _handle_mouse_release(self, mouse_pos):
+    self.experimental_mode = not self.experimental_mode
+    # TODO: Opening settings for ExperimentalMode
+    self.params.put_bool("ExperimentalMode", self.experimental_mode)

  def _render(self, rect):
-    if self._handle_interaction(rect):
-      self.experimental_mode = not self.experimental_mode
-      # TODO: Opening settings for ExperimentalMode
-      self.params.put_bool("ExperimentalMode", self.experimental_mode)
-
    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))

    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
@@ -0,0 +1,14 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+
+
+def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
+  if params.get_bool("LagdToggle"):
+    return float(params.get("LagdValueCache", return_default=True))
+
+  return stock_lat_delay
@@ -4,48 +4,35 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
+from cereal import log
+
+from opendbc.car import structs
 from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog


 class LagdToggle:
-  def __init__(self):
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
    self.params = Params()
    self.lag = 0.0
-    self._last_desc = None

-  @property
-  def software_delay(self):
-    return self.params.get("LagdToggleDelay")
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)

-  def _maybe_update_desc(self, desc):
-    if desc != self._last_desc:
-      self.params.put_nonblocking("LagdToggleDesc", desc)
-      self._last_desc = desc
+  def read_params(self) -> None:
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)

-  def lagd_main(self, CP, sm, model):
-    if self.params.get_bool("LagdToggle"):
-      lateral_delay = sm["liveDelay"].lateralDelay
-      lat_smooth = model.LAT_SMOOTH_SECONDS
-      result = lateral_delay + lat_smooth
-      desc = f"live steer delay learner ({lateral_delay:.3f}s) + model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)"
-      self._maybe_update_desc(desc)
-      return result
+  def update(self, lag_msg: log.LiveDelayData) -> None:
+    self.read_params()

-    steer_actuator_delay = CP.steerActuatorDelay
-    lat_smooth = model.LAT_SMOOTH_SECONDS
-    delay = self.software_delay
-    result = (steer_actuator_delay + delay) + lat_smooth
-    desc = (f"Vehicle steering delay ({steer_actuator_delay:.3f}s) + software delay ({delay:.3f}s) + " +
-            f"model smoothing filter ({lat_smooth:.3f}s) = total delay ({result:.3f}s)")
-    self._maybe_update_desc(desc)
-    return result
+    if not self.lagd_toggle:
+      steer_actuator_delay = self.CP.steerActuatorDelay
+      delay = self.software_delay
+      self.lag = (steer_actuator_delay + delay)
+      self.params.put_nonblocking("LagdValueCache", self.lag)
+      return

-  def lagd_torqued_main(self, CP, msg):
-    if self.params.get_bool("LagdToggle"):
-      self.lag = msg.lateralDelay
-      cloudlog.debug(f"TORQUED USING LIVE DELAY: {self.lag:.3f}")
-    else:
-      self.lag = CP.steerActuatorDelay + self.software_delay
-      cloudlog.debug(f"TORQUED USING STEER ACTUATOR: {self.lag:.3f}")
-    return self.lag
+    lateral_delay = lag_msg.liveDelay.lateralDelay
+    self.lag = lateral_delay
+    self.params.put_nonblocking("LagdValueCache", self.lag)
@@ -38,7 +38,7 @@ class OsmMapData(BaseMapData):

  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
-    next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {}
+    next_speed_limit_section = next_speed_limit_section_str if next_speed_limit_section_str else {}
    next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
    next_speed_limit_latitude = next_speed_limit_section.get('latitude')
    next_speed_limit_longitude = next_speed_limit_section.get('longitude')
@@ -59,12 +59,17 @@ def request_refresh_osm_location_data(nations: list[str], states: list[str] = No
  params.put("OsmDownloadedDate", str(time.monotonic()))
  params.put_bool("OsmDbUpdatesCheck", False)

-  osm_download_locations = json.dumps({
+  osm_download_locations = {
+    "nations": nations,
+    "states": states or []
+  }
+
+  osm_download_locations_dump = json.dumps({
    "nations": nations,
    "states": states or []
  })

-  print(f"Downloading maps for {osm_download_locations}")
+  print(f"Downloading maps for {osm_download_locations_dump}")
  mem_params.put("OSMDownloadLocations", osm_download_locations)


@@ -20,13 +20,14 @@ from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value

+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
 from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase


 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
@@ -48,7 +49,7 @@ class FrameMeta:
    if vipc is not None:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof

-class ModelState:
+class ModelState(ModelStateBase):
  frame: ModelFrame
  wide_frame: ModelFrame
  inputs: dict[str, np.ndarray]
@@ -57,6 +58,7 @@ class ModelState:
  model: ModelRunner

  def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
    self.frame = ModelFrame(context)
    self.wide_frame = ModelFrame(context)
    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
@@ -202,8 +204,6 @@ def main(demo=False):

  cloudlog.info("modeld got CarParams: %s", CP.brand)

-  modeld_lagd = LagdToggle()
-
  # Enable lagd support for sunnypilot modeld
  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
  prev_action = log.ModelDataV2.Action()
@@ -248,8 +248,9 @@ def main(demo=False):
    v_ego = sm["carState"].vEgo
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
-    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
-
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -283,7 +284,7 @@ def main(demo=False):
      }

    if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), lat_delay], dtype=np.float32)

    if "driving_style" in model.inputs.keys():
      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
@@ -306,7 +307,7 @@ def main(demo=False):
      action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
-                     v_ego, steer_delay, model.meta)
+                     v_ego, lat_delay, model.meta)

      desire_state = modelv2_send.modelV2.meta.desireState
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -0,0 +1,12 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+
+
+class ModelStateBase:
+  def __init__(self):
+    self.lat_delay = Params().get("LagdValueCache", return_default=True)
@@ -22,8 +22,9 @@ from openpilot.sunnypilot.modeld_v2.constants import Plan
 from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants

+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner

 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -39,13 +40,14 @@ class FrameMeta:
      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof


-class ModelState:
+class ModelState(ModelStateBase):
  frames: dict[str, DrivingModelFrame]
  inputs: dict[str, np.ndarray]
  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
  temporal_idxs: slice | np.ndarray

  def __init__(self, context: CLContext):
+    ModelStateBase.__init__(self)
    try:
      self.model_runner = get_model_runner()
      self.constants = self.model_runner.constants
@@ -242,9 +244,6 @@ def main(demo=False):
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
  cloudlog.info("modeld got CarParams: %s", CP.brand)

-
-  modeld_lagd = LagdToggle()
-
  # TODO Move smooth seconds to action function
  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
  prev_action = log.ModelDataV2.Action()
@@ -289,7 +288,9 @@ def main(demo=False):
    is_rhd = sm["driverMonitoringState"].isRHD
    frame_id = sm["roadCameraState"].frameId
    v_ego = max(sm["carState"].vEgo, 0.)
-    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -326,7 +327,7 @@ def main(demo=False):
    }

    if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)

    mt1 = time.perf_counter()
    model_output = model.run(bufs, transforms, inputs, prepare_only)
@@ -338,7 +339,7 @@ def main(demo=False):
      drivingdata_send = messaging.new_message('drivingModelData')
      posenet_send = messaging.new_message('cameraOdometry')

-      action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      action = model.get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
      prev_action = action
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
@@ -5,7 +5,6 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """

-import json
 import time

 import requests
@@ -102,14 +101,14 @@ class ModelCache:
      if not cached_data:
        cloudlog.warning("No cached model data available")
        return {}, True
-      return json.loads(cached_data), self._is_expired()
+      return cached_data, self._is_expired()
    except Exception as e:
      cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
      return {}, True

  def set(self, data: dict) -> None:
    """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, json.dumps(data))
+    self.params.put(self._CACHE_KEY, data)
    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))


--- a/Show More
+++ b/Show More