Merge remote-tracking branch 'origin/master' into hiimisaac-dev

# Conflicts:
#	opendbc_repo
#	openpilot/selfdrive/modeld/modeld.py
#	openpilot/selfdrive/ui/mici/layouts/settings/toggles.py
#	openpilot/sunnypilot/modeld_v2/modeld.py

.dockerignore

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

.gitattributes

@@ -1,23 +1,17 @@
-* text=auto
+* text=auto eol=lf
 
 # to move existing files into LFS:
 # git add --renormalize .
 *.onnx filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
+openpilot/sunnypilot/modeld_v2/models/*.pkl filter=lfs diff=lfs merge=lfs -text
 *.svg filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
 *.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/assets/sounds/milestone.wav -filter -diff -merge -text
 
-selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
-third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
-third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
-third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
-third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text
+openpilot/selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+openpilot/common/hardware/comma/updater filter=lfs diff=lfs merge=lfs -text

.github/CODEOWNERS

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

.github/ISSUE_TEMPLATE/enhancement.md

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

.github/labeler.yaml

@@ -8,24 +8,24 @@ chore:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
 
 simulation:
   - changed-files:
-    - any-glob-to-all-files: 'tools/sim/**'
+    - any-glob-to-all-files: 'openpilot/tools/sim/**'
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/assets/**,openpilot/selfdrive/ui/**,openpilot/system/ui/**}'
 
 tools:
   - changed-files:
-    - any-glob-to-all-files: 'tools/**'
+    - any-glob-to-all-files: 'openpilot/tools/**'
 
 multilanguage:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/translations/**'
+    - any-glob-to-all-files: 'openpilot/selfdrive/ui/translations/**'
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{openpilot/selfdrive/modeld/models/**,openpilot/selfdrive/test/process_replay/model_replay_ref_commit,openpilot/sunnypilot/modeld*/models/**}"

.github/pull_request_template.md

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

.github/release-drafter.yml

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

.github/workflows/auto_pr_review.yaml

@@ -12,7 +12,7 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: false
 
@@ -24,7 +24,7 @@ jobs:
 
     # Check PR target branch
     - name: check branch
-      uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
+      uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
       if: github.repository == 'sunnypilot/sunnypilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -1,35 +0,0 @@
-name: badges
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  PYTHONPATH: ${{ github.workspace }}
-
-jobs:
-  badges:
-    name: create badges
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    permissions:
-      contents: write
-    steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: ./tools/op.sh setup
-    - name: Push badges
-      run: |
-        python3 selfdrive/ui/translations/create_badges.py
-
-        rm .gitattributes
-
-        git checkout --orphan badges
-        git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
-        git config user.name "Badge Researcher"
-
-        git add translation_badge.svg
-        git commit -m "Add/Update badges"
-        git push -f origin HEAD

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

@@ -7,6 +7,24 @@ on:
         description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
         required: true
         type: string
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or chestnut)'
+        required: true
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - chestnut
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
 
 jobs:
   setup:
@@ -21,38 +39,40 @@ jobs:
       - name: Checkout sunnypilot repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot
           path: sunnypilot
           submodules: recursive
+          fetch-depth: 1
 
       - name: Get tinygrad_repo ref
         id: get-tinygrad-ref
         run: |
           cd sunnypilot
           export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
           echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
           echo "tinygrad_ref is $ref"
 
-      - name: Checkout docs repo (sunnypilot-models, gh-pages)
+      - name: Checkout docs repo (gh-pages)
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+          fetch-depth: 1
 
       - name: Get next JSON version to use (from GitHub docs repo)
         id: get-json
         run: |
           cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          PREFIX="driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_' || '' }}v"
+          latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
           next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
+          json_file="${PREFIX}${next}.json"
+          cp "${PREFIX}${latest}.json" "$json_file"
           echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
           echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+          echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
 
       - name: Extract tinygrad models
         id: set-matrix
@@ -61,45 +81,24 @@ jobs:
           jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
           echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
 
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
+      - name: Get next recompiled dir number
         id: create-recompiled-dir
         env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          HF_REPO: ${{ github.event.inputs.hf_repo }}
         run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
+          pip install huggingface_hub
+          recompiled_dir=$(python3 -c "
+          from huggingface_hub import HfApi
+          import re, sys
+          api = HfApi()
+          files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
+          dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
+          nums = [int(m.group(1)) for m in dirs if m]
+          print(max(nums) + 1)
+          " "$HF_REPO")
           echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
 
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
       - name: Push new JSON to GitHub docs repo
         run: |
           cd docs
@@ -120,27 +119,34 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
 
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
       - uses: actions/download-artifact@v4
         with:
-          pattern: model-*
+          pattern: artifact-name-*
           path: output
+        continue-on-error: true
 
       - id: set-retry-matrix
         run: |
           echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
           )
           jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
             'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
@@ -148,7 +154,7 @@ jobs:
 
   retry_get_and_build:
     needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
     strategy:
       matrix:
         model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
@@ -157,148 +163,13 @@ jobs:
     with:
       upstream_branch: ${{ matrix.model.ref }}
       custom_name: ${{ matrix.model.display_name }}
+      is_20hz: ${{ matrix.model.is_20hz }}
       recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
       json_version: ${{ needs.setup.outputs.json_version }}
+      target_hardware: ${{ github.event.inputs.target_hardware }}
       artifact_suffix: -retry
+      hf_repo: ${{ github.event.inputs.hf_repo }}
+      docs_repo: ${{ inputs.docs_repo }}
+      set_min_version: ${{ github.event.inputs.set_min_version }}
+      tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
     secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-models
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/build-default-models.yaml

@@ -0,0 +1,517 @@
+name: Build default models
+
+on:
+  workflow_dispatch:
+    inputs:
+      target:
+        description: 'Model target to build'
+        required: true
+        type: choice
+        options:
+          - small
+          - big
+          - dm
+  workflow_call:
+    inputs:
+      target:
+        description: 'Model target to build (small, big, or dm)'
+        required: true
+        type: string
+
+concurrency:
+  group: build-default-models-${{ inputs.target }}
+  cancel-in-progress: false
+
+env:
+  HF_REPO: sunnypilot/sunnypilot_models_v1
+
+jobs:
+  resolve:
+    runs-on: ubuntu-24.04
+    outputs:
+      model_name: ${{ steps.resolve.outputs.model_name }}
+      safe_model_name: ${{ steps.resolve.outputs.safe_model_name }}
+      onnx_ref: ${{ steps.resolve.outputs.onnx_ref }}
+      onnx_path: ${{ steps.resolve.outputs.onnx_path }}
+      hf_defaults_path: ${{ steps.resolve.outputs.hf_defaults_path }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - id: resolve
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+
+          if [ "${{ inputs.target }}" = "big" ]; then
+            NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
+            HF_DEFAULTS_PATH="models/defaults/big"
+          elif [ "${{ inputs.target }}" = "dm" ]; then
+            ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
+            HF_DEFAULTS_PATH="models/defaults/dm"
+            NAME="dmonitoring_model ($(git log -1 --format=%cd --date=format:'%B %d, %Y' -- "$ONNX_PATH"))"
+          else
+            NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL; print(DEFAULT_MODEL)")
+            ONNX_PATH="openpilot/selfdrive/modeld/models/driving_supercombo.onnx"
+            HF_DEFAULTS_PATH="models/defaults/small"
+          fi
+          ONNX_REF=""
+          [ -n "$ONNX_PATH" ] && ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
+
+          TINYGRAD_REF=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
+          if [ -z "$TINYGRAD_REF" ]; then
+            echo "::error::Failed to resolve tinygrad ref"
+            exit 1
+          fi
+
+          SAFE_NAME="${NAME// /-}"
+          echo "model_name=${NAME}" >> $GITHUB_OUTPUT
+          echo "safe_model_name=${SAFE_NAME}" >> $GITHUB_OUTPUT
+          echo "onnx_ref=${ONNX_REF}" >> $GITHUB_OUTPUT
+          echo "onnx_path=${ONNX_PATH}" >> $GITHUB_OUTPUT
+          echo "hf_defaults_path=${HF_DEFAULTS_PATH}" >> $GITHUB_OUTPUT
+          echo "tinygrad_ref=${TINYGRAD_REF}" >> $GITHUB_OUTPUT
+
+  build_small_model:
+    needs: resolve
+    if: ${{ inputs.target == 'small' }}
+    runs-on: [self-hosted, tici]
+    env:
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
+      SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
+      SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Pull small ONNX via LFS
+        run: git lfs pull -I "${{ env.SMALL_ONNX }}"
+
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile small model from ONNX
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          env ${TG_FLAGS} python3 ${{ github.workspace }}/${{ env.COMPILER }}/compile_onnx.py \
+            ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
+            ${{ github.workspace }}/${{ env.SMALL_PKL }} \
+            --device-input "*" --out-of-band --benchmark-runs 1
+
+      - name: Chunk small pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked into {len(targets)} files')
+          "
+
+      - name: Prepare output
+        env:
+          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
+          OUTPUT_DIR="${{ github.workspace }}/small_output"
+          PKL_BASE="driving_tinygrad.pkl"
+          mkdir -p "$OUTPUT_DIR"
+
+          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+
+          ONNX_SHA256=$(git cat-file blob "$(git ls-files -s "${{ github.workspace }}/${{ env.SMALL_ONNX }}" | awk '{print $2}')" | grep '^oid sha256:' | cut -d: -f2)
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "$MODELS_DIR" \
+            --output-dir "$OUTPUT_DIR" \
+            --custom-name "$MODEL_NAME" \
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$ONNX_SHA256"
+
+          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
+
+      - name: Upload small model artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          path: ${{ github.workspace }}/small_output/
+
+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          path: ${{ github.workspace }}/small_output/artifact_name.txt
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+  build_big_model:
+    needs: resolve
+    if: ${{ inputs.target == 'big' }}
+    runs-on: [self-hosted, chestnut]
+    env:
+      MODELS_DIR: openpilot/selfdrive/modeld/models
+      COMPILER: tinygrad_repo/examples/openpilot
+      BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          lfs: true
+
+      - name: Pull big PKL via LFS
+        run: git lfs pull -I "${{ env.BIG_PKL }}"
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Wait for chestnut PCIe link
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          python3 -c "
+          import time
+          from openpilot.system.hardware.chestnut.flash import link_up
+          for i in range(10):
+              if link_up():
+                  print(f'PCIe link up after {i+1} attempt(s)')
+                  break
+              time.sleep(1)
+          else:
+              raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
+          "
+
+      - name: Chunk big pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked into {len(targets)} files')
+          "
+
+      - name: Prepare output
+        env:
+          MODEL_NAME: ${{ needs.resolve.outputs.safe_model_name }}
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
+          OUTPUT_DIR="${{ github.workspace }}/big_output"
+          PKL_BASE="big_driving_tinygrad.pkl"
+          mkdir -p "$OUTPUT_DIR"
+
+          cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
+          cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
+
+          PKL_LFS_SHA256=$(sha256sum "$MODELS_DIR/${PKL_BASE}" | cut -d' ' -f1)
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "$MODELS_DIR" \
+            --output-dir "$OUTPUT_DIR" \
+            --custom-name "$MODEL_NAME" \
+            --upstream-branch "${{ needs.resolve.outputs.onnx_ref }}" \
+            --onnx-sha256 "$PKL_LFS_SHA256"
+
+          echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
+
+      - name: Upload big model artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: model-${{ needs.resolve.outputs.safe_model_name }}-${{ github.run_number }}
+          path: ${{ github.workspace }}/big_output/
+
+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          path: ${{ github.workspace }}/big_output/artifact_name.txt
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+  upload_defaults:
+    needs: [ resolve, build_small_model, build_big_model, build_dm_model ]
+    if: |
+      ${{
+        !cancelled() &&
+        (inputs.target == 'big' && needs.build_big_model.result == 'success' ||
+         inputs.target == 'small' && needs.build_small_model.result == 'success' ||
+         inputs.target == 'dm' && needs.build_dm_model.result == 'success')
+      }}
+    runs-on: ubuntu-24.04
+    permissions:
+      id-token: write
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Pull LFS for resolved ONNX files
+        if: ${{ needs.resolve.outputs.onnx_path != '' }}
+        run: git lfs pull -I "${{ needs.resolve.outputs.onnx_path }}"
+
+      - name: Install huggingface_hub
+        run: pip install --upgrade "huggingface_hub>=0.22.0"
+
+      - name: Download artifact name
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ needs.resolve.outputs.safe_model_name }}
+          path: artifact_name
+
+      - name: Read artifact name
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        id: artifact
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download model artifact
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.artifact.outputs.artifact_name }}
+          path: output
+
+      - name: Upload model to HF
+        if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          ARTIFACT_NAME: ${{ steps.artifact.outputs.artifact_name }}
+        run: |
+          rm -f output/artifact_name.txt
+          export PYTHONPATH=$(pwd)
+          python3 release/ci/upload_default_model.py \
+            --hf-repo "${{ env.HF_REPO }}" \
+            --hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
+            --artifact-name "$ARTIFACT_NAME" \
+            --model-dir output \
+            --model-name "${{ needs.resolve.outputs.model_name }}" \
+            --tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
+            --run-number "${{ github.run_number }}"
+
+      - name: Download DM artifact
+        if: ${{ inputs.target == 'dm' }}
+        uses: actions/download-artifact@v4
+        with:
+          name: dm-model-${{ github.run_number }}
+          path: dm_output
+
+      - name: Generate DM metadata and upload to HF
+        if: ${{ inputs.target == 'dm' }}
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          export PYTHONPATH=$(pwd)
+          python3 -c "
+          import json, hashlib
+          from pathlib import Path
+          from datetime import datetime, UTC
+
+          dm_dir = Path('dm_output')
+          manifest = list(dm_dir.glob('*.chunkmanifest'))
+          assert manifest, 'No chunkmanifest found'
+          pkl_name = manifest[0].name.removesuffix('.chunkmanifest')
+          num_chunks = int(manifest[0].read_text().strip())
+
+          chunks = []
+          for i in range(num_chunks):
+              chunk = dm_dir / f'{pkl_name}.chunk{i+1:02d}of{num_chunks:02d}'
+              chunks.append({
+                  'file_name': chunk.name,
+                  'sha256': hashlib.sha256(chunk.read_bytes()).hexdigest()
+              })
+
+          digest = hashlib.sha256()
+          for c in chunks:
+              with open(dm_dir / c['file_name'], 'rb') as f:
+                  while block := f.read(1024*1024):
+                      digest.update(block)
+
+          metadata = {
+              'bundles': [{
+                  'short_name': 'DMMODEL',
+                  'display_name': '${{ needs.resolve.outputs.model_name }}',
+                  'ref': '${{ needs.resolve.outputs.onnx_ref }}',
+                  'tinygrad_ref': '${{ needs.resolve.outputs.tinygrad_ref }}',
+                  'runner': 'tinygrad',
+                  'build_time': datetime.now(UTC).strftime('%Y-%m-%dT%H:%M:%SZ'),
+                  'models': [{
+                      'type': 'chunked',
+                      'artifact': {
+                          'file_name': pkl_name,
+                          'download_uri': {'url': '', 'sha256': digest.hexdigest()},
+                          'chunks': chunks
+                      }
+                  }]
+              }]
+          }
+          with open(dm_dir / 'metadata.json', 'w') as f:
+              json.dump(metadata, f, indent=2)
+          print('Generated DM metadata.json')
+          "
+
+          python3 release/ci/upload_default_model.py \
+            --hf-repo "${{ env.HF_REPO }}" \
+            --hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
+            --artifact-name "dm-model-${{ github.run_number }}" \
+            --model-dir dm_output \
+            --onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
+            --onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
+            --model-name "${{ needs.resolve.outputs.model_name }}" \
+            --tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
+            --run-number "${{ github.run_number }}"
+
+  build_dm_model:
+    needs: resolve
+    if: ${{ inputs.target == 'dm' }}
+    runs-on: [self-hosted, tici]
+    env:
+      DM_ONNX: openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
+      DM_PKL: openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Pull DM ONNX via LFS
+        run: git lfs pull -I "${{ env.DM_ONNX }}"
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile DM model
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+
+          taskset -c 7 env ${TG_FLAGS} python3 \
+            ${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
+            ${{ github.workspace }}/${{ env.DM_ONNX }} \
+            ${{ github.workspace }}/${{ env.DM_PKL }}
+
+      - name: Chunk DM pkl
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH=${{ github.workspace }}
+          python3 -c "
+          from openpilot.common.file_chunker import chunk_file, get_chunk_targets
+          import os
+          pkl = '${{ github.workspace }}/${{ env.DM_PKL }}'
+          size = os.path.getsize(pkl)
+          targets = get_chunk_targets(pkl, size)
+          chunk_file(pkl, targets)
+          print(f'Chunked {pkl} into {len(targets)} chunks')
+          "
+
+      - name: Compile DM warp
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+
+          TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          COMPILER="${{ github.workspace }}/tinygrad_repo/examples/openpilot"
+          MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
+          DM_SIZE=$(python3 -c "from openpilot.common.transformations.model import DM_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+
+          for res in $(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')"); do
+            CAM_W=$(echo $res | cut -d x -f1)
+            CAM_H=$(echo $res | cut -d x -f2)
+            STRIDE_INFO=$(python3 -c "
+          import sys
+          from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+          s,y,u,sz = get_nv12_info(int(sys.argv[1]), int(sys.argv[2]))
+          print(f'{s},{y},{u},{sz}')
+          " $CAM_W $CAM_H)
+            WARP_PKL="${MODELS_DIR}/dm_warp_${res}_tinygrad.pkl"
+            taskset -c 7 env ${TG_FLAGS} python3 "${COMPILER}/compile_warp.py" \
+              --frame ${CAM_W},${CAM_H},${STRIDE_INFO} \
+              --warp-to ${DM_SIZE} \
+              --layout luma \
+              --border-fill 16 \
+              --transform-device NPY \
+              --output "${WARP_PKL}"
+          done
+
+      - name: Prepare DM output
+        run: |
+          mkdir -p dm_output
+          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
+          cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
+          cp ${{ github.workspace }}/openpilot/selfdrive/modeld/models/dm_warp_* dm_output/
+
+      - name: Upload DM artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: dm-model-${{ github.run_number }}
+          path: dm_output/
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+

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

@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -24,11 +24,34 @@ on:
         required: false
         type: string
         default: ''
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
+      is_20hz:
+        description: 'Is this a 20Hz model'
         required: false
-        default: true
         type: boolean
+        default: true
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or chestnut)'
+        required: false
+        type: string
+        default: 'qcom'
+      hf_repo:
+        description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
+      set_min_version:
+        description: 'Minimum selector version'
+        required: false
+        type: string
+      tinygrad_ref:
+        description: 'Tinygrad reference'
+        required: false
+        type: string
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -39,6 +62,11 @@ on:
         description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
       recompiled_dir:
         description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
         required: true
@@ -53,12 +81,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
+          - Master Models
+          - Release Models
+          - 2026 World Models
+          - 2026 Deep RL Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'
@@ -72,9 +99,27 @@ on:
         description: 'Minimum selector version'
         required: false
         type: string
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: false
+        type: choice
+        default: 'qcom'
+        options:
+          - qcom
+          - chestnut
+      hf_repo:
+        description: 'Hugging Face dataset repository'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot_models_v1'
+      docs_repo:
+        description: 'GitHub repo holding the driving_models JSON on its gh-pages branch'
+        required: false
+        type: string
+        default: 'sunnypilot/sunnypilot-models'
 env:
   RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+  JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ inputs.json_version }}.json
 
 jobs:
   build_model:
@@ -82,58 +127,44 @@ jobs:
     with:
       upstream_branch: ${{ inputs.upstream_branch }}
       custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
+      is_20hz: ${{ inputs.is_20hz }}
       artifact_suffix: ${{ inputs.artifact_suffix }}
+      target_hardware: ${{ inputs.target_hardware }}
     secrets: inherit
 
   publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
+    if: ${{ !cancelled() && needs.build_model.result == 'success' }}
     needs: build_model
     runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: write
     steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
       - name: Checkout docs repo
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/sunnypilot-models
+          repository: ${{ inputs.docs_repo }}
           ref: gh-pages
           path: docs
           ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
 
-      - name: Validate recompiled dir and JSON version
+      - name: Install huggingface_hub
+        run: pip install --upgrade "huggingface_hub>=0.22.0"
+
+      - name: Validate hf_repo and JSON version
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
           if [ ! -f "$JSON_FILE" ]; then
             echo "JSON file $JSON_FILE does not exist!"
             exit 1
           fi
+          python3 -c "
+          import sys
+          from huggingface_hub import HfApi
+          HfApi().repo_info(repo_id=sys.argv[1], repo_type='dataset')
+          print(f'Success: Repo {sys.argv[1]} exists.')
+          " "${{ inputs.hf_repo }}"
 
       - name: Download artifact name file
         uses: actions/download-artifact@v4
@@ -153,54 +184,30 @@ jobs:
           name: ${{ steps.read-artifact-name.outputs.artifact_name }}
           path: output
 
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
+      - name: Create models folder
         env:
           ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
+          mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
+          rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
 
-      - name: Push recompiled dir to GitLab
+      - name: Upload to Hugging Face
         env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
         run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
+          hf upload ${{ inputs.hf_repo }} \
+            output/ \
+            "models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
+            --repo-type=dataset
+
+      - name: Update and push JSON to docs repo
+        run: |
+          cd docs
           git config --global user.name "GitHub Action"
           git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
 
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
           FOLDER="${{ inputs.model_folder }}"
           if [ "$FOLDER" = "Other" ]; then
             FOLDER="${{ inputs.custom_model_folder }}"
@@ -211,18 +218,29 @@ jobs:
           fi
           [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
           [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          [ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
 
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages
+          for attempt in $(seq 1 10); do
+            git fetch origin gh-pages
+            git reset --hard origin/gh-pages
+
+            eval python3 json_parser.py \
+              --json-path "docs/$(basename $JSON_FILE)" \
+              --recompiled-dir "../local_models/$RECOMPILED_DIR" \
+              --sort-by-date \
+              $ARGS
+
+            git add docs/"$(basename $JSON_FILE)"
+            git commit -m "Update $(basename $JSON_FILE) after recompiling model" || { echo "No changes to commit"; exit 0; }
+
+            if git push origin gh-pages; then
+              echo "Push succeeded on attempt $attempt"
+              exit 0
+            fi
+
+            echo "Push failed (attempt $attempt/10), retrying after backoff..."
+            sleep $((RANDOM % 10 + 3))
+          done
+          echo "All 10 push attempts failed"
+          exit 1

.github/workflows/cereal_validation.yaml

@@ -6,7 +6,7 @@ on:
       - master
   pull_request:
     paths:
-      - 'cereal/**'
+      - 'openpilot/cereal/**'
   workflow_dispatch:
   workflow_call:
     inputs:
@@ -23,56 +23,75 @@ env:
   CI: 1
 
 jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons -j$(nproc) cereal
-      - name: Dump sunnypilot schema
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
   validate_cereal_with_upstream:
     name: Validate cereal with Upstream
     runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
     steps:
-      - name: Checkout sunnypilot
+      - name: Checkout sunnypilot cereal
         uses: actions/checkout@v6
+        with:
+          sparse-checkout: |
+            openpilot/cereal
+            uv.lock
+          submodules: false
+
+      - name: Init sunnypilot opendbc submodule
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Locate sunnypilot capnp import paths
+        id: locate-sp-capnp
+        run: |
+          SP_IMPORT_ARGS=""
+          SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$SP_CAR_CAPNP" ]; then
+            SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
+            echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
+          fi
+          echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
       - name: Checkout upstream openpilot
         uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
-          path: openpilot
-          submodules: true
+          path: upstream_openpilot
           ref: "refs/heads/master"
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        working-directory: openpilot
-        run: scons -j$(nproc) cereal
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: openpilot/cereal/messaging/tests/cereal_validations
-      - name: 'Validate sunnypilot schema against upstream'
+
+      - name: Init upstream opendbc submodule
+        working-directory: upstream_openpilot
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Locate upstream capnp paths
+        id: locate-capnp
         run: |
-          export PYTHONPATH=${{ github.workspace }}/openpilot
-          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
+          CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
+          if [ -z "$CEREAL_DIR" ]; then
+            echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
+            exit 1
+          fi
+          echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
+          echo "Found upstream cereal at: $CEREAL_DIR"
+
+          IMPORT_ARGS=""
+          CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
+          if [ -n "$CAR_CAPNP" ]; then
+            IMPORT_ARGS="-I $CAR_CAPNP"
+            echo "Found car.capnp at: $CAR_CAPNP"
+          fi
+          echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
+
+      - name: Install pycapnp
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          pip install "pycapnp==${PYCAPNP_VER}"
+
+      - name: Generate sunnypilot schema
+        run: |
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
+            ${{ steps.locate-sp-capnp.outputs.import_args }}
+
+      - name: Validate against upstream
+        run: |
+          python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
+            ${{ steps.locate-capnp.outputs.import_args }}

.github/workflows/compile-warp-kernels.yaml

@@ -0,0 +1,73 @@
+name: Compile warp for sunnypilot modeld
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  compile_warps:
+    runs-on: [self-hosted, chestnut]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set environment variables
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
+          printenv >> $GITHUB_ENV
+
+      - name: Disable powersave
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+
+      - name: Compile Warp Kernels
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
+          mkdir -p openpilot/sunnypilot/modeld_v2/models/
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+          echo "Model size: $MODEL_SIZE"
+          echo "Camera resolutions: $CAMERA_RES"
+
+          for res in $CAMERA_RES; do
+            FRAME_PARAM=$(python3 -c "from openpilot.system.camerad.cameras.nv12_info import get_nv12_info; w, h = map(int, '${res}'.split('x')); stride, y_h, uv_h, _ = get_nv12_info(w, h); print(f'{w},{h},{stride},{y_h},{uv_h},{stride * (y_h + uv_h)}')")
+
+            WARP_PKL="openpilot/sunnypilot/modeld_v2/models/driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $WARP_PKL on QCOM"
+            taskset -c 7 env DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${WARP_PKL}"
+
+            BIG_WARP_PKL="openpilot/sunnypilot/modeld_v2/models/big_driving_warp_${res}_tinygrad.pkl"
+            echo "Compiling $BIG_WARP_PKL on AMD"
+            taskset -c 7 env DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32 python3 tinygrad_repo/examples/openpilot/compile_warp.py \
+              --frame ${FRAME_PARAM} --warp-to ${MODEL_SIZE} --layout yuv420 --frames 2 --output "${BIG_WARP_PKL}"
+          done
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          token: ${{ secrets.GITHUB_TOKEN }}
+          commit-message: "[bot] Update warp pkl for modeld_v2"
+          title: "[bot] Update modeld_v2 Warp"
+          branch: "auto/compile-warp-kernels"
+          base: "master"
+          delete-branch: true
+          labels: bot
+          add-paths: |
+            openpilot/sunnypilot/modeld_v2/models/*.pkl

.github/workflows/diff_report.yaml

@@ -17,29 +17,42 @@ jobs:
     - name: Wait for process replay
       id: wait
       continue-on-error: true
-      uses: lewagon/wait-on-check-action@v1.3.4
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: ${{ github.event.pull_request.head.sha }}
         check-name: process replay
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         allowed-conclusions: success,failure
         wait-interval: 20
+    - name: Get tests run ID
+      if: steps.wait.outcome == 'success'
+      id: tests-run
+      env:
+        GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        run_id=$(gh api \
+          "repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
+          --jq '.workflow_runs[0].id // empty')
+        if [ -z "$run_id" ]; then
+          echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
+          exit 1
+        fi
+        echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
     - name: Download diff
       if: steps.wait.outcome == 'success'
-      uses: dawidd6/action-download-artifact@v6
+      continue-on-error: true
+      uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
       with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        workflow: tests.yaml
-        workflow_conclusion: ''
-        pr: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        repository: ${{ github.repository }}
+        run-id: ${{ steps.tests-run.outputs.run-id }}
         name: diff_report_${{ github.event.number }}
         path: .
-        allow_forks: true
     - name: Comment on PR
-      if: steps.wait.outcome == 'success'
-      uses: thollander/actions-comment-pull-request@v2
+      if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
+      uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
       with:
-        filePath: diff_report.txt
-        comment_tag: diff_report
-        pr_number: ${{ github.event.number }}
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        file-path: diff_report.txt
+        comment-tag: diff_report
+        pr-number: ${{ github.event.number }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/docs.yaml

@@ -15,26 +15,31 @@ concurrency:
   group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+
 jobs:
   docs:
     name: build docs
-    runs-on: ubuntu-24.04
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
     steps:
     - uses: commaai/timeout@v1
-
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
+    - run: ./tools/op.sh setup
 
     # Build
     - name: Build docs
-      run: |
-        git lfs pull
-        pip install zensical
-        python scripts/docs.py build
+      run: ./tools/op.sh docs --build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
@@ -45,14 +50,14 @@ jobs:
       run: |
         set -x
 
-        source release/identity.sh
+        source tools/release/identity.sh
 
         cd openpilot-docs
         git checkout --orphan tmp
         git rm -rf .
 
         # copy over docs
-        cp -r ../docs_site/ docs/
+        cp -r ../docs/_site/ docs/
 
         # GitHub pages config
         touch docs/.nojekyll

.github/workflows/download-hf-model-chunks/action.yml

@@ -0,0 +1,92 @@
+name: Download HF model chunks
+description: Resolve and download model chunks from HuggingFace in parallel
+
+inputs:
+  hf_repo:
+    description: HuggingFace dataset repo
+    required: true
+  models:
+    description: 'JSON array of {hf_path, onnx_hash, canonical} objects'
+    required: true
+  dest_dir:
+    description: Destination directory for downloaded chunks
+    required: true
+  tinygrad_ref:
+    description: 'Tinygrad ref to match bundle against'
+    required: false
+    default: ''
+
+runs:
+  using: composite
+  steps:
+    - name: Download model chunks
+      shell: bash
+      env:
+        HF_REPO: ${{ inputs.hf_repo }}
+        MODELS_JSON: ${{ inputs.models }}
+        DEST_DIR: ${{ inputs.dest_dir }}
+        TINYGRAD_REF: ${{ inputs.tinygrad_ref }}
+      run: |
+        set -eo pipefail
+        DOWNLOAD_LIST=$(mktemp)
+
+        resolve_chunks() {
+          local HF_PATH="$1" ONNX_HASH="$2" CANONICAL="$3" DEST_DIR="$4"
+          local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
+          local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
+          DEFAULTS=$(curl -fsSL "$JSON_URL")
+          if [ -n "$TINYGRAD_REF" ]; then
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg tg "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $tg or (.tinygrad_ref == null and $root.tinygrad_ref == $tg)))] | .[0] // empty
+            ')
+          else
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '
+              [.bundles[] | select(.onnx_sha256 == $hash)] | .[0] // empty
+            ')
+          fi
+
+          if [ -z "$BUNDLE" ] || [ "$BUNDLE" = "null" ]; then
+            echo "::error::No model bundle found matching ONNX hash $ONNX_HASH (tinygrad ref: $TINYGRAD_REF) in $HF_PATH"
+            return 1
+          fi
+
+          ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
+          BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
+          NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
+
+          mkdir -p "$DEST_DIR"
+          while IFS= read -r CHUNK_NAME; do
+            CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+' || true)
+            if [ -z "$CHUNK_IDX" ]; then
+              echo "::error::Failed to parse chunk index from: $CHUNK_NAME"
+              return 1
+            fi
+            ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
+            printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
+          done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
+          echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
+
+          if [ "$CANONICAL" = "dmonitoring_model_tinygrad.pkl" ]; then
+            for warp in dm_warp_1928x1208_tinygrad.pkl dm_warp_1344x760_tinygrad.pkl; do
+              ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${warp}', safe=':/'))")
+              printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${warp}" >> "$DOWNLOAD_LIST"
+            done
+          fi
+        }
+
+        echo "$MODELS_JSON" | jq -c '.[]' | while IFS= read -r model; do
+          HF_PATH=$(echo "$model" | jq -r '.hf_path')
+          ONNX_HASH=$(echo "$model" | jq -r '.onnx_hash')
+          CANONICAL=$(echo "$model" | jq -r '.canonical')
+          resolve_chunks "$HF_PATH" "$ONNX_HASH" "$CANONICAL" "$DEST_DIR"
+        done
+
+        TOTAL=$(wc -l < "$DOWNLOAD_LIST")
+        echo "Downloading $TOTAL chunks with 8 parallel connections..."
+        xargs -P8 -d'\n' -I{} bash -c '
+          URL="${1%%	*}"
+          DEST="${1#*	}"
+          echo "Downloading $(basename "$DEST")"
+          curl -fsSL --retry 3 --retry-delay 5 -o "$DEST" "$URL"
+        ' _ {} < "$DOWNLOAD_LIST"
+        rm -f "$DOWNLOAD_LIST"

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

@@ -11,7 +11,7 @@ jobs:
       contents: write
     steps:
       - name: Delete stale Jenkins branches
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
         with:
           script: |
             const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v6
+      uses: actions/checkout@v7
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -86,7 +86,7 @@ jobs:
 
     - name: Delete trigger comment
       if: steps.check_comment.outputs.result == 'true' && always()
-      uses: actions/github-script@v8
+      uses: actions/github-script@v9
       with:
         script: |
           await github.rest.issues.deleteComment({

.github/workflows/lfs-maintenance.yaml

@@ -1,8 +1,8 @@
 name: Sync comma's LFS
 
 env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
+  LFS_URL: 'https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs'
+  LFS_PUSH_URL: 'https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs'
 
 on:
   schedule:
@@ -40,14 +40,12 @@ jobs:
           git config --global user.name 'GitHub Action'
           git config --global user.email 'action@github.com'
 
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
+      - name: Setup hf
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
         run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+          git config --global credential.helper store
+          echo "https://user:${HF_TOKEN}@huggingface.co" > ~/.git-credentials
 
       - name: Ensure branch
         run: |
@@ -65,8 +63,21 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
+      - name: Configure LFS transfer settings
+        run: |
+          git config lfs.activitytimeout 300
+          git config lfs.transfer.maxretries 5
+          git config lfs.concurrenttransfers 4
+
       - name: Push LFS
         id: sync-and-commit
         run: |
           git lfs ls-files -l
-          git lfs push --all origin
+          for attempt in 1 2 3; do
+            echo "Push attempt $attempt..."
+            git lfs push --all origin && exit 0
+            echo "Attempt $attempt failed, retrying in 30s..."
+            sleep 30
+          done
+          echo "All push attempts failed"
+          exit 1

.github/workflows/model_review.yaml

@@ -1,42 +0,0 @@
-name: "model review"
-
-on:
-  pull_request:
-    types: [opened, reopened, synchronize]
-    paths:
-      - 'selfdrive/modeld/models/*.onnx'
-  workflow_dispatch:
-
-jobs:
-  comment:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v6
-        with:
-          submodules: true
-      - name: Checkout master
-        uses: actions/checkout@v6
-        with:
-          ref: master
-          path: base
-      - run: git lfs pull
-      - run: cd base && git lfs pull
-
-      - name: scripts/reporter.py
-        id: report
-        run: |
-          echo "content<<EOF" >> $GITHUB_OUTPUT
-          echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
-          echo "EOF" >> $GITHUB_OUTPUT
-
-      - name: Post model report comment
-        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
-        with:
-          header: model-review
-          message: ${{ steps.report.outputs.content }}

.github/workflows/prebuilt.yaml

@@ -1,39 +0,0 @@
-name: prebuilt
-on:
-  schedule:
-    - cron: '0 * * * *'
-  workflow_dispatch:
-
-env:
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh
-
-jobs:
-  build_prebuilt:
-    name: build prebuilt
-    runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
-    env:
-      PUSH_IMAGE: true
-    permissions:
-      checks: read
-      contents: read
-      packages: write
-    steps:
-    - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
-      with:
-        ref: master
-        wait-interval: 30
-        running-workflow-name: 'build prebuilt'
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
-    - run: git lfs pull
-    - name: Build and Push docker image
-      run: |
-        $DOCKER_LOGIN
-        eval "$BUILD"

.github/workflows/release-drafter.yml

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

.github/workflows/release.yaml

@@ -4,6 +4,11 @@ on:
     - cron: '0 9 * * *'
   workflow_dispatch:
 
+env:
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+
 jobs:
   build___nightly:
     name: build __nightly
@@ -15,17 +20,21 @@ jobs:
     steps:
     - name: Wait for green check mark
       if: ${{ github.event_name == 'schedule' }}
-      uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
+      uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
       with:
         ref: master
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
       with:
         submodules: true
         fetch-depth: 0
     - run: ./tools/op.sh setup
     - name: Push __nightly
-      run: BRANCH=__nightly release/build_stripped.sh
+      run: BRANCH=__nightly tools/release/build_stripped.sh
+    - name: Push chestnut nightly
+      run: |
+        git lfs pull --exclude=''
+        INCLUDE_BIG_MODEL=1 BRANCH=__nightly-chestnut tools/release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -3,18 +3,25 @@ name: repo maintenance
 on:
   schedule:
     - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
+  pull_request:
+    types: [closed]
   workflow_dispatch:
 
 env:
   PYTHONPATH: ${{ github.workspace }}
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
 
 jobs:
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: >-
+      github.repository == 'sunnypilot/sunnypilot' &&
+      (github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - run: ./tools/op.sh setup
@@ -50,10 +57,10 @@ jobs:
         git add .
     - name: update car docs
       run: |
-        python selfdrive/car/docs.py
+        python openpilot/selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+      uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
       with:
         author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
         token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
@@ -75,3 +82,51 @@ jobs:
           ${{ steps.pip_tree.outputs.PIP_TREE }}
           ```
         labels: bot
+
+  cleanup_closed_branches:
+    if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: read
+    steps:
+      - uses: actions/github-script@v9
+        with:
+          script: |
+            const { owner, repo } = context.repo;
+            const upstream = `${owner}/${repo}`;
+
+            const closed = context.payload.pull_request;
+            if (closed) {
+              if (closed.head.repo?.full_name === upstream) {
+                await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
+              }
+              return;
+            }
+
+            for await (const response of github.paginate.iterator(github.rest.pulls.list, {
+              owner,
+              repo,
+              state: 'closed',
+              per_page: 100,
+            })) {
+              for (const pr of response.data) {
+                if (pr.head.repo?.full_name !== upstream) continue;
+
+                const branch = pr.head.ref;
+                try {
+                  await github.rest.git.deleteRef({
+                    owner,
+                    repo,
+                    ref: `heads/${branch}`,
+                  });
+                  console.log(`Deleted branch ${branch} (PR #${pr.number})`);
+                } catch (error) {
+                  if (error.status === 422 || error.status === 403) {
+                    console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
+                    continue;
+                  }
+                  throw error;
+                }
+              }
+            }

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

@@ -6,7 +6,7 @@ env:
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
   TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
+  MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
 
 on:
   workflow_call:
@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or chestnut)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - chestnut
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -67,6 +80,7 @@ jobs:
         with:
           repository: commaai/openpilot
           ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
           submodules: recursive
           path: openpilot
 
@@ -76,26 +90,86 @@ jobs:
         with:
           repository: sunnypilot/sunnypilot
           ref: ${{ inputs.upstream_branch }}
+          fetch-depth: 1
           submodules: recursive
           path: openpilot
       - name: Get commit date
         id: commit-date
         run: |
-          cd ${{ github.workspace }}/openpilot
+          cd ${{ github.workspace }}/openpilot/openpilot
           commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
           echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
+
+      - name: Fetch Models
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          cd ${{ github.workspace }}/openpilot/openpilot
+          if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
+            ONNX_COUNT=$(find selfdrive/modeld/models -maxdepth 1 -type f -name "*.onnx" ! -name "big_*.onnx" ! -name "dmonitoring_*.onnx" 2>/dev/null | wc -l)
+          else
+            ONNX_COUNT=$(find selfdrive/modeld/models -maxdepth 1 -type f -name "big_*.onnx" 2>/dev/null | wc -l)
+          fi
+          if [ "$ONNX_COUNT" -eq 0 ]; then
+            echo "Detected NEW stock architecture (no ONNX files tracked). Fetching from HF and skipping LFS pull."
+            COMMIT_MSG=$(git log -1 --pretty=%B)
+            HF_HASH=$(echo "$COMMIT_MSG" | grep -oE '[a-f0-9]{8}' | head -n 1)
+
+            if [ -n "$HF_HASH" ]; then
+              echo "Downloading ONNX for hash $HF_HASH from HuggingFace."
+              pip install huggingface_hub
+              rm -f selfdrive/modeld/models/*.onnx
+              python3 - <<EOF
+          import sys, os, shutil
+          from huggingface_hub import HfApi, hf_hub_download
+          short_hash = "$HF_HASH"
+          target_dir = "selfdrive/modeld/models"
+          repo = "commaai/openpilot_driving_models"
+          api = HfApi()
+          files = list(api.list_repo_tree(repo, repo_type="model", recursive=True))
+          matching_folder = next((f.path.split("/")[0] for f in files if f.path.startswith(short_hash)), None)
+          if not matching_folder:
+            print(f"Could not find HF folder for hash {short_hash}")
+            sys.exit(1)
+          os.makedirs(target_dir, exist_ok=True)
+          for f in files:
+            if f.path.startswith(matching_folder) and f.path.endswith(".onnx"):
+              p = hf_hub_download(repo_id=repo, repo_type="model", filename=f.path)
+              shutil.copy2(p, os.path.join(target_dir, os.path.basename(f.path)))
+          EOF
+              rm -f selfdrive/modeld/models/*.pkl
+              touch selfdrive/modeld/models/new_arch.txt
+            else
+              echo "Could not parse HuggingFace hash from commit message."
+              exit 1
+            fi
+          else
+            if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
+              git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx,**/selfdrive/modeld/models/big_*.pkl,**/selfdrive/modeld/models/dmonitoring_*.pkl"
+              rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx selfdrive/modeld/models/big_*.pkl selfdrive/modeld/models/dmonitoring_*.pkl
+            else
+              git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/big_*.pkl" -X ""
+              find selfdrive/modeld/models -type f \( -name "*.onnx" -o -name "*.pkl" \) ! -name "big_*.onnx" ! -name "big_*.pkl" -delete
+            fi
+          fi
+
+          if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx selfdrive/modeld/models/*.pkl 2>/dev/null; then
+            echo "::error::the ONNX or PKL files above are still LFS pointers, not real models"
+            exit 1
+          fi
       - name: 'Upload Artifact'
         uses: actions/upload-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+          path: |
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.pkl
+            ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/new_arch.txt
+          if-no-files-found: error
 
   build_model:
-    runs-on: [self-hosted, tici]
+    runs-on: [self-hosted, "${{ inputs.target_hardware == 'chestnut' && 'chestnut' || 'tici' }}"]
     needs: get_model
     env:
       MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
@@ -103,36 +177,20 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          fetch-depth: 1
           submodules: recursive
 
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
       - name: Set environment variables
         id: set-env
         run: |
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync --frozen
           printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
 
       - name: Setup build environment
         run: |
@@ -144,46 +202,112 @@ jobs:
           echo "VERSION: ${{ steps.set-env.outputs.version }}"
           echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
           echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx*
 
       - name: Download model artifacts
         uses: actions/download-artifact@v4
         with:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          path: ${{ env.MODELS_DIR }}
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+          COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
+          MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
+          CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
 
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
+          TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+          if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
+            echo "CHESTNUT build"
+            export CHESTNUT=1
+            TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM FRAME_DEV=CPU FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2 TC_MIN_GLOBALS=32"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
+            TG_FLAGS="$TG_FLAGS_QCOM"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
 
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
+          NATIVE_PKL=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*.pkl" -print -quit)
+
+          if [ -f "${{ env.MODELS_DIR }}/new_arch.txt" ]; then
+            echo "Detected new arch"
+            DOWNLOADED_ONNX=$(find "${{ env.MODELS_DIR }}" -maxdepth 1 -name "*driving*.onnx" -print -quit)
+            if [ -n "$DOWNLOADED_ONNX" ]; then
+              echo "Compiling ONNX: $DOWNLOADED_ONNX"
+              env ${TG_FLAGS} taskset -c 7 python3 openpilot/sunnypilot/modeld_v2/compile_modeld_v2.py \
+                "$DOWNLOADED_ONNX" "$OUTPUT_PKL" --device-input "*" --out-of-band --benchmark-runs 1
+
+              echo "Chunking pkl"
+              python3 -c "from openpilot.common.file_chunker import chunk_file, get_chunk_targets; import os; p='$OUTPUT_PKL'; chunk_file(p, get_chunk_targets(p, os.path.getsize(p)))"
+            else
+              echo "Failed to find downloaded ONNX."
+              exit 1
+            fi
+          else
+            echo "Detected onnx architecture. Routing to native compile_modeld.py."
+            # Detect model type and build compile args
+            VISION_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
+              [ -f "$f" ] && VISION_ONNX="$f" && break
+            done
+
+            POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
+              [ -f "$f" ] && POLICY_ONNX="$f" && break
+            done
+
+            OFF_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
+              [ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
+            done
+
+            ON_POLICY_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
+              [ -f "$f" ] && ON_POLICY_ONNX="$f" && break
+            done
+
+            SUPERCOMBO_ONNX=""
+            for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
+              [ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
+            done
+
+            MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
+            if [ -f "$VISION_ONNX" ]; then
+              ONNX_ARGS="--vision-onnx $VISION_ONNX"
+              if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
+              elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_multi_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
+              elif [ -f "$POLICY_ONNX" ]; then
+                MODEL_TYPE=vision_policy
+                ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
+              fi
+            elif [ -f "$SUPERCOMBO_ONNX" ]; then
+              MODEL_TYPE=supercombo
+              ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
+            fi
+
+            if [ -n "$MODEL_TYPE" ]; then
+              echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
+              env ${TG_FLAGS} taskset -c 7 python3 "$COMPILE_MODELD" \
+                --model-type $MODEL_TYPE \
+                --model-size $MODEL_SIZE \
+                --camera-resolutions $CAMERA_RES \
+                $ONNX_ARGS \
+                --output "$OUTPUT_PKL"
+            fi
+          fi
 
       - name: Prepare Output
         run: |
@@ -193,8 +317,8 @@ jobs:
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.pkl' \
-            --include='*.onnx' \
+            --include='*.chunk*' \
+            --include='*.chunkmanifest' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
@@ -226,4 +350,5 @@ jobs:
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

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

@@ -4,12 +4,8 @@ env:
   BUILD_DIR: "/data/openpilot"
   OUTPUT_DIR: ${{ github.workspace }}/output
   CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
 
-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
@@ -40,8 +36,11 @@ jobs:
       publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
       is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
       build: ${{ steps.strategy.outputs.build }}
+      include_big_model: ${{ steps.strategy.outputs.include_big_model }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
       - name: Extract deploy strategy
         id: strategy
         run: |
@@ -79,9 +78,12 @@ jobs:
             is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
             echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
 
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
             echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
             echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+
+            include_big_model="$(echo "$CONFIG" | jq -r '.include_big_model // false')";
+            echo "include_big_model=$include_big_model" >> $GITHUB_OUTPUT
           fi
           echo "build=$BUILD" >> $GITHUB_OUTPUT
           cat $GITHUB_OUTPUT
@@ -96,6 +98,8 @@ jobs:
       }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
       - name: Wait for Tests
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         with:
@@ -109,11 +113,6 @@ jobs:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
     runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
     if: ${{
       (always() && !cancelled() && !failure()) &&
       needs.prepare_strategy.result == 'success' &&
@@ -124,39 +123,22 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
+          fetch-depth: 1
           submodules: recursive
           ref: ${{ env.SOURCE_BRANCH }}
           repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
       - name: Set environment variables
-        id: set-env
         run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export UV_PYTHON_PREFERENCE=managed
+          export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          uv sync
           printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
 
       - name: Setup build environment
         run: |
@@ -165,67 +147,59 @@ jobs:
           echo "Starting build stage..."
           echo "BUILD_DIR: ${BUILD_DIR}"
           echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "VERSION: ${{ needs.prepare_strategy.outputs.version }}"
           echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
           echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
           echo "-------"
           if [[ "${{ runner.debug }}" == "1" ]]; then
             printenv
           fi
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
       - name: Build Main Project
         run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
+          export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
+          ./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
+          # outside the checkout, which is wiped each run. /data/scons_cache is the device's, not ours.
+          SCONS_CACHE="$RUNNER_WORKSPACE/scons_cache"
+          mkdir -p "$SCONS_CACHE"
           cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          echo "Building locationd..."
+          # -j1: parallel rednose generators OOM the device
+          scons -j1 cache_dir="$SCONS_CACHE" --minimal \
+            openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
           echo "Building rest of sunnypilot"
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
+          sudo rm -rf /tmp/* || true
+          mkdir -p "$BUILD_DIR/tmp"
+          export TMPDIR="$BUILD_DIR/tmp"
+          SKIP_TINYGRAD_COMPILE=1 /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
             ls -la ${BUILD_DIR}
           fi
 
-      - name: Prepare Output
+      - name: Strip release tree
         run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='__pycache__' \
-            --exclude='Jenkinsfile' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
+          cd $BUILD_DIR
+          find . -name '*.a' -delete
+          find . -name '*.o' -delete
+          find . -name '*.os' -delete
+          find . -name '*.pyc' -delete
+          find . -name 'moc_*' -delete
+          find . -name '__pycache__' -type d -exec rm -rf {} +
+          find . -name 'SConstruct' -delete
+          find . -name 'SConscript' -delete
+          rm -rf .sconsign.dblite Jenkinsfile tools/release/ release/
+          rm -f openpilot/selfdrive/modeld/models/*.onnx*
+          rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
+          find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
+          find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
+          cd -
 
       - name: 'Tar.gz files'
         run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
+          tar czf prebuilt.tar.gz -C ${{ env.BUILD_DIR }} .
           ls -la prebuilt.tar.gz
 
       - name: 'Upload Artifact'
@@ -233,28 +207,293 @@ jobs:
         with:
           name: prebuilt
           path: prebuilt.tar.gz
+          compression-level: 0
 
       - name: Re-enable powersave
         if: always()
         run: |
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
+  prepare_chestnut:
+    needs: [ prepare_strategy ]
+    runs-on: ubuntu-24.04
+    if: ${{ needs.prepare_strategy.outputs.include_big_model == 'true' }}
+    concurrency:
+      group: prepare-chestnut
+      cancel-in-progress: false
+    outputs:
+      onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
+    env:
+      GH_REPO: ${{ github.repository }}
+      HF_REPO: sunnypilot/sunnypilot_models_v1
+      HF_DEFAULTS_PATH: models/defaults/big
+    steps:
+      - name: Resolve tinygrad ref via API
+        id: resolve
+        run: |
+          REF="${{ github.head_ref || github.ref_name }}"
+
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl?ref=${REF}" --jq '.sha')
+          [ -n "$BLOB_SHA" ] || { echo "::error::Failed to resolve big_driving_tinygrad.pkl blob SHA"; exit 1; }
+          ONNX_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          echo "big PKL hash: $ONNX_HASH"
+          [ -n "$ONNX_HASH" ] || { echo "::error::Failed to extract big PKL hash"; exit 1; }
+          echo "onnx_sha256=$ONNX_HASH" >> "$GITHUB_OUTPUT"
+
+          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
+          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"
+
+          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
+
+          check_defaults() {
+            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$BUNDLE" ] && [ "$BUNDLE" != "null" ]
+          }
+
+          if check_defaults; then
+            echo "HF defaults match repo tinygrad ref"
+            exit 0
+          fi
+
+          echo "No matching model on HF — dispatching build"
+          gh workflow run build-default-models.yaml --ref "$REF" -f target=big
+          sleep 10
+
+          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
+          echo "Dispatched build run: $BUILD_RUN_ID"
+
+          echo "Waiting for build run to complete..."
+          for i in $(seq 1 90); do
+            sleep 30
+            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
+            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
+            echo "Poll $i/90: status=$STATUS conclusion=$CONCLUSION"
+            if [ "$STATUS" = "completed" ]; then
+              if [ "$CONCLUSION" = "success" ]; then
+                echo "Build run succeeded, verifying HF..."
+                sleep 10
+                if check_defaults; then
+                  echo "Big model verified on HF"
+                  exit 0
+                fi
+                echo "::error::Build succeeded but model not found on HF"
+                exit 1
+              else
+                echo "::error::Build run failed with conclusion=$CONCLUSION"
+                exit 1
+              fi
+            fi
+          done
+
+          echo "::error::Build run did not complete within 45 minutes"
+          exit 1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cancel run on failure
+        if: failure()
+        run: gh run cancel ${{ github.run_id }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  prepare_small_model:
+    needs: [ prepare_strategy ]
+    runs-on: ubuntu-24.04
+    concurrency:
+      group: prepare-small-model
+      cancel-in-progress: false
+    outputs:
+      driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
+    env:
+      GH_REPO: ${{ github.repository }}
+      HF_REPO: sunnypilot/sunnypilot_models_v1
+      HF_DEFAULTS_PATH: models/defaults/small
+    steps:
+      - name: Resolve tinygrad ref via API
+        id: resolve
+        run: |
+          REF="${{ github.head_ref || github.ref_name }}"
+
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.sha')
+          DRIVING_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          echo "Driving ONNX hash: $DRIVING_HASH"
+          [ -n "$DRIVING_HASH" ] || { echo "::error::Failed to extract driving ONNX hash"; exit 1; }
+          echo "driving_onnx_sha256=$DRIVING_HASH" >> "$GITHUB_OUTPUT"
+
+          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
+          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"
+
+          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
+
+          check_defaults() {
+            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$DRIVING" ] && [ "$DRIVING" != "null" ]
+          }
+
+          if check_defaults; then
+            echo "HF defaults match repo tinygrad ref"
+            exit 0
+          fi
+
+          echo "No matching model on HF — dispatching build"
+          gh workflow run build-default-models.yaml --ref "$REF" -f target=small
+          sleep 10
+
+          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
+          echo "Dispatched build run: $BUILD_RUN_ID"
+
+          echo "Waiting for build run to complete..."
+          for i in $(seq 1 60); do
+            sleep 30
+            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
+            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
+            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
+            if [ "$STATUS" = "completed" ]; then
+              if [ "$CONCLUSION" = "success" ]; then
+                echo "Build run succeeded, verifying HF..."
+                sleep 10
+                if check_defaults; then
+                  echo "Small model verified on HF"
+                  exit 0
+                fi
+                echo "::error::Build succeeded but model not found on HF"
+                exit 1
+              else
+                echo "::error::Build run failed with conclusion=$CONCLUSION"
+                exit 1
+              fi
+            fi
+          done
+
+          echo "::error::Small model build did not complete within 30 minutes"
+          exit 1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cancel run on failure
+        if: failure()
+        run: gh run cancel ${{ github.run_id }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  prepare_dm_model:
+    needs: [ prepare_strategy ]
+    runs-on: ubuntu-24.04
+    concurrency:
+      group: prepare-dm-model
+      cancel-in-progress: false
+    outputs:
+      dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
+      tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
+    env:
+      GH_REPO: ${{ github.repository }}
+      HF_REPO: sunnypilot/sunnypilot_models_v1
+      HF_DEFAULTS_PATH: models/defaults/dm
+    steps:
+      - name: Resolve tinygrad ref via API
+        id: resolve
+        run: |
+          REF="${{ github.head_ref || github.ref_name }}"
+
+          BLOB_SHA=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.sha')
+          DM_HASH=$(gh api "repos/${GH_REPO}/git/blobs/${BLOB_SHA}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
+          echo "DM ONNX hash: $DM_HASH"
+          [ -n "$DM_HASH" ] || { echo "::error::Failed to extract DM ONNX hash"; exit 1; }
+          echo "dm_onnx_sha256=$DM_HASH" >> "$GITHUB_OUTPUT"
+
+          TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
+          echo "tinygrad ref: $TINYGRAD_REF"
+          echo "tinygrad_ref=$TINYGRAD_REF" >> "$GITHUB_OUTPUT"
+
+          JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
+
+          check_defaults() {
+            DEFAULTS=$(curl -fsSL "${JSON_URL}?t=$(date +%s)" 2>/dev/null) || return 1
+            DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" --arg ref "$TINYGRAD_REF" '
+              . as $root | [.bundles[] | select(.onnx_sha256 == $hash and (.tinygrad_ref == $ref or (.tinygrad_ref == null and $root.tinygrad_ref == $ref)))] | .[0] // empty
+            ' 2>/dev/null)
+            [ -n "$DM" ] && [ "$DM" != "null" ]
+          }
+
+          if check_defaults; then
+            echo "HF defaults match DM tinygrad ref"
+            exit 0
+          fi
+
+          echo "No matching DM model on HF — dispatching build"
+          gh workflow run build-default-models.yaml --ref "$REF" -f target=dm
+          sleep 10
+
+          BUILD_RUN_ID=$(gh run list --workflow build-default-models.yaml --branch "$REF" --limit 1 --json databaseId --jq '.[0].databaseId')
+          echo "Dispatched build run: $BUILD_RUN_ID"
+
+          echo "Waiting for build run to complete..."
+          for i in $(seq 1 60); do
+            sleep 30
+            STATUS=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.status')
+            CONCLUSION=$(gh api "repos/${GH_REPO}/actions/runs/${BUILD_RUN_ID}" --jq '.conclusion')
+            echo "Poll $i/60: status=$STATUS conclusion=$CONCLUSION"
+            if [ "$STATUS" = "completed" ]; then
+              if [ "$CONCLUSION" = "success" ]; then
+                echo "Build run succeeded, verifying HF..."
+                sleep 10
+                if check_defaults; then
+                  echo "DM model verified on HF"
+                  exit 0
+                fi
+                echo "::error::Build succeeded but DM model not found on HF"
+                exit 1
+              else
+                echo "::error::Build run failed with conclusion=$CONCLUSION"
+                exit 1
+              fi
+            fi
+          done
+
+          echo "::error::DM model build did not complete within 30 minutes"
+          exit 1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cancel run on failure
+        if: failure()
+        run: gh run cancel ${{ github.run_id }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
   publish:
     concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
       group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
       cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
+    if: ${{
+      always() && !cancelled() &&
+      needs.build.result == 'success' &&
+      needs.prepare_strategy.result == 'success' &&
+      needs.prepare_small_model.result == 'success' &&
+      needs.prepare_dm_model.result == 'success' &&
+      (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) &&
+      (needs.prepare_strategy.outputs.include_big_model != 'true' || needs.prepare_chestnut.result == 'success')
+      }}
+    needs: [ build, prepare_strategy, prepare_chestnut, prepare_small_model, prepare_dm_model ]
     runs-on: ubuntu-24.04
     environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
 
-      - name: Download build artifacts
+      - name: Download prebuilt artifact
         uses: actions/download-artifact@v4
         with:
           name: prebuilt
@@ -264,6 +503,18 @@ jobs:
           mkdir -p ${{ env.OUTPUT_DIR }}
           tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
 
+      - name: Download model chunks from HF
+        uses: ./.github/workflows/download-hf-model-chunks
+        with:
+          hf_repo: sunnypilot/sunnypilot_models_v1
+          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          tinygrad_ref: ${{ needs.prepare_dm_model.outputs.tinygrad_ref }}
+          models: |
+            [
+              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
+              {"hf_path": "models/defaults/dm", "onnx_hash": "${{ needs.prepare_dm_model.outputs.dm_onnx_sha256 }}", "canonical": "dmonitoring_model_tinygrad.pkl"}
+            ]
+
       - name: Configure Git
         run: |
           git config --global user.email "github-actions[bot]@users.noreply.github.com"
@@ -273,36 +524,96 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
+          echo '${{ toJSON(needs.prepare_strategy.outputs) }}'
           ls -la ${{ env.OUTPUT_DIR }}
 
           ${{ env.CI_DIR }}/publish.sh \
             "${{ github.workspace }}" \
             "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
+            "${{ needs.prepare_strategy.outputs.new_branch }}" \
+            "${{ needs.prepare_strategy.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
+            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
 
       - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
         if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
         run: |
             TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.prepare_strategy.outputs.build }}."
             git push -f origin ${TAG}
 
+  publish_chestnut:
+    concurrency:
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}-chestnut
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{
+      always() && !cancelled() &&
+      needs.build.result == 'success' &&
+      needs.prepare_strategy.result == 'success' &&
+      needs.prepare_small_model.result == 'success' &&
+      needs.prepare_dm_model.result == 'success' &&
+      needs.prepare_chestnut.result == 'success' &&
+      (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
+    needs: [ build, prepare_strategy, prepare_chestnut, prepare_small_model, prepare_dm_model ]
+    runs-on: ubuntu-24.04
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Download prebuilt artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: prebuilt
+
+      - name: Untar prebuilt
+        run: |
+          mkdir -p ${{ env.OUTPUT_DIR }}
+          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
+
+      - name: Download model chunks from HF
+        uses: ./.github/workflows/download-hf-model-chunks
+        with:
+          hf_repo: sunnypilot/sunnypilot_models_v1
+          dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
+          tinygrad_ref: ${{ needs.prepare_dm_model.outputs.tinygrad_ref }}
+          models: |
+            [
+              {"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
+              {"hf_path": "models/defaults/dm", "onnx_hash": "${{ needs.prepare_dm_model.outputs.dm_onnx_sha256 }}", "canonical": "dmonitoring_model_tinygrad.pkl"},
+              {"hf_path": "models/defaults/big", "onnx_hash": "${{ needs.prepare_chestnut.outputs.onnx_sha256 }}", "canonical": "big_driving_tinygrad.pkl"}
+            ]
+
+      - name: Configure Git
+        run: |
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git config --global user.name "github-actions[bot]"
+
+      - name: Publish chestnut branch
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
+
+          ${{ env.CI_DIR }}/publish.sh \
+            "${{ github.workspace }}" \
+            "${{ env.OUTPUT_DIR }}" \
+            "$CHESTNUT_BRANCH" \
+            "${{ needs.prepare_strategy.outputs.version }}" \
+            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
+            "${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
+
   notify:
     needs:
     - prepare_strategy
     - build
     - publish
+    - publish_chestnut
+    - prepare_chestnut
+    - prepare_small_model
+    - prepare_dm_model
     runs-on: ubuntu-24.04
     if: ${{ (always() && !cancelled() && !failure())
       && needs.publish.result == 'success'
@@ -310,11 +621,12 @@ jobs:
       && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
 
       - name: Prepare notification message
         id: message
         run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
           export VERSION="${{ needs.prepare_strategy.outputs.version }}"
           export branch_name="${{ env.SOURCE_BRANCH }}"
           export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
@@ -323,6 +635,7 @@ jobs:
           export commit_short_sha="${commit_short_sha:0:7}"
           export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
           export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
+          export chestnut_branch="${{ needs.prepare_chestnut.result == 'success' && format('{0}-chestnut', needs.prepare_strategy.outputs.new_branch) || '' }}"
 
           MESSAGE=$(cat << 'EOF' | envsubst
           ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}

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

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

.github/workflows/test_models.yml

@@ -0,0 +1,85 @@
+name: Test Models Compatibility With Tinygrad Changes
+on:
+  pull_request:
+    paths:
+      - 'tinygrad_repo'
+  workflow_dispatch:
+
+jobs:
+  generate-matrix:
+    runs-on: ubuntu-latest
+    outputs:
+      models: ${{ steps.set-matrix.outputs.models }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch and Parse json
+        id: set-matrix
+        run: |
+          python3 -c '
+          import json, urllib.request, os, re
+
+          with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
+            urls = re.findall(r"MODEL_URL(?:_CHESTNUT)?\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", f.read())
+
+          artifacts = []
+          for url in urls:
+            data = json.loads(urllib.request.urlopen(url).read())
+            for bundle in data.get("bundles", []):
+              for model in bundle.get("models", []):
+                if "artifact" in model:
+                  artifacts.append(model["artifact"])
+
+          with open(os.environ["GITHUB_OUTPUT"], "a") as f:
+            f.write(f"models={json.dumps(artifacts)}\n")
+          '
+
+  test-model:
+    name: Test ${{ matrix.artifact.file_name }}
+    needs: generate-matrix
+    runs-on: ubuntu-latest
+    container: ghcr.io/commaai/openpilot-base:latest
+    strategy:
+      fail-fast: false
+      matrix:
+        artifact: ${{ fromJson(needs.generate-matrix.outputs.models) }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Download Model Chunks in Parallel
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          mkdir -p /tmp/model_chunks
+          echo '${{ toJson(matrix.artifact.chunks) }}' > chunks.json
+
+          BASE_URL="${{ matrix.artifact.download_uri.url }}"
+          export BASE_DIR=$(dirname "$BASE_URL")
+
+          python3 -c '
+          import json, os
+          with open("chunks.json") as f:
+            chunks = json.load(f)
+          manifest_path = f"/tmp/model_chunks/${{ matrix.artifact.file_name }}.chunkmanifest"
+          with open(manifest_path, "w") as f:
+            f.write(str(len(chunks)))
+          base_dir = os.environ["BASE_DIR"]
+          hf_token = os.environ.get("HF_TOKEN", "")
+          with open("/tmp/curl_config.txt", "w") as f:
+            for c in chunks:
+              fn = c["file_name"]
+              f.write(f"url = \"{base_dir}/{fn}\"\noutput = \"/tmp/model_chunks/{fn}\"\n")
+              if hf_token:
+                f.write(f"header = \"Authorization: Bearer {hf_token}\"\n")
+          '
+          curl -Z --parallel-immediate --parallel-max 12 --retry 3 --retry-all-errors -s -S -f -L -K /tmp/curl_config.txt
+
+      - name: Run Model Compatibility Test
+        env:
+          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
+          MODEL_CHUNK_DIR: "/tmp/model_chunks"
+        run: |
+          export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
+          python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
+          python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py

.github/workflows/tests.yaml

@@ -20,7 +20,9 @@ concurrency:
 env:
   CI: 1
   PYTHONPATH: ${{ github.workspace }}
-  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
 
 jobs:
   build_release:
@@ -35,27 +37,27 @@ jobs:
       STRIPPED_DIR: /tmp/releasepilot
       PYTHONPATH: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v7
       with:
         submodules: true
     - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
       with:
         timeout_minutes: 2
         max_attempts: 3
         command: git lfs pull
     - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+      timeout-minutes: 3
+      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
     - run: ./tools/op.sh setup
     - name: Build openpilot and run checks
       timeout-minutes: 30
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: python3 system/manager/build.py
+      run: python3 openpilot/system/manager/build.py
     - name: Run tests
       timeout-minutes: 1
       working-directory: ${{ env.STRIPPED_DIR }}
-      run: release/check-dirty.sh
+      run: tools/release/check-dirty.sh
     - name: Check submodules
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
@@ -75,15 +77,13 @@ jobs:
             export CHECK_PR_REFS=true
           fi
         fi
-        release/check-submodules.sh
+        tools/release/check-submodules.sh
 
   build_mac:
     name: build macOS
     runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - name: Remove Homebrew from environment
       run: |
         FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -101,9 +101,7 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Static analysis
       timeout-minutes: 1
@@ -118,23 +116,21 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
+    - name: Install raylib headless dependencies
+      if: ${{ !contains(runner.name, 'nsc') }}
+      run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run unit tests
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        # Pre-compile Python bytecode so each pytest worker doesn't need to
-        $PYTEST --collect-only -m 'not slow' -qq
-        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
+      env:
+        RAYLIB_BACKEND: headless
+      run: tools/op.sh test
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||
@@ -142,62 +138,60 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Run replay
       timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
       continue-on-error: ${{ github.ref == 'refs/heads/master' }}
-      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
+      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
     - name: Print diff
       id: print-diff
       if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
+      run: cat openpilot/selfdrive/test/process_replay/diff.txt
     - name: Print diff report
       if: always()
-      run: cat selfdrive/test/process_replay/diff_report.txt
-    - uses: actions/upload-artifact@v6
+      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
+    - uses: actions/upload-artifact@v7
       if: always()
       continue-on-error: true
       with:
         name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
+        path: openpilot/selfdrive/test/process_replay/diff.txt
     - name: Upload diff report
-      uses: actions/upload-artifact@v6
+      uses: actions/upload-artifact@v7
       if: always() && github.event_name == 'pull_request'
       continue-on-error: true
       with:
         name: diff_report_${{ github.event.number }}
-        path: selfdrive/test/process_replay/diff_report.txt
+        path: openpilot/selfdrive/test/process_replay/diff_report.txt
     - name: Checkout ci-artifacts
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
-      uses: actions/checkout@v4
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v7
       with:
-        repository: commaai/ci-artifacts
+        repository: sunnypilot/ci-artifacts
         ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
         path: ${{ github.workspace }}/ci-artifacts
-    - name: Push refs
-      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+    - name: Prepare refs
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
       working-directory: ${{ github.workspace }}/ci-artifacts
       run: |
         git config user.name "GitHub Actions Bot"
         git config user.email "<>"
         git fetch origin process-replay || true
         git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
-        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
         echo "${{ github.sha }}" > ref_commit
         git add .
         git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
-        git push origin process-replay --force
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      env:
-        ONNXCPU: 1
-      run: $PYTEST selfdrive/test/process_replay/test_regen.py
+    - name: Push refs
+      if: github.repository == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
+      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force
 
   simulator_driving:
     name: simulator driving
@@ -209,17 +203,16 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     if: false  # FIXME: Started to timeout recently
     steps:
-    - uses: actions/checkout@v6
-      with:
-        submodules: true
+    - uses: actions/checkout@v7
     - run: ./tools/op.sh setup
     - name: Build openpilot
-      run: scons -j$(nproc)
+      run: scons
     - name: Driving test
       timeout-minutes: 2
-      run: |
-        source selfdrive/test/setup_xvfb.sh
-        pytest -s tools/sim/tests/test_metadrive_bridge.py
+      env:
+        # MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
+        EGL_PLATFORM: surfaceless
+      run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
 
   create_ui_report:
     name: Create UI Report
@@ -230,19 +223,21 @@ jobs:
       && fromJSON('["namespace-profile-amd64-8x16"]')
       || fromJSON('["ubuntu-24.04"]') }}
     steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
+      - uses: actions/checkout@v7
       - run: ./tools/op.sh setup
+      - name: Install raylib headless dependencies
+        if: ${{ !contains(runner.name, 'nsc') }}
+        run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
       - name: Build openpilot
-        run: scons -j$(nproc)
+        run: scons
       - name: Create UI Report
+        env:
+          RAYLIB_BACKEND: headless
         run: |
-          source selfdrive/test/setup_xvfb.sh
-          python3 selfdrive/ui/tests/diff/replay.py
-          python3 selfdrive/ui/tests/diff/replay.py --big
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py
+          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
       - name: Upload UI Report
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-          path: selfdrive/ui/tests/diff/report
+          path: openpilot/selfdrive/ui/tests/diff/report

.github/workflows/ui_preview.yaml

@@ -8,9 +8,9 @@ on:
     branches:
       - 'master'
     paths:
-      - 'selfdrive/assets/**'
-      - 'selfdrive/ui/**'
-      - 'system/ui/**'
+      - 'openpilot/selfdrive/assets/**'
+      - 'openpilot/selfdrive/ui/**'
+      - 'openpilot/system/ui/**'
   workflow_dispatch:
 
 env:
@@ -25,7 +25,8 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: false # tmp disable due to GH API rate limiting flakiness
+    #if: github.repository == 'sunnypilot/sunnypilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -34,12 +35,12 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: true
 
       - name: Waiting for ui generation to end
-        uses: lewagon/wait-on-check-action@v1.3.4
+        uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
         with:
           ref: ${{ env.SHA }}
           check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +54,7 @@ jobs:
           echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Getting proposed ui
-        uses: dawidd6/action-download-artifact@v6
+        uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +63,7 @@ jobs:
           path: ${{ github.workspace }}/pr_ui
 
       - name: Getting mici master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +71,7 @@ jobs:
           ref: openpilot_master_ui_mici_raylib
 
       - name: Getting big master ui
-        uses: actions/checkout@v6
+        uses: actions/checkout@v7
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +98,7 @@ jobs:
           done
 
       - name: Setup FFmpeg
-        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+        uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
 
       - name: Finding diffs
         if: github.event_name == 'pull_request_target'
@@ -115,13 +116,13 @@ jobs:
             cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
 
             diff_exit_code=0
-            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+            python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
               "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
               "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
               "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
 
             REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
             if [ $diff_exit_code -eq 0 ]; then
@@ -156,7 +157,7 @@ jobs:
           for variant in $VARIANTS; do
             IFS=':' read -r name _ _ <<< "$variant"
             diff_name="${name}_diff"
-            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
             git add "${diff_name}_pr_${{ github.event.number }}.html"
           done
           git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
@@ -164,12 +165,12 @@ jobs:
 
       - name: Comment on PR
         if: github.event_name == 'pull_request_target'
-        uses: thollander/actions-comment-pull-request@v2
+        uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
         with:
           message: |
             <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
             ## UI Preview
             ${{ steps.find_diff.outputs.COMMENT }}
-          comment_tag: run_id_ui_preview
-          pr_number: ${{ github.event.number }}
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          comment-tag: run_id_ui_preview
+          pr-number: ${{ github.event.number }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -15,6 +15,13 @@ a.out
 .cache/
 bin/
 
+# created at launch for comma hardware PYTHONPATH (PC uses editable installs via pyproject.toml)
+/msgq
+/opendbc
+/rednose
+/teleoprtc
+/tinygrad
+
 *.mp4
 *.dylib
 *.DSYM
@@ -32,6 +39,8 @@ bin/
 *.os-*
 *.so
 *.a
+st[0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z][0-9A-Za-z]
+*.unchunked
 *.clb
 *.class
 *.pyxbldc
@@ -41,21 +50,23 @@ bin/
 *.stats
 *.pkl
 *.pkl*
+!openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+!openpilot/sunnypilot/modeld_v2/models/*.pkl
 config.json
 compile_commands.json
 compare_runtime*.html
-selfdrive/modeld/models/tg_compiled_flags.json
+openpilot/selfdrive/modeld/models/tg_input_devices.json
 
 # build artifacts
-docs_site/
-selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
-selfdrive/ui/translations/tmp
-selfdrive/car/tests/cars_dump
-system/camerad/camerad
-system/camerad/test/ae_gray_test
+docs/_site/
+openpilot/selfdrive/pandad/pandad
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
+openpilot/selfdrive/ui/translations/tmp
+openpilot/selfdrive/car/tests/cars_dump
+openpilot/system/camerad/camerad
+openpilot/system/camerad/test/ae_gray_test
 
 .coverage*
 coverage.xml

.gitmodules

@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
@@ -17,5 +17,6 @@
   path = tinygrad_repo
   url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
+	path = openpilot/sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
+

.lfsconfig

@@ -1,4 +1,5 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	url = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+	pushurl = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+
 	locksverify = false

.vscode/launch.json

@@ -6,9 +6,9 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/controls/controlsd.py",
-        "system/timed/timed.py",
-        "tools/sim/run_bridge.py"
+        "openpilot/selfdrive/controls/controlsd.py",
+        "openpilot/system/timed/timed.py",
+        "openpilot/tools/sim/run_bridge.py"
       ]
     },
     {
@@ -16,7 +16,7 @@
       "type": "pickString",
       "description": "Select the process to debug",
       "options": [
-        "selfdrive/ui/ui"
+        "openpilot/selfdrive/ui/ui"
       ]
     },
     {

.vscode/settings.json

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

CHANGELOG.md

@@ -1,4 +1,36 @@
-sunnypilot Version 2026.001.000 (2026-03-xx)
+sunnypilot Version 2026.002.000 (2026-06-28)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * ui: update gates for certain toggles by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1830
+  * release: ignore upstream IsReleaseBranch by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1831
+  * manager: disable DEVELOPMENT_ONLY reset by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1833
+  * sunnylink: fix max time offroad values by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1835
+  * ui: show default model name by @nayan8teen in https://github.com/sunnypilot/sunnypilot/pull/1837
+  * sunnylink: add CarParams fallback for brand-specific capabilities by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1839
+  * sunnylink SDUI: tweak DisableUpdate param for clarity by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1842
+  * Revert "DM: Lancia Delta HF Integrale model" by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1849
+  * modeld_v2: safe model validation by @Discountchubbs in https://github.com/sunnypilot/sunnypilot/pull/1855
+  * Revert "deprecate `carState.brake`" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/sunnypilot/pull/1860
+  * sunnylink: deprecate legacy params metadata by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1862
+  * ui: reset Enforce Torque Control and NNLC if both are enabled by @sunnyhaibin in https://github.com/sunnypilot/sunnypilot/pull/1863
+* What's Changed (sunnypilot/opendbc)
+  * Rivian: suppress ACM hold-the-wheel warning during MADS-only lateral by @lukasloetkolben in https://github.com/sunnypilot/opendbc/pull/465
+  * Sync: `commaai/opendbc:master` → `sunnypilot/opendbc:master` by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/479
+  * safety: add option to ignore frequency check for RX checks by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/480
+  * Revert "deprecate carState.brake" for Honda Gas Interceptor by @mvl-boston in https://github.com/sunnypilot/opendbc/pull/481
+* New Contributors (sunnypilot/sunnypilot)
+  * @mvl-boston made their first contribution in https://github.com/sunnypilot/sunnypilot/pull/1860
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2026.001.007...v2026.002.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit 69e2c321e49760e52f7983eaa0a5f77cb95de637 (June 02, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+
+sunnypilot Version 2026.001.000 (2026-05-06)
 ========================
 * What's Changed (sunnypilot/sunnypilot)
   * Complete rewrite of the user interface from Qt C++ to Raylib Python
@@ -66,6 +98,64 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
   * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
   * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
   * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+  * [TIZI/TICI] ui: ensure null checks for `CarParams` and `CarParamsSP` by @sunnyhaibin
+  * [TIZI/TICI] ui: use `vCruiseCluster` and `vEgoCluster` for SLA `preActive` by @sunnyhaibin
+  * Fix display of values when using use_float_scaling by @CHaucke89
+  * models: fix default & index "0" by @nayan8teen
+  * [TIZI/TICI] visuals: Improved speed limit by @angaz
+  * ICBM: ensure button timers update on disable to clear stale presses by @jamesmikesell
+  * [TIZI/TICI] ui: simplify Smart Cruise Control text rendering by @sunnyhaibin
+  * controlsd: fix steer_limited_by_safety not updating under MADS by @zephleggett
+  * soundd: trigger timeout warning during MADS lateral-only by @zephleggett
+  * pandad: flasher for Rivian long upgrade module by @lukasloetkolben
+  * modeld_v2: tinygrad transformation warp by @Discountchubbs
+  * tools: block `manage_sunnylinkd` in sim startup script by @sunnyhaibin
+  * [MICI] ui: need superclass `_render` in `HudRendererSP` by @sunnyhaibin
+  * [TIZI/TICI] ui: Speed Limit Assist active status by @sunnyhaibin
+  * ui: reimplement "Screen Off" option to Onroad Brightness by @sunnyhaibin
+  * ui: don't hide steering wheel when blindspot disabled by @royjr
+  * ui: Speed Limit Assist `preActive` improvements  by @sunnyhaibin
+  * ui: consolidate Speed Limit Assist `preActive` status rendering by @sunnyhaibin
+  * [MICI] ui: Speed Limit Assist `preActive` status by @sunnyhaibin
+  * sunnypilot modeld: remove thneed modeld by @Discountchubbs
+  * modeld_v2: decouple planplus scaling from accel by @Discountchubbs
+  * sunnylink: Handle exceptions in `getParamsAllKeysV1` to log crashes by @devtekve
+  * [TIZI/TICI] ui: Developer UI cleanup by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic alert size by @nayan8teen
+  * i18n(fr): Add French translations by @didlawowo
+  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
+  * ui: `AlertFadeAnimator` for longitudinal-related statuses by @sunnyhaibin
+  * pandad: gate unsupported pandas before flashing by @sunnyhaibin
+  * Rivian: Flash xnor's Longitudinal Upgrade Kit prior supported panda check by @lukasloetkolben
+  * [TIZI/TICI] ui: add back gate steering arc behind toggle by @sunnyhaibin
+  * ui: gate Onroad Brightness Delay on readiness by @sunnyhaibin
+  * ui: add new timer options for Onroad Brightness Delay by @sunnyhaibin
+  * [TIZI/TICI] ui: branch switcher is always available by @sunnyhaibin
+  * pandad: always prioritize internal panda by @sunnyhaibin
+  * sunnylinkd: fetch compressed params schema by @sunnyhaibin
+  * sunnypilot locationd: remove unused car_ekf filter by @sunnyhaibin
+  * modeld_v2: update deprecated temporalPose ref by @sunnyhaibin
+  * NNLC: restore pre-v1 PID gains in torque extension by @mmmorks
+  * MADS safety: enable heartbeat and lateral controls mismatch checks by @sunnyhaibin
+  * [MICI] ui: models panel enhancements by @nayan8teen
+  * [TIZI/TICI] ui: fix unintended selection while scrolling in TreeOptionDialog by @TheSecurityDev
+  * tools: script for video concatenation by @Discountchubbs
+  * tools: profile memory usage by @Discountchubbs
+  * [TIZI/TICI] ui: remove per-frame param sync by @sunnyhaibin
+  * [MICI] ui: always offroad by @nayan8teen
+  * controls: always default Torque Lateral Control to v0 Tune by @sunnyhaibin
+  * Revert "controls: always default Torque Lateral Control to v0 Tune" by @sunnyhaibin
+  * Reapply "controls: always default Torque Lateral Control to v0 Tune" (#1806) by @sunnyhaibin
+  * [MICI] ui: add sunnylink info & connectivity check by @nayan8teen
+  * sunnylink: Remove unused API endpoint by @devtekve
+  * DM: wheel touch enforcement in MADS by @sunnyhaibin
+  * torque: show static override values in Dev UI & gate `useParams` on custom torque tune by @sunnyhaibin
+  * MADS: suppress espActive event when long is not engaged by @sunnyhaibin
+  * sunnylink: SDUI by @sunnyhaibin
+  * [MICI] ui: align upstream changes with sunnypilot settings buttons by @nayan8teen
+  * ui: fix cellular toggles by @AmyJeanes
+  * sunnylink: switch athena domain by @devtekve
+  * Platform List: dynamically migrate CarPlatformBundle by @sunnyhaibin
 * What's Changed (sunnypilot/opendbc)
   * Honda: DBC for Accord 9th Generation by @mvl-boston
   * FCA: update tire stiffness values for `RAM_HD` by @dparring
@@ -84,12 +174,25 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
   * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
   * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
   * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
+  * Hyundai Longitudinal: deprecate ramp update for dynamic tune by @Discountchubbs
+  * Rivian: long upgrade messages on bus 1 by @lukasloetkolben
+  * Toyota: Stop and Go Hack (Alpha) by @sunnyhaibin
+  * Toyota: gate Smart DSU behind Alpha Longitudinal by @sunnyhaibin
+  * Toyota: Gas Interceptor always set `standstill_req` by @sunnyhaibin
+  * MADS safety: dedicated `controls_allowed_lateral` by @sunnyhaibin
+  * Platform List: include community supported platforms by @sunnyhaibin
 * New Contributors (sunnypilot/sunnypilot)
   * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
   * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
   * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
   * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
   * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+  * @angaz made their first contribution in "[TIZI/TICI] visuals: Improved speed limit"
+  * @jamesmikesell made their first contribution in "ICBM: ensure button timers update on disable to clear stale presses"
+  * @zephleggett made their first contribution in "controlsd: fix steer_limited_by_safety not updating under MADS"
+  * @lukasloetkolben made their first contribution in "pandad: flasher for Rivian long upgrade module"
+  * @didlawowo made their first contribution in "i18n(fr): Add French translations"
+  * @mmmorks made their first contribution in "NNLC: restore pre-v1 PID gains in torque extension"
 * New Contributors (sunnypilot/opendbc)
   * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
   * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
@@ -99,6 +202,20 @@ sunnypilot Version 2026.001.000 (2026-03-xx)
   * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
   * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Improved inter-process communication memory efficiency
+* comma four support
 
 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================

Dockerfile.openpilot

@@ -1,38 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY --chown=$USER . ${OPENPILOT_PATH}/
-
-ENV UV_BIN="/home/$USER/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'

Jenkinsfile

@@ -12,16 +12,18 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
+ssh -o ControlMaster=no -o ControlPath=none -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=12 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec setpriv --pdeathsig HUP /usr/bin/bash <<'END'
 
 set -e
 
 export TERM=xterm-256color
 
-shopt -s huponexit # kill all child processes when the shell exits
+trap 'kill 0' HUP # stop this process group on SSH disconnect
 
 export CI=1
 export PYTHONWARNINGS=error
+export PYTHONFAULTHANDLER=1
+export COMMA_CACHE=/data/tmp/comma_download_cache
 #export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
@@ -30,14 +32,14 @@ export GIT_COMMIT=${env.GIT_COMMIT}
 export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
 export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-# only use 1 thread for tici tests since most require HIL
+# only use 1 thread since most require real hardware that can't be shared
 export PYTEST_ADDOPTS="-n0 -s"
 
 
 export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
-if [ -f /TICI ]; then
+if [ -f /AGNOS ]; then
   source /etc/profile
 
   rm -rf /tmp/tmp*
@@ -63,10 +65,13 @@ if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
+export LD_LIBRARY_PATH="\$(python -c 'import ffmpeg; print(ffmpeg.LIB_DIR)'):/usr/local/lib:\${LD_LIBRARY_PATH:-}"
+
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true
-time ${cmd}
+time ( ${cmd} ) &
+wait \$!
 END"""
 
     sh script: ssh_cmd, label: step_label
@@ -93,7 +98,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           retry (3) {
             def date = sh(script: 'date', returnStdout: true).trim();
             device(device_ip, "set time", "date -s '" + date + "'")
-            device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+            device(device_ip, "git checkout", extra + "\n" + readFile("openpilot/selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
             def name = item[0]
@@ -166,8 +171,8 @@ node {
   env.GIT_BRANCH = checkout(scm).GIT_BRANCH
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
-  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'release-tici', 'release-tizi', 'release-tizi-staging', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
+  def excludeBranches = ['__nightly', '__nightly-chestnut', 'devel', 'devel-staging',
+                         'release-tizi', 'release-tizi-staging', 'release-mici', 'release-mici-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -179,7 +184,7 @@ node {
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
       deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
-        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh && git push -f origin release-tizi-staging:release-mici-staging"),
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging,release-mici-staging $SOURCE_DIR/tools/release/build_release.sh"),
       ])
     }
 
@@ -187,67 +192,80 @@ node {
       parallel (
         'nightly': {
           deviceStage("build nightly", "tizi-needs-can", [], [
-            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
           deviceStage("build nightly-dev", "tizi-needs-can", [], [
-            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
+            step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/tools/release/build_release.sh"),
           ])
         },
       )
     }
 
+    if (env.BRANCH_NAME == '__nightly-chestnut') {
+      deviceStage("build nightly-chestnut", "mici-chestnut-ci", [], [
+        step("build nightly-chestnut", "SCONSFLAGS=-j4 INCLUDE_BIG_MODEL=1 PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-chestnut $SOURCE_DIR/tools/release/build_release.sh TestChestnutOnroad"),
+      ])
+    }
+
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
       'onroad tests': {
         deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("check dirty", "release/check-dirty.sh"),
-          step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("check dirty", "tools/release/check-dirty.sh"),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
-          step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test manager", "pytest system/manager/test/test_manager.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
+          step("test encoder", "./openpilot/system/loggerd/tests/test_encoder.py", [diffPaths: ["openpilot/system/loggerd/"]]),
+          step("test manager", "./openpilot/system/manager/test/test_manager.py"),
         ])
       },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad", "./openpilot/selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "./openpilot/system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
+          step("build", "cd openpilot/system/manager && ./build.py"),
+          step("test sensord", "./openpilot/system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
         deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-          step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
-          step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
+          step("build openpilot", "cd openpilot/system/manager && ./build.py"),
+          step("test pandad loopback", "./openpilot/selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad spi", "./openpilot/selfdrive/pandad/tests/test_pandad_spi.py"),
+          step("test amp", "./openpilot/common/hardware/comma/tests/test_amplifier.py"),
+        ])
+      },
+      'chestnut': {
+        deviceStage("chestnut", "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
+          step("build", "./openpilot/selfdrive/test/chestnut.sh"),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+          step("onroad tests", "./openpilot/selfdrive/test/test_onroad.py TestChestnutOnroad", [timeout: 120]),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
         ])
       },
 

RELEASES.md

@@ -1,7 +1,21 @@
-Version 0.11.1 (2026-04-22)
+Version 0.11.2 (2026-08-12)
+=======================
+* New driving model
+  * Big model with 880M parameters
+* Support for big models running on an external GPU
+* Live stream cameras from comma connect
+* Generate dashcam clips from comma connect
+* Remote comma body control from comma connect
+* New alert sounds
+* CUPRA Born 2021-2023 support thanks to DaHansi!
+* Volkswagen ID.4 2021-2025 support thanks to DaHansi!
+
+Version 0.11.1 (2026-05-18)
 ========================
 * New driver monitoring model
 * Improved image processing pipeline for driver camera
+* Improved thermal policy for comma four
+* Acura MDX 2022-24 support thanks to mvl-boston!
 * Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
 
 Version 0.11.0 (2026-03-17)
@@ -1098,7 +1112,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -10,35 +10,74 @@ import numpy as np
 import SCons.Errors
 from SCons.Defaults import _stripixes
 
+COMMA_HARDWARE = os.path.isfile('/AGNOS')
+
 SCons.Warnings.warningAsException(True)
 
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
+SetOption('num_jobs', max(1, int(os.cpu_count()/(1 if "CI" in os.environ else 2))))
 
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
 AddOption('--verbose', action='store_true', default=False, help='show full build commands')
+release = not os.path.exists(File('#.gitattributes').abspath) # file absent on release branch, see release_files.py
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
+          default=(not COMMA_HARDWARE and not release),
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
+submodule_python_paths = [
+  Dir("#").abspath,
+  Dir("#msgq_repo").abspath,
+  Dir("#opendbc_repo").abspath,
+  Dir("#rednose_repo").abspath,
+  Dir("#teleoprtc_repo").abspath,
+  Dir("#tinygrad_repo").abspath,
+]
+for p in reversed(submodule_python_paths):
+  if p not in sys.path:
+    sys.path.insert(0, p)
+
+if external_pythonpath := os.environ.get("PYTHONPATH"):
+  submodule_python_paths += [p for p in external_pythonpath.split(os.pathsep) if p and p not in submodule_python_paths]
+
 # Detect platform
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-elif arch == "aarch64" and os.path.isfile('/TICI'):
-  arch = "larch64"
+elif arch == "aarch64" and COMMA_HARDWARE:
+  arch = "comma_arm64"
 assert arch in [
-  "larch64",  # linux tici arm64
-  "aarch64",  # linux pc arm64
-  "x86_64",   # linux pc x64
-  "Darwin",   # macOS arm64 (x86 not supported)
+  "comma_arm64",  # linux comma hardware (AGNOS) arm64
+  "aarch64",      # linux pc arm64
+  "x86_64",       # linux pc x64
+  "Darwin",       # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
+pkg_names = ['acados', 'capnproto', 'eigen', 'ffmpeg', 'json11', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
+acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
+# Shared package ships .so/.dylib; older device venvs still have static .a only.
+# Keep static link deps (x264/z/va/drm) when the installed package is static so
+# COMMA_HARDWARE CI works without upgrading the device venv yet.
+# TODO: drop the static fallback once device venvs have comma-deps-ffmpeg>=7.1.0.post94
+_ffmpeg_lib_names = os.listdir(ffmpeg.LIB_DIR) if os.path.isdir(ffmpeg.LIB_DIR) else []
+ffmpeg_shared = any(
+  n.startswith('libavcodec.so') or (n.startswith('libavcodec') and n.endswith('.dylib'))
+  for n in _ffmpeg_lib_names
+)
+ffmpeg_libs = ['avformat', 'avcodec', 'swresample', 'avutil']
+if not ffmpeg_shared:
+  ffmpeg_libs += ['x264', 'z']
+  if arch != "Darwin":
+    ffmpeg_libs += ['va', 'va-drm', 'drm']
+acados_include_dirs = [
+  acados.INCLUDE_DIR,
+  os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
+  os.path.join(acados.INCLUDE_DIR, "hpipm", "include"),
+]
 
 
 # ***** enforce a whitelist of system libraries *****
@@ -48,7 +87,6 @@ pkgs = [importlib.import_module(name) for name in pkg_names]
 # vendored in commaai/dependencies.
 allowed_system_libs = {
   "EGL", "GLESv2", "GL",
-  "Qt5Charts", "Qt5Core", "Qt5Gui", "Qt5Widgets",
   "dl", "drm", "gbm", "m", "pthread",
 }
 
@@ -82,18 +120,20 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+    "TMPDIR": os.environ.get('TMPDIR', '/tmp'),
+    "PYTHONPATH": os.pathsep.join(submodule_python_paths),
+    "ACADOS_SOURCE_DIR": acados.DIR,
+    "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
+    "TERA_PATH": acados.TERA_PATH
   },
   CCFLAGS=[
     "-g",
     "-fPIC",
+    "-pipe",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow" if arch in ("Darwin", "comma_arm64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -103,44 +143,46 @@ env = Environment(
   CFLAGS=["-std=gnu11"],
   CXXFLAGS=["-std=c++1z"],
   CPPPATH=[
-    "#",
-    "#msgq",
-    "#third_party",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/acados/include",
-    "#third_party/acados/include/blasfeo/include",
-    "#third_party/acados/include/hpipm/include",
-    "#third_party/catch2/include",
+    "#openpilot",
+    "#msgq_repo",            # #include "msgq/..."
+    "#opendbc_repo",         # #include "opendbc/..."
+    "#rednose_repo",         # #include "rednose/..."
+    "#rednose_repo/rednose", # #include "logger/..." (rednose package root)
+    "#openpilot/cereal/gen/cpp",
+    acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
+    "#",
   ],
   LIBPATH=[
-    "#common",
+    "#openpilot/common",
     "#msgq_repo",
-    "#third_party",
-    "#selfdrive/pandad",
-    "#rednose/helpers",
-    f"#third_party/acados/{arch}/lib",
+    "#openpilot/selfdrive/pandad",
+    "#rednose_repo/rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR] if ffmpeg_shared else [],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#rednose_repo",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#msgq_repo/site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
-if arch != "larch64":
+# SCons' Darwin linker tool doesn't define the variables used to expand RPATH.
+if arch == "Darwin":
+  env["RPATHPREFIX"] = "-Wl,-rpath,"
+  env["RPATHSUFFIX"] = ""
+  env["_RPATH"] = "${_concat(RPATHPREFIX, RPATH, RPATHSUFFIX, __env__)}"
+if arch != "comma_arm64":
   env['_LIBFLAGS'] = _libflags
 
 # Arch-specific flags and paths
-if arch == "larch64":
+if arch == "comma_arm64":
   env["CC"] = "clang"
   env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__COMMA_HARDWARE__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -174,16 +216,6 @@ if not GetOption('verbose'):
   ):
     env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
 
-# progress output
-node_interval = 5
-node_count = 0
-def progress_function(node):
-  global node_count
-  node_count += node_interval
-  sys.stderr.write("progress: %d\n" % node_count)
-if os.environ.get('SCONS_PROGRESS'):
-  Progress(progress_function, interval=node_interval)
-
 # ********** Cython build environment **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [sysconfig.get_paths()['include'], np.get_include()]
@@ -199,18 +231,28 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-Export('env', 'arch')
+Export('env', 'arch', 'acados', 'release', 'ffmpeg_libs')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+default_cache_dir = '/data/scons_cache' if arch == "comma_arm64" else '/tmp/scons_cache'
 cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+cache_size_limit = 4e9 if "CI" in os.environ else 2e9
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
+def prune_cache_dir(target=None, source=None, env=None):
+  cache_files = sorted((os.path.join(root, f) for root, _, files in os.walk(cache_dir) for f in files), key=os.path.getmtime)
+  cache_size = sum(os.path.getsize(f) for f in cache_files)
+  for f in cache_files:
+    if cache_size < cache_size_limit:
+      break
+    cache_size -= os.path.getsize(f)
+    os.unlink(f)
+
 # ********** start building stuff **********
 
 # Build common module
-SConscript(['common/SConscript'])
+SConscript(['openpilot/common/SConscript'])
 Import('_common')
 common = [_common, 'json11', 'zmq']
 Export('common')
@@ -221,7 +263,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]
@@ -232,38 +274,82 @@ Export('messaging')
 SConscript(['panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['rednose_repo/rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/loggerd/SConscript',
+  'openpilot/system/loggerd/SConscript',
 ])
 
-if arch == "larch64":
-  SConscript(['system/camerad/SConscript'])
-
-# Build openpilot
-SConscript(['third_party/SConscript'])
+if arch == "comma_arm64":
+  SConscript(['openpilot/system/camerad/SConscript'])
 
 # Build selfdrive
 SConscript([
-  'selfdrive/pandad/SConscript',
-  'selfdrive/controls/lib/lateral_mpc_lib/SConscript',
-  'selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
-  'selfdrive/locationd/SConscript',
-  'selfdrive/modeld/SConscript',
-  'selfdrive/ui/SConscript',
+  'openpilot/selfdrive/pandad/SConscript',
+  'openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript',
+  'openpilot/selfdrive/controls/lib/ford_joint/SConscript',
+  'openpilot/selfdrive/locationd/SConscript',
+  'openpilot/selfdrive/modeld/SConscript',
+  'openpilot/selfdrive/ui/SConscript',
 ])
 
-SConscript(['sunnypilot/SConscript'])
+SConscript(['openpilot/sunnypilot/SConscript'])
 
-# Build tools
-if arch != "larch64":
+# Build desktop-only tools
+if GetOption('extras') and arch != "comma_arm64":
   SConscript([
-    'tools/replay/SConscript',
-    'tools/cabana/SConscript',
-    'tools/jotpluggler/SConscript',
+    'openpilot/tools/replay/SConscript',
+    'openpilot/tools/cabana/SConscript',
+    'openpilot/tools/jotpluggler/SConscript',
   ])
 
 
 env.CompilationDatabase('compile_commands.json')
+
+# progress output
+def count_scons_nodes(nodes):
+  seen = set()
+  stack = list(nodes)
+
+  while stack:
+    node = stack.pop().disambiguate()
+    if node in seen:
+      continue
+    seen.add(node)
+    if hasattr(node, 'has_builder') and node.has_builder():
+      build_product_nodes.add(node)
+    executor = node.get_executor()
+    if executor is not None:
+      stack += executor.get_all_prerequisites() + executor.get_all_children()
+
+  return len(seen)
+
+progress_interval = 5
+progress_count = 0
+build_product_nodes = set()
+progress_total = max(1, count_scons_nodes(env.arg2nodes(BUILD_TARGETS or [Dir('.')], env.fs.Entry)))
+
+def progress_function(node):
+  global progress_count
+  if progress_count >= progress_total:
+    return
+  progress_count = min(progress_count + progress_interval, progress_total)
+  progress = round(100. * progress_count / progress_total, 1)
+  sys.stderr.write("\rBuilding: %5.1f%%" % progress if sys.stderr.isatty() else "progress: %.1f\n" % progress)
+  if progress == 100. and sys.stderr.isatty():
+    sys.stderr.write("\n")
+  sys.stderr.flush()
+
+Progress(progress_function, interval=progress_interval)
+AddPostAction(BUILD_TARGETS or [Dir('.')], prune_cache_dir)
+
+def check_build_product_size(target, source, env):
+  limit = 50 * 1024 * 1024  # GitHub max size
+  for t in target:
+    if str(t).endswith('.pkl'):  # chunked during release packaging
+      continue
+    if hasattr(t, 'isfile') and t.isfile() and (size := os.path.getsize(t.abspath)) > limit:
+      raise SCons.Errors.UserError(f"{t} is {size / (1024 * 1024):.1f} MiB, exceeding the {limit / (1024 * 1024):.1f} MiB limit")
+if not GetOption('extras'):
+  AddPostAction(list(build_product_nodes), Action(check_build_product_size, None))

cereal/SConscript

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

cereal/__init__.py

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

cereal/car.capnp

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

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,251 +0,0 @@
-#!/usr/bin/env python3
-"""Schema-level cereal compat check between sunnypilot and upstream openpilot.
-
-Rules (per struct matched across sides by typeId):
-  R1  shared ordinal must reference the same type.
-  R2  sunnypilot-only ordinal in a union -> FAIL (unknown discriminant upstream).
-  R3  sunnypilot-only ordinal on a regular field -> OK (additive struct evolution).
-  R4  upstream-only ordinal -> OK.
-  R5  sunnypilot-only struct referenced via an upstream-shared field -> FAIL.
-"""
-
-from __future__ import annotations
-
-import argparse
-import json
-import sys
-from typing import Any
-
-NO_DISCRIMINANT = 0xFFFF
-
-
-def hex_id(value: int) -> str:
-  return f"0x{value:016x}"
-
-
-def encode_type(type_node: Any) -> dict:
-  which = type_node.which()
-  if which == "struct":
-    return {"kind": "struct", "typeId": hex_id(type_node.struct.typeId)}
-  if which == "enum":
-    return {"kind": "enum", "typeId": hex_id(type_node.enum.typeId)}
-  if which == "interface":
-    return {"kind": "interface", "typeId": hex_id(type_node.interface.typeId)}
-  if which == "list":
-    return {"kind": "list", "element": encode_type(type_node.list.elementType)}
-  if which == "anyPointer":
-    return {"kind": "anyPointer"}
-  return {"kind": which}
-
-
-def encode_field(name: str, field: Any) -> dict:
-  proto = field.proto
-  ordinal = proto.ordinal.explicit if proto.ordinal.which() == "explicit" else None
-  discriminant = proto.discriminantValue if proto.discriminantValue != NO_DISCRIMINANT else None
-
-  if proto.which() == "group":
-    type_desc = {"kind": "group", "typeId": hex_id(proto.group.typeId)}
-  else:
-    type_desc = encode_type(proto.slot.type)
-
-  return {
-    "name": name,
-    "ordinal": ordinal,
-    "discriminant": discriminant,
-    "type": type_desc,
-  }
-
-
-def encode_struct(schema: Any) -> dict:
-  node = schema.node
-  return {
-    "typeId": hex_id(node.id),
-    "displayName": node.displayName,
-    "hasUnion": node.struct.discriminantCount > 0,
-    "fields": [encode_field(name, field) for name, field in schema.fields.items()],
-  }
-
-
-def _child_struct_schema(field: Any) -> Any:
-  proto = field.proto
-  if proto.which() == "group":
-    return field.schema
-  type_node = proto.slot.type
-  which = type_node.which()
-  if which == "struct":
-    return field.schema
-  if which == "list":
-    container = field.schema
-    element_type = type_node.list.elementType
-    while element_type.which() == "list":
-      container = container.elementType
-      element_type = element_type.list.elementType
-    if element_type.which() == "struct":
-      return container.elementType
-  return None
-
-
-def collect_schema(root: Any) -> dict[str, dict]:
-  structs: dict[str, dict] = {}
-  stack = [root]
-  while stack:
-    schema = stack.pop()
-    type_id = hex_id(schema.node.id)
-    if type_id in structs:
-      continue
-    structs[type_id] = encode_struct(schema)
-    for _name, field in schema.fields.items():
-      try:
-        child = _child_struct_schema(field)
-      except Exception:
-        child = None
-      if child is not None:
-        stack.append(child)
-  return structs
-
-
-def dump_schema(path: str) -> None:
-  from cereal import log
-  payload = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  with open(path, "w", encoding="utf-8") as handle:
-    json.dump(payload, handle, indent=2, sort_keys=True)
-  print(f"wrote schema dump with {len(payload['structs'])} structs to {path}")
-
-
-def types_equal(a: dict, b: dict) -> bool:
-  if a.get("kind") != b.get("kind"):
-    return False
-  kind = a["kind"]
-  if kind in ("struct", "enum", "interface", "group"):
-    return a.get("typeId") == b.get("typeId")
-  if kind == "list":
-    return types_equal(a["element"], b["element"])
-  return True
-
-
-def type_repr(t: dict) -> str:
-  kind = t.get("kind", "?")
-  if kind in ("struct", "enum", "interface", "group"):
-    return f"{kind}({t.get('typeId')})"
-  if kind == "list":
-    return f"list<{type_repr(t['element'])}>"
-  return kind
-
-
-def field_is_union_variant(field: dict) -> bool:
-  return field.get("discriminant") is not None
-
-
-def index_fields_by_ordinal(struct: dict) -> dict[int, dict]:
-  indexed: dict[int, dict] = {}
-  for field in struct["fields"]:
-    ordinal = field.get("ordinal")
-    if ordinal is None:
-      continue
-    indexed[ordinal] = field
-  return indexed
-
-
-def compare(sunnypilot_dump: dict, upstream_dump: dict) -> list[str]:
-  violations: list[str] = []
-  sunnypilot_structs: dict[str, dict] = sunnypilot_dump["structs"]
-  upstream_structs: dict[str, dict] = upstream_dump["structs"]
-
-  sunnypilot_struct_referenced_from_shared: set[str] = set()
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    upstream_struct = upstream_structs.get(type_id)
-    if upstream_struct is None:
-      continue
-
-    sunnypilot_fields = index_fields_by_ordinal(sunnypilot_struct)
-    upstream_fields = index_fields_by_ordinal(upstream_struct)
-    display = sunnypilot_struct["displayName"]
-
-    for ordinal, sunnypilot_field in sunnypilot_fields.items():
-      upstream_field = upstream_fields.get(ordinal)
-      if upstream_field is None:
-        if field_is_union_variant(sunnypilot_field):
-          violations.append(
-            f"[R2] {display} @{ordinal} ('{sunnypilot_field['name']}', {type_repr(sunnypilot_field['type'])}): "
-            f"union variant not present upstream. upstream cannot parse this discriminant."
-          )
-        continue
-
-      if not types_equal(sunnypilot_field["type"], upstream_field["type"]):
-        violations.append(
-          f"[R1] {display} @{ordinal}: type mismatch. "
-          f"sunnypilot='{sunnypilot_field['name']}' {type_repr(sunnypilot_field['type'])} vs "
-          f"upstream='{upstream_field['name']}' {type_repr(upstream_field['type'])}."
-        )
-        continue
-
-      cursor = sunnypilot_field["type"]
-      while cursor.get("kind") == "list":
-        cursor = cursor["element"]
-      if cursor.get("kind") in ("struct", "group", "interface") and cursor.get("typeId"):
-        sunnypilot_struct_referenced_from_shared.add(cursor["typeId"])
-
-  for type_id, sunnypilot_struct in sunnypilot_structs.items():
-    if type_id in upstream_structs:
-      continue
-    if type_id in sunnypilot_struct_referenced_from_shared:
-      violations.append(
-        f"[R5] struct {sunnypilot_struct['displayName']} ({type_id}) exists only on sunnypilot "
-        f"but is referenced from an upstream-shared field. upstream cannot resolve this type."
-      )
-
-  return violations
-
-
-def load_peer(path: str) -> dict:
-  with open(path, "r", encoding="utf-8") as handle:
-    return json.load(handle)
-
-
-def run_read(peer_path: str) -> int:
-  from cereal import log
-  peer_dump = load_peer(peer_path)
-  local_dump = {
-    "root": hex_id(log.Event.schema.node.id),
-    "structs": collect_schema(log.Event.schema),
-  }
-  violations = compare(sunnypilot_dump=peer_dump, upstream_dump=local_dump)
-
-  if not violations:
-    print("cereal compat OK: upstream openpilot can parse sunnypilot routes "
-          "(no leaked structs, no ordinal collisions).")
-    return 0
-
-  print(f"cereal compat FAIL: upstream openpilot would misparse sunnypilot routes "
-        f"({len(violations)} violation(s)):")
-  for v in violations:
-    print(f"  {v}")
-  return 1
-
-
-def main() -> int:
-  parser = argparse.ArgumentParser(
-    description="sunnypilot <-> upstream cereal compatibility validator (schema-level)."
-  )
-  mode = parser.add_mutually_exclusive_group(required=True)
-  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
-  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
-  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
-  args = parser.parse_args()
-
-  try:
-    if args.generate:
-      dump_schema(args.file)
-      return 0
-    return run_read(args.file)
-  except ImportError as exc:
-    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
-    return 2
-
-
-if __name__ == "__main__":
-  sys.exit(main())

common/SConscript

@@ -1,23 +0,0 @@
-Import('env', 'envCython')
-
-common_libs = [
-  'params.cc',
-  'swaglog.cc',
-  'util.cc',
-  'ratekeeper.cc',
-]
-
-_common = env.Library('common', common_libs, LIBS="json11")
-Export('_common')
-
-if GetOption('extras'):
-  env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
-              LIBS=[_common, 'json11', 'zmq', 'pthread'])
-
-# Cython bindings
-params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
-
-common_python = [params_python]
-
-Export('common_python')

common/file_chunker.py

@@ -1,37 +0,0 @@
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-
-def read_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)

common/mock/generators.py

@@ -1,14 +0,0 @@
-from cereal import messaging
-
-
-def generate_livePose():
-  msg = messaging.new_message('livePose')
-  meas = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'xStd': 0.0, 'yStd': 0.0, 'zStd': 0.0, 'valid': True}
-  msg.livePose.orientationNED = meas
-  msg.livePose.velocityDevice = meas
-  msg.livePose.angularVelocityDevice = meas
-  msg.livePose.accelerationDevice = meas
-  msg.livePose.inputsOK = True
-  msg.livePose.posenetOK = True
-  msg.livePose.sensorsOK = True
-  return msg

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "POP model (Default)"

common/parameterized.py

@@ -1,47 +0,0 @@
-import sys
-import pytest
-import inspect
-
-
-class parameterized:
-  @staticmethod
-  def expand(cases):
-    cases = list(cases)
-
-    if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
-
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
-
-    return decorator
-
-
-def parameterized_class(attrs, input_list=None):
-  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
-    params_list = attrs
-  else:
-    assert input_list is not None
-    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
-    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
-
-  def decorator(cls):
-    globs = sys._getframe(1).f_globals
-    for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
-      new_cls = type(name, (cls,), dict(params))
-      new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
-      globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
-    return cls
-
-  return decorator

common/params.py

@@ -1,19 +0,0 @@
-from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
-assert Params
-assert ParamKeyFlag
-assert ParamKeyType
-assert UnknownKeyName
-
-if __name__ == "__main__":
-  import sys
-
-  params = Params()
-  key = sys.argv[1]
-  assert params.check_key(key), f"unknown param: {key}"
-
-  if len(sys.argv) == 3:
-    val = sys.argv[2]
-    print(f"SET: {key} = {val}")
-    params.put(key, val)
-  elif len(sys.argv) == 2:
-    print(f"GET: {key} = {params.get(key)}")

common/params_pyx.pyx

@@ -1,197 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-import builtins
-import datetime
-import json
-from libcpp cimport bool
-from libcpp.string cimport string
-from libcpp.vector cimport vector
-from libcpp.optional cimport optional
-
-from openpilot.common.swaglog import cloudlog
-
-cdef extern from "common/params.h":
-  cpdef enum ParamKeyFlag:
-    PERSISTENT
-    CLEAR_ON_MANAGER_START
-    CLEAR_ON_ONROAD_TRANSITION
-    CLEAR_ON_OFFROAD_TRANSITION
-    DEVELOPMENT_ONLY
-    CLEAR_ON_IGNITION_ON
-    BACKUP
-    ALL
-
-  cpdef enum ParamKeyType:
-    STRING
-    BOOL
-    INT
-    FLOAT
-    TIME
-    JSON
-    BYTES
-
-  cdef cppclass c_Params "Params":
-    c_Params(string) except + nogil
-    string get(string, bool) nogil
-    bool getBool(string, bool) nogil
-    int remove(string) nogil
-    int put(string, string) nogil
-    void putNonBlocking(string, string) nogil
-    void putBoolNonBlocking(string, bool) nogil
-    int putBool(string, bool) nogil
-    bool checkKey(string) nogil
-    ParamKeyType getKeyType(string) nogil
-    optional[string] getKeyDefaultValue(string) nogil
-    string getParamPath(string) nogil
-    void clearAll(ParamKeyFlag)
-    vector[string] allKeys(ParamKeyFlag)
-
-PYTHON_2_CPP = {
-  (str, STRING): lambda v: v,
-  (builtins.bool, BOOL): lambda v: "1" if v else "0",
-  (int, INT): str,
-  (float, FLOAT): str,
-  (datetime.datetime, TIME): lambda v: v.isoformat(),
-  (dict, JSON): json.dumps,
-  (list, JSON): json.dumps,
-  (bytes, BYTES): lambda v: v,
-}
-CPP_2_PYTHON = {
-  STRING: lambda v: v.decode("utf-8"),
-  BOOL: lambda v: v == b"1",
-  INT: int,
-  FLOAT: float,
-  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
-  JSON: json.loads,
-  BYTES: lambda v: v,
-}
-
-def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v
-
-class UnknownKeyName(Exception):
-  pass
-
-cdef class Params:
-  cdef c_Params* p
-  cdef str d
-
-  def __cinit__(self, d=""):
-    cdef string path = <string>d.encode()
-    with nogil:
-      self.p = new c_Params(path)
-    self.d = d
-
-  def __reduce__(self):
-    return (type(self), (self.d,))
-
-  def __dealloc__(self):
-    del self.p
-
-  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
-    self.p.clearAll(tx_flag)
-
-  def check_key(self, key):
-    key = ensure_bytes(key)
-    if not self.p.checkKey(key):
-      raise UnknownKeyName(key)
-    return key
-
-  def python2cpp(self, proposed_type, expected_type, value, key):
-    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
-    if cast:
-      return cast(value)
-    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
-
-  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)
-
-  def get(self, key, bool block=False, bool return_default=False):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    cdef optional[string] default = self.p.getKeyDefaultValue(k)
-    cdef string val
-    with nogil:
-      val = self.p.get(k, block)
-
-    default_val = (default.value() if default.has_value() else None) if return_default else None
-    if val == b"":
-      if block:
-        # If we got no value while running in blocked mode
-        # 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)
-
-  def get_bool(self, key, bool block=False):
-    cdef string k = self.check_key(key)
-    cdef bool r
-    with nogil:
-      r = self.p.getBool(k, block)
-    return r
-
-  def _put_cast(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef ParamKeyType t = self.p.getKeyType(k)
-    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
-
-  def put(self, key, dat):
-    """
-    Warning: This function blocks until the param is written to disk!
-    In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
-    in general try to avoid writing params as much as possible.
-    """
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.put(k, dat_bytes)
-
-  def put_bool(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBool(k, val)
-
-  def put_nonblocking(self, key, dat):
-    cdef string k = self.check_key(key)
-    cdef string dat_bytes = self._put_cast(key, dat)
-    with nogil:
-      self.p.putNonBlocking(k, dat_bytes)
-
-  def put_bool_nonblocking(self, key, bool val):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.putBoolNonBlocking(k, val)
-
-  def remove(self, key):
-    cdef string k = self.check_key(key)
-    with nogil:
-      self.p.remove(k)
-
-  def get_param_path(self, key=""):
-    cdef string key_bytes = ensure_bytes(key)
-    return self.p.getParamPath(key_bytes).decode("utf-8")
-
-  def get_type(self, key):
-    return self.p.getKeyType(self.check_key(key))
-
-  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys(flag)
-
-  def get_default_value(self, key):
-    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
-
-  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)

common/tests/.gitignore

@@ -1 +0,0 @@
-test_common

common/tests/test_params.cc

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

common/tests/test_runner.cc

@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"

common/tests/test_swaglog.cc

@@ -1,90 +0,0 @@
-#include <zmq.h>
-
-#include <iostream>
-
-#include "catch2/catch.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-#include "third_party/json11/json11.hpp"
-
-#include "sunnypilot/common/version.h"
-
-std::string daemon_name = "testy";
-std::string dongle_id = "test_dongle_id";
-int LINE_NO = 0;
-
-void log_thread(int thread_id, int msg_cnt) {
-  for (int i = 0; i < msg_cnt; ++i) {
-    LOGD("%d", thread_id);
-    LINE_NO = __LINE__ - 1;
-    usleep(1);
-  }
-}
-
-void recv_log(int thread_cnt, int thread_msg_cnt) {
-  void *zctx = zmq_ctx_new();
-  void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, Path::swaglog_ipc().c_str());
-  std::vector<int> thread_msgs(thread_cnt);
-  int total_count = 0;
-
-  for (auto start = std::chrono::steady_clock::now(), now = start;
-       now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt);
-       now = std::chrono::steady_clock::now()) {
-    char buf[4096] = {};
-    if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) {
-      if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue;
-      break;
-    }
-
-    REQUIRE(buf[0] == CLOUDLOG_DEBUG);
-    std::string err;
-    auto msg = json11::Json::parse(buf + 1, err);
-    REQUIRE(!msg.is_null());
-
-    REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG);
-    REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc"));
-    REQUIRE(msg["funcname"].string_value() == "log_thread");
-    REQUIRE(msg["lineno"].int_value() == LINE_NO);
-
-    auto ctx = msg["ctx"];
-
-    REQUIRE(ctx["daemon"].string_value() == daemon_name);
-    REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
-    REQUIRE(ctx["dirty"].bool_value() == true);
-
-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
-
-    std::string device = Hardware::get_name();
-    REQUIRE(ctx["device"].string_value() == device);
-
-    int thread_id = atoi(msg["msg"].string_value().c_str());
-    REQUIRE((thread_id >= 0 && thread_id < thread_cnt));
-    thread_msgs[thread_id]++;
-    total_count++;
-  }
-  for (int i = 0; i < thread_cnt; ++i) {
-    INFO("thread :" << i);
-    REQUIRE(thread_msgs[i] == thread_msg_cnt);
-  }
-  zmq_close(sock);
-  zmq_ctx_destroy(zctx);
-}
-
-TEST_CASE("swaglog") {
-  setenv("MANAGER_DAEMON", daemon_name.c_str(), 1);
-  setenv("DONGLE_ID", dongle_id.c_str(), 1);
-  setenv("dirty", "1", 1);
-  const int thread_cnt = 5;
-  const int thread_msg_cnt = 100;
-
-  std::vector<std::thread> log_threads;
-  for (int i = 0; i < thread_cnt; ++i) {
-    log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt));
-  }
-  for (auto &t : log_threads) t.join();
-
-  recv_log(thread_cnt, thread_msg_cnt);
-}

common/tests/test_util.cc

@@ -1,147 +0,0 @@
-
-#include <dirent.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-
-#include <algorithm>
-#include <climits>
-#include <fstream>
-#include <random>
-#include <string>
-
-#include "catch2/catch.hpp"
-#include "common/util.h"
-
-std::string random_bytes(int size) {
-  std::random_device rd;
-  std::independent_bits_engine<std::default_random_engine, CHAR_BIT, unsigned char> rbe(rd());
-  std::string bytes(size + 1, '\0');
-  std::generate(bytes.begin(), bytes.end(), std::ref(rbe));
-  return bytes;
-}
-
-TEST_CASE("util::read_file") {
-  SECTION("read /proc/version") {
-    std::string ret = util::read_file("/proc/version");
-    REQUIRE(ret.find("Linux version") != std::string::npos);
-  }
-  SECTION("read from sysfs") {
-    std::string ret = util::read_file("/sys/power/wakeup_count");
-    REQUIRE(!ret.empty());
-  }
-  SECTION("read file") {
-    char filename[] = "/tmp/test_read_XXXXXX";
-    int fd = mkstemp(filename);
-
-    REQUIRE(util::read_file(filename).empty());
-
-    std::string content = random_bytes(64 * 1024);
-    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
-    std::string ret = util::read_file(filename);
-    bool equal = (ret == content);
-    REQUIRE(equal);
-    close(fd);
-  }
-  SECTION("read directory") {
-    REQUIRE(util::read_file(".").empty());
-  }
-  SECTION("read non-existent file") {
-    std::string ret = util::read_file("does_not_exist");
-    REQUIRE(ret.empty());
-  }
-  SECTION("read non-permission") {
-    REQUIRE(util::read_file("/proc/kmsg").empty());
-  }
-}
-
-TEST_CASE("util::file_exists") {
-  char filename[] = "/tmp/test_file_exists_XXXXXX";
-  int fd = mkstemp(filename);
-  REQUIRE(fd != -1);
-  close(fd);
-
-  SECTION("existent file") {
-    REQUIRE(util::file_exists(filename));
-    REQUIRE(util::file_exists("/tmp"));
-  }
-  SECTION("nonexistent file") {
-    std::string fn = filename;
-    REQUIRE(!util::file_exists(fn + "/nonexistent"));
-  }
-  SECTION("file has no access permissions") {
-    std::string fn = "/proc/kmsg";
-    std::ifstream f(fn);
-    REQUIRE(f.good() == false);
-    REQUIRE(util::file_exists(fn));
-  }
-  ::remove(filename);
-}
-
-TEST_CASE("util::read_files_in_dir") {
-  char tmp_path[] = "/tmp/test_XXXXXX";
-  const std::string test_path = mkdtemp(tmp_path);
-  const std::string files[] = {".test1", "'test2'", "test3"};
-  for (auto fn : files) {
-    std::ofstream{test_path + "/" + fn} << fn;
-  }
-  mkdir((test_path + "/dir").c_str(), 0777);
-
-  std::map<std::string, std::string> result = util::read_files_in_dir(test_path);
-  REQUIRE(result.find("dir") == result.end());
-  REQUIRE(result.size() == std::size(files));
-  for (auto& [k, v] : result) {
-    REQUIRE(k == v);
-  }
-}
-
-
-TEST_CASE("util::safe_fwrite") {
-  char filename[] = "/tmp/XXXXXX";
-  int fd = mkstemp(filename);
-  close(fd);
-  std::string dat = random_bytes(1024 * 1024);
-
-  FILE *f = util::safe_fopen(filename, "wb");
-  REQUIRE(f != nullptr);
-  size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f);
-  REQUIRE(size == dat.size());
-  int ret = util::safe_fflush(f);
-  REQUIRE(ret == 0);
-  ret = fclose(f);
-  REQUIRE(ret == 0);
-  bool equal = (dat == util::read_file(filename));
-  REQUIRE(equal);
-}
-
-TEST_CASE("util::create_directories") {
-  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
-  std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
-
-  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
-    struct stat st = {};
-    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
-  };
-
-  SECTION("create_directories") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(check_dir_permissions(dir, 0755));
-  }
-  SECTION("dir already exists") {
-    REQUIRE(util::create_directories(dir, 0755));
-    REQUIRE(util::create_directories(dir, 0755));
-  }
-  SECTION("a file exists with the same name") {
-    REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
-    REQUIRE(f != -1);
-    close(f);
-    REQUIRE(util::create_directories(dir + "/file", 0755) == false);
-    REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false);
-  }
-  SECTION("end with slashes") {
-    REQUIRE(util::create_directories(dir + "/", 0755));
-  }
-  SECTION("empty") {
-    REQUIRE(util::create_directories("", 0755) == false);
-  }
-}

common/version.h

@@ -1 +0,0 @@
-#define COMMA_VERSION "0.11.1"

conftest.py

@@ -1,111 +0,0 @@
-import contextlib
-import gc
-import os
-import pytest
-
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
-
-# TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
-# pending https://github.com/pytest-dev/pytest-cpp/pull/147
-collect_ignore = [
-  "selfdrive/test/process_replay/test_processes.py",
-  "selfdrive/test/process_replay/test_regen.py",
-]
-collect_ignore_glob = [
-  "selfdrive/debug/*.py",
-  "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
-]
-
-
-def pytest_sessionstart(session):
-  # TODO: fix tests and enable test order randomization
-  if session.config.pluginmanager.hasplugin('randomly'):
-    session.config.option.randomly_reorganize = False
-
-
-@pytest.hookimpl(hookwrapper=True, trylast=True)
-def pytest_runtest_call(item):
-  # ensure we run as a hook after capturemanager's
-  if item.get_closest_marker("nocapture") is not None:
-    capmanager = item.config.pluginmanager.getplugin("capturemanager")
-    with capmanager.global_and_fixture_disabled():
-      yield
-  else:
-    yield
-
-
-@contextlib.contextmanager
-def clean_env():
-  starting_env = dict(os.environ)
-  yield
-  os.environ.clear()
-  os.environ.update(starting_env)
-
-
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
-  with clean_env():
-    # setup a clean environment for each test
-    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-      prefix = os.environ["OPENPILOT_PREFIX"]
-
-      yield
-
-      # ensure the test doesn't change the prefix
-      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
-
-    # cleanup any started processes
-    manager.manager_cleanup()
-
-    # some processes disable gc for performance, re-enable here
-    if not gc.isenabled():
-      gc.enable()
-      gc.collect()
-
-# If you use setUpClass, the environment variables won't be cleared properly,
-# so we need to hook both the function and class pytest fixtures
-@pytest.fixture(scope="class", autouse=True)
-def openpilot_class_fixture():
-  with clean_env():
-    yield
-
-
-@pytest.fixture(scope="function")
-def tici_setup_fixture(request, openpilot_function_fixture):
-  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
-  if 'skip_tici_setup' in request.keywords:
-    return
-  HARDWARE.initialize_hardware()
-  HARDWARE.set_power_save(False)
-  os.system("pkill -9 -f athena")
-
-
-@pytest.hookimpl(tryfirst=True)
-def pytest_collection_modifyitems(config, items):
-  skipper = pytest.mark.skip(reason="Skipping tici test on PC")
-  for item in items:
-    if "tici" in item.keywords:
-      if not TICI:
-        item.add_marker(skipper)
-      else:
-        item.fixturenames.append('tici_setup_fixture')
-
-    if "xdist_group_class_property" in item.keywords:
-      class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
-      class_property_value = getattr(item.cls, class_property_name)
-      item.add_marker(pytest.mark.xdist_group(class_property_value))
-
-
-@pytest.hookimpl(trylast=True)
-def pytest_configure(config):
-  config_line = "xdist_group_class_property: group tests by a property of the class that contains them"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "nocapture: don't capture test output"
-  config.addinivalue_line("markers", config_line)
-
-  config_line = "shared_download_cache: share download cache between tests"
-  config.addinivalue_line("markers", config_line)

docs/AI_POLICY.md

@@ -0,0 +1,44 @@
+# AI policy
+
+## Why this exists
+
+We use AI tools ourselves, so this isn't an anti-AI stance. The problem is people submitting code, issues, or comments they don't actually understand. AI makes that very easy to do, and it creates real work for reviewers who have to figure out what you meant when you can't explain it yourself.
+
+If you're not going to put effort into understanding and verifying your submission, we're not going to put effort into reviewing it.
+
+## The rule
+
+You are responsible for everything you submit: code, PR descriptions, issues, bug reports, comments.
+
+1. Understand what you submit. If a reviewer asks why you did something, you answer from your own understanding, not by re-prompting. If you can't do that, don't submit it.
+
+2. Test your change. AI gets things wrong all the time. Run it, break it, confirm it actually works.
+
+3. Driving fixes need real evidence. Attach a dongle ID, upload logs, and include segments that show the fix working. A route hash by itself proves nothing.
+
+4. No AI-generated media (images, diagrams, videos) in issues or PRs.
+
+## Disclosure
+
+If AI tools helped you write something, say so. Add an `Assisted-by:` line in your commit message:
+
+```
+Assisted-by: GitHub Copilot
+Assisted-by: Claude
+```
+
+Disclosing won't count against your PR. It helps reviewers know where to look. Hiding it and getting caught will.
+
+## How we review
+
+Reviewers are looking at whether you understand your own change. Can you explain it? Can you respond to feedback without re-prompting? Does your PR description say why you made the change, not just list what changed?
+
+Good code from someone who used AI and understands what they wrote is fine. How you got there doesn't matter as long as you can stand behind it.
+
+## What happens
+
+Submissions that don't meet this bar get closed. If it keeps happening, you get blocked.
+
+## Maintainers
+
+Maintainers use AI at their discretion. They've earned that through sustained contribution and they know the codebase.

docs/CARS.md

@@ -1,27 +1,27 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 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.
 
-# 340 Supported Cars
+# 345 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
 |Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>11</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -33,7 +33,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>11</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -47,8 +48,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
@@ -75,35 +76,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023-25">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-27|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-27">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
 |Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
@@ -126,6 +127,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -157,7 +159,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
@@ -186,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
@@ -223,50 +225,51 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>11</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>11</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>11</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>11</sup>](#footnotes)|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda[<sup>11</sup>](#footnotes)|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -279,8 +282,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -312,60 +315,63 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen[<sup>11</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>11</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/CONTRIBUTING.md

@@ -1,3 +1,5 @@
+> sunnypilot follows [commaai/openpilot](https://github.com/commaai/openpilot)'s contributing guidelines. The following applies to all contributions here.
+
 # How to contribute
 
 Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
@@ -35,6 +37,7 @@ All of these are examples of good PRs:
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 * **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **AI-generated contributions**: see our [AI policy](AI_POLICY.md)
 
 ### First contribution
 
@@ -58,7 +61,7 @@ A good pull request has all of the following:
 
 * Report bugs in GitHub issues.
 * Report driving issues in the `#driving-feedback` Discord channel.
-* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Consider opting into cabin camera uploads to improve the driver monitoring model.
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
@@ -68,6 +71,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/DEVELOPMENT.md

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

docs/LIMITATIONS.md

@@ -52,7 +52,7 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
-* The driver's face is partially or completely outside field of view of the driver facing camera.
-* The driver facing camera is obstructed, covered, or damaged.
+* The driver's face is partially or completely outside field of view of the cabin camera.
+* The cabin camera is obstructed, covered, or damaged.
 
 The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

docs/README.md

@@ -0,0 +1,14 @@
+# Docs development
+
+The `docs/` tree is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+**1. Build the site**
+``` bash
+op docs --build
+```
+
+**2. Run the site locally** (rebuilds on change)
+``` bash
+op docs
+```

docs/SAFETY.md

@@ -4,8 +4,8 @@ openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC)
 Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
 driver to be alert and to pay attention at all times.
 
-In order to enforce driver alertness, openpilot includes a driver monitoring feature
-that alerts the driver when distracted.
+To assist the driver in maintaining alertness, openpilot includes a driver monitoring feature
+that alerts when it detects driver distraction.
 
 However, even with an attentive driver, we must make further efforts for the system to be
 safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
@@ -35,8 +35,8 @@ For additional safety implementation details, refer to [panda safety model](http
 
 ### Forks of openpilot
 
-* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
-* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/openpilot/selfdrive/selfdrived/helpers.py)
 * If your fork modifies any of the code in `opendbc/safety/`:
    * your fork cannot use the openpilot trademark
    * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes

docs/assets/comma-logo.png

@@ -1 +1 @@
-../../selfdrive/assets/icons_mici/settings/comma_icon.png
+../../openpilot/selfdrive/assets/icons_mici/settings/comma_icon.png

docs/assets/favicon.svg

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e019ed5af500e8820d05934d47e0380728e1b30e01a179f786dc4edb1eccbd7
+size 349

docs/concepts/glossary.md

@@ -1,3 +0,0 @@
-# openpilot glossary
-
-{{GLOSSARY_DEFINITIONS}}

docs/concepts/logs.md

@@ -2,25 +2,25 @@
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/openpilot/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/openpilot/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
 ## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
-## {f,e,d}camera.hevc
+## camera video files
 
 Each camera stream is H.265 encoded and written to its respective file.
 
-* `fcamera.hevc` is the road camera
+* `fcamera.hevc` is the narrow road camera (the main forward camera)
 * `ecamera.hevc` is the wide road camera
-* `dcamera.hevc` is the driver camera
+* `dcamera.hevc` is the cabin camera
 
 ## qlog.zst & qcamera.ts
 
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 

docs/contributing/feedback.md

@@ -21,14 +21,14 @@ In general, driver monitoring feedback is very actionable, and we can fix your c
 To post your feedback:
 
 1. Join the [community Discord](https://discord.comma.ai).
-2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
-3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
+2. If cabin camera recording is toggled off, temporarily enable cabin camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and cabin camera.
 4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
 
 Before posting feedback, please ensure:
 
 - **openpilot is up to date** you should be on the latest openpilot release or nightly
-- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **the cabin camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
 - **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
 
 ## Other bugs

docs/ext/glossary.py

@@ -1,216 +0,0 @@
-import posixpath
-import re
-import tomllib
-import xml.etree.ElementTree as ET
-from pathlib import Path
-
-from markdown.extensions import Extension
-from markdown.preprocessors import Preprocessor
-from markdown.treeprocessors import Treeprocessor
-
-from zensical.extensions.links import LinksProcessor
-
-GlossaryTerm = tuple[str, re.Pattern[str], str]
-
-GLOSSARY_FILE = Path(__file__).with_name("glossary.toml")
-GLOSSARY_PAGE = "concepts/glossary.md"
-GLOSSARY_PLACEHOLDER = "{{GLOSSARY_DEFINITIONS}}"
-
-SKIP_TAGS = {
-  "a",
-  "code",
-  "h1",
-  "h2",
-  "h3",
-  "h4",
-  "h5",
-  "h6",
-  "kbd",
-  "pre",
-  "script",
-  "style",
-}
-
-def clean_tooltip(description: str) -> str:
-  text = re.sub(r"\[([^\]]+)]\([^)]+\)", r"\1", description)
-  text = re.sub(r"`([^`]+)`", r"\1", text)
-  text = re.sub(r"[*_~]", "", text)
-  return re.sub(r"\s+", " ", text).strip()
-
-
-def load_glossary() -> tuple[list[GlossaryTerm], str]:
-  with GLOSSARY_FILE.open("rb") as f:
-    glossary_data = tomllib.load(f).get("glossary", {})
-
-  glossary: list[GlossaryTerm] = []
-  rendered = []
-  for key, value in glossary_data.items():
-    label = str(key).strip().replace("_", " ")
-    description = str(value).strip()
-    if not description:
-      continue
-
-    slug = label.replace(" ", "-").replace("_", "-").lower()
-    glossary.append((slug, re.compile(rf"(?<!\w){re.escape(label)}(?!\w)", re.IGNORECASE), clean_tooltip(description)))
-    rendered.append(f'* <span id="{slug}"></span>**{label}**: {description}')
-
-  return glossary, "\n".join(rendered)
-
-
-class GlossaryPreprocessor(Preprocessor):
-  def __init__(self, md, glossary: str):
-    super().__init__(md)
-    self.glossary = glossary
-
-  def run(self, lines: list[str]) -> list[str]:
-    markdown = "\n".join(lines)
-    if GLOSSARY_PLACEHOLDER not in markdown:
-      return lines
-    return markdown.replace(GLOSSARY_PLACEHOLDER, self.glossary).splitlines()
-
-
-class GlossaryTreeprocessor(Treeprocessor):
-  def __init__(self, md, glossary: list[GlossaryTerm]):
-    super().__init__(md)
-    self.glossary = glossary
-    self.seen: set[str] = set()
-
-  def run(self, root: ET.Element) -> None:
-    at = self.md.treeprocessors.get_index_for_name("zrelpath")
-    processor = self.md.treeprocessors[at]
-    if not isinstance(processor, LinksProcessor):
-      raise TypeError("Links processor not registered")
-    if processor.path == GLOSSARY_PAGE:
-      return
-
-    self.seen.clear()
-    glossary_href = f"{posixpath.relpath(GLOSSARY_PAGE, posixpath.dirname(processor.path) or '.')}#"
-    self._walk(root, glossary_href)
-
-  def _walk(self, element: ET.Element, glossary_href: str) -> None:
-    if element.tag in SKIP_TAGS or element.attrib.get("data-glossary-skip") is not None:
-      return
-
-    self._replace(element, glossary_href)
-
-    idx = 0
-    while idx < len(element):
-      child = element[idx]
-      self._walk(child, glossary_href)
-      idx = self._replace(element, glossary_href, idx) + 1
-
-  def _replace(self, parent: ET.Element, glossary_href: str, index: int | None = None) -> int:
-    child = None if index is None else parent[index]
-    text = parent.text if child is None else child.tail
-    pieces = self._pieces(text or "", glossary_href)
-    if not pieces:
-      return -1 if index is None else index
-
-    if child is None:
-      parent.text = pieces[0] if isinstance(pieces[0], str) else ""
-      # Insert replacements for parent.text before the first existing child.
-      insert_at = -1
-    else:
-      assert index is not None
-      child.tail = pieces[0] if isinstance(pieces[0], str) else ""
-      insert_at = index
-
-    start = 1 if isinstance(pieces[0], str) else 0
-    previous = child
-
-    for piece in pieces[start:]:
-      if isinstance(piece, str):
-        previous.tail = (previous.tail or "") + piece
-        continue
-
-      insert_at += 1
-      parent.insert(insert_at, piece)
-      previous = piece
-
-    return insert_at
-
-  def _pieces(self, text: str, glossary_href: str) -> list[str | ET.Element]:
-    if not text.strip():
-      return []
-
-    pieces: list[str | ET.Element] = []
-    cursor = 0
-
-    while True:
-      best = None
-      for slug, pattern, tooltip in self.glossary:
-        if slug in self.seen:
-          continue
-
-        found = pattern.search(text, cursor)
-        if found is None:
-          continue
-
-        candidate = (slug, tooltip, found.start(), found.end())
-        if best is None:
-          best = candidate
-          continue
-
-        _, _, best_start, best_end = best
-        _, _, current_start, current_end = candidate
-        if current_start < best_start:
-          best = candidate
-          continue
-
-        if current_start == best_start and current_end - current_start > best_end - best_start:
-          best = candidate
-
-      if best is None:
-        break
-
-      slug, tooltip, start, end = best
-      if start > cursor:
-        pieces.append(text[cursor:start])
-
-      link = ET.Element(
-        "a",
-        {
-          "class": "glossary-term",
-          "data-glossary-term": "",
-          "href": f"{glossary_href}{slug}",
-        },
-      )
-      ET.SubElement(link, "span", {"class": "glossary-term__label"}).text = text[start:end]
-      ET.SubElement(
-        link,
-        "span",
-        {
-          "class": "glossary-term__tooltip",
-          "data-search-exclude": "",
-        },
-      ).text = tooltip
-      pieces.append(link)
-      self.seen.add(slug)
-      cursor = end
-
-    if not pieces:
-      return []
-    if cursor < len(text):
-      pieces.append(text[cursor:])
-    return pieces
-
-
-class GlossaryExtension(Extension):
-  def extendMarkdown(self, md) -> None:
-    md.registerExtension(self)
-    glossary, rendered = load_glossary()
-
-    md.preprocessors.register(
-      GlossaryPreprocessor(md, rendered),
-      "docs-ext-glossary-preprocessor",
-      27,
-    )
-    md.treeprocessors.register(
-      GlossaryTreeprocessor(md, glossary),
-      "docs-ext-glossary-treeprocessor",
-      0,
-    )
-
-
-def makeExtension(**kwargs) -> GlossaryExtension:
-  return GlossaryExtension(**kwargs)

docs/ext/glossary.toml

@@ -1,8 +0,0 @@
-[glossary]
-onroad = "openpilot's system state while ignition is on."
-offroad = "openpilot's system state while ignition is off."
-route = "A route is a recording of an onroad session."
-segment = "Routes are split into one minute chunks called segments."
-"comma connect" = "The web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai)."
-panda = "The secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda)."
-"comma four" = "The latest hardware by comma.ai for running openpilot. More info at [comma.ai/shop/comma-four](https://www.comma.ai/shop/comma-four)."

docs/ford_action_c0_gain_v19.md

@@ -0,0 +1,69 @@
+# Action controller: stronger proportional C0 correction
+
+The model action remains the steering target. Increase action-mode C0 P from
+0.5 to 1.0 so an existing tracking error produces twice the immediate C0
+correction, before command clipping. This is a trial gain, not an identified
+optimum or a claim of twice the wheel response.
+
+C0 base mapping, distances, C1 P=0.75, C1 I=1.0, command bounds, upstream request
+limits, driver arbitration and CAN cadence are unchanged. Direct-path mode
+retains C0 P=0.5. Explicit gain overrides remain available for offline analysis.
+
+The C0 correction has no integral state. It vanishes at zero error and changes
+sign on overshoot; the base command and existing C1 integral still remain. A
+higher P can amplify noise or oscillation through delayed vehicle response.
+Command replay does not establish physical stability, faster tracking or better
+unwinding.
+
+## Selecting the trial
+
+In Sunnylink, while offroad:
+
+- Enable **Selected-Action Path Tracking (Experimental)**.
+- Disable **Model Geometry Reference (Experimental)** to select the original
+  model action. Leaving it enabled keeps the unchanged direct-path controller.
+- Keep **C0 one-second distance** disabled for the fixed 7 m configuration.
+
+Restart the updated software while offroad before testing. The controller and
+reference selection are latched at startup. Disengagement alone does not switch
+the reference. Turning the master controller toggle off restores upstream Ford.
+
+Action-mode diagnostics now identify `model-action-curvature-c0-feedback-v19`
+and record `c0_proportional_gain=1.0`. Direct path remains
+`model-path-direct-feedback-v17`, with its gain at 0.5.
+
+## Verification
+
+Baseline: `0020c0c41940fe1f4b33dd23297def77a0a67e92`.
+
+The Ford controller, startup selection, controlsd publication/CAN, geometry and
+Sunnylink settings suites pass: 648 tests and 2 subtests. Coverage includes
+catch-up, opposite correction on overshoot, zero-reference unwind, unchanged C1
+state, upstream fallback and preservation of the direct-path gain.
+
+Native-time replay over ten older Lightning routes checks every control cycle
+and performs a CAN pack/decode check every tenth cycle. The baseline receives
+the same curvature conversion as the new controller. C1 commands, proportional
+terms, integrals and command validity are identical; C0 proportional correction
+is exactly doubled within numerical tolerance, and commands retain field bounds.
+There is no C0 change when feedback is disabled or the correction is zero.
+
+```sh
+PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/c0_feedback_validate.py \
+  --baseline 0020c0c41940fe1f4b33dd23297def77a0a67e92 \
+  --output .cache/ford_action_c0_gain_v19 --workers 4
+```
+
+Three recent routes (157, 15a, 15b) additionally compare original model action
+and direct-path modes against the same baseline, preserving recorded motion.
+Original action is taken from the intake on 157 and timestamp-matched telemetry
+on 15a/15b. All direct-path commands and their accumulated state remain identical.
+The supplementary harness and per-cycle inputs are in the local replay cache.
+Combined validation totals and route results are in
+`ford_action_c0_gain_v19_validation.json`.
+
+On the recorded measurements, a clean route-157 example requesting 174 degrees
+with the wheel at 74 degrees changes C0 magnitude from 2.23 to 3.42 m while C1
+remains at 0.5 rad. A route-15b example requesting 206 degrees with the wheel at
+239 degrees reduces the remaining into-turn C0 magnitude from 0.85 to 0.46 m.
+These are different commands on frozen measurements, not predicted wheel motion.

docs/ford_action_c0_gain_v19_validation.json

@@ -0,0 +1,621 @@
+{
+  "baseline": "0020c0c41940fe1f4b33dd23297def77a0a67e92",
+  "action_c0_gain": 1.0,
+  "direct_path_c0_gain": 0.5,
+  "scope": "Frozen recorded measurements; validates command differences and preserved direct-path behavior, not changed vehicle motion.",
+  "tests_passed": 648,
+  "subtests_passed": 2,
+  "cycles": 1290812,
+  "can_round_trips": 141158,
+  "older_routes": [
+    {
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+      "cycles": 108971,
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+      "c1_identical": true,
+      "c0_gain": 1.0,
+      "metrics": {
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+        ".cache/ford_route112/model_paths.npz": "9837afe78aab4cad288cad98a595a5777fa8a66bb235986b1272a7f7c54e559a",
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+      }
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+      }
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+}

docs/ford_c0_feedback_v15.md

@@ -0,0 +1,109 @@
+# Ford C0 proportional feedback trial
+
+This describes the original P=0.5 trial. The subsequent
+[action-mode gain trial](ford_action_c0_gain_v19.md) raises action C0 P to 1.0;
+direct-path mode retains P=0.5.
+
+The existing controller sends its tracking correction through C1 only. Offline
+identification on the Lightning suggests that stronger C1 requests can stop
+producing faster wheel movement while additional C0 may still help. This trial
+adds proportional correction to C0. It does not change the selected curvature,
+C0 base geometry, C1 PI calculation, transmission rate or existing opt-in selection.
+
+## Command
+
+With host-sign road curvature error `e = reference - measured`:
+
+```
+scale = VM.get_steer_from_curvature(1, speed, 0) / (CP.steerRatio * CP.wheelbase)
+C0_response = 0.010717679293424373 + 0.018122981795212647 / max(speed, 1.34)^2
+C0_P = 0.5 * e * scale / C0_response
+C0 = clip(existing_bounded_C0_base + C0_P, -5.11, 5.11)
+```
+
+The response coefficients are an offline fit to isolated C0 commands on route
+`84865544361f55cb/00000145--5d9f02fee7`. They express **geometric steering curvature
+per metre of C0**, not road curvature or an instantaneous wheel response. The
+existing vehicle model converts the error into those units; its road-roll and
+steering-angle offsets cancel in the error. No plant identification, observer or
+dynamic plant simulation runs on the device.
+
+`0.5` is an explicit trial feedback gain, not a fitted optimum. Before field
+clipping, the extra C0 has a fitted steady effect equal to half the current
+wheel-angle error. This does not mean 50% of the C0 field. The 1.34 m/s term
+holds the fitted conversion below the identification dataset's minimum speed;
+it does not disable steering or add a maneuver state.
+
+C0 correction is recomputed every update, including updates that have no fresh
+integration interval. It has no integrator, request-change state, deadband, or
+additional slew limit. It becomes zero at zero error and changes sign on
+overshoot. Existing driver override and PSCM arbitration disable it together
+with other feedback. PSCM limit-reached continues to inhibit outward C1
+integration; it does not freeze either proportional command. C1 remains
+P=0.75, I=1.0. C2/C3 remain zero.
+
+The existing `FordModelActionController` Sunnylink toggle still selects this
+controller for CAN FD. With the toggle off, startup selects upstream Ford
+control. No new UI or lateral-maneuver changes are included.
+
+## Offline validation
+
+The native-time replay compares the candidate against production commit
+`d425b3260b0785b22096d130702b54a2e0761c36`, with recorded measurements, requests,
+model health, driver input, service timestamps and PSCM arbitration held fixed.
+
+- Ten Lightning routes: a9, b9, 112, 113, 117, 11c, 125, 146, 149 and 151.
+- 1,170,113 cycles; 117,016 in-memory Float32/CAN encode/decode checks.
+- Identical C1 output, C1 integral and command validity on every compared cycle.
+- All outputs finite, inside field bounds, with C2/C3 zero.
+- C0 exactly matches the old command whenever its new correction is zero or
+  feedback is disabled.
+- Across eligible samples with at least 30 degrees of wheel-angle error, the
+  median C0 change is 0.65 m and the 95th percentile is 1.47 m.
+- Across eligible requests below 5 degrees, the median change is 0.01 m and
+  the 95th percentile is 0.05 m. This cohort includes turn exits with a still
+  turned wheel; its largest correction is consequently much larger.
+- At route 151 time 306.89 s, the replay changes C0 from 0.75 to 1.68 m for
+  approximately 76 degrees of tracking error. Both replays send the same C1.
+
+The test suite covers immediate correction, no accumulation, reversal, catch-up,
+invalid inputs, real vehicle-model units across stiffness/speed/roll changes,
+driver/PSCM arbitration, upstream fallback, and actual controlsd publication
+through the 100 Hz CAN sender. The machine-readable route replay summary is
+`ford_c0_feedback_v15_validation.json`.
+
+```
+PYTHONPATH=.:opendbc_repo python -m pytest -q \
+  openpilot/selfdrive/controls/tests/test_ford_model_action*.py \
+  openpilot/selfdrive/controls/tests/test_ford_path.py
+
+PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/c0_feedback_validate.py \
+  --output .cache/ford_c0_feedback_v15 --workers 4
+```
+
+The replay requires the existing local rlog extracts. Input hashes are recorded
+in its validation JSON. It does not assume the truck follows modified commands.
+
+## What is still experimental
+
+The earlier fitted plant overpredicted one second of wheel movement by about
+16 degrees in the route 151 example. It also misses the phase of a low-speed
+oscillation in route 125. Independent C0/C1 response contributions are an
+approximation; a shared PSCM limit could prevent the extra movement predicted
+from C0.
+
+An additional four-second fitted-plant simulation, with controller feedback
+recomputed against simulated wheel angle, showed no regression for the tested
+0.5 gain in its turn, unwind and near-straight cohorts. Route 149 had 27 eligible
+turn windows; route 151 had no four-second turn windows surviving the strict
+intervention/status mask. Future reference and speed were frozen, and the model
+does not reproduce the route 125 failure faithfully. These results are a
+sanity check, not validation of road tracking or an optimized gain.
+
+Actual acceptance is better desired-versus-actual wheel tracking on turn entry,
+without added oscillation, overshoot or delayed unwind. The software behavior
+is validated; the physical improvement remains to be measured.
+
+Diagnostics identify `model-action-curvature-c0-feedback-v15` and record
+`offset_proportional`, `c0_proportional_gain`, and `curvature_scale` alongside
+the existing heading/feedforward/integral signals.

docs/ford_c0_feedback_v15_validation.json

@@ -0,0 +1,856 @@
+{
+  "scope": "Replay C0 feedback against v14 using frozen native-time Lightning measurements.\n\nThis checks software/CAN behavior, not the physical response to new commands.\nUse cached route.npz, model_paths.npz and metadata.json from the rlog extractor.\n",
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+}

docs/ford_c0_softening_v22.md

@@ -0,0 +1,85 @@
+# Action-mode C0 feedback softening
+
+Route 166 used v21 and improved normal driving, but the first two user bookmarks
+showed roughly 2 Hz wheel oscillations around a smoother requested angle at
+17–31 mph. The first occurred with uninterrupted feedback, small I and no
+PSCM limitReached. Both C0 P and C1 P followed the error, so these recordings
+do not isolate either channel's contribution to physical oscillation.
+
+This trial changes C0 P only. With the curvature error converted into `x` metres
+of C0 before applying the existing gain, the new correction is:
+
+```text
+C0 P = gain * (x - 0.125 * tanh(x / 0.25))
+```
+
+Near zero, the slope is half the old gain. It increases smoothly toward the old
+gain without exceeding it. The response stays symmetric, monotonic and nonzero
+for nonzero error; it introduces no time filter, deadband, cutoff or additional
+state in the control law. Zero error removes P immediately, and opposite error
+commands opposite P in the same cycle.
+
+Large corrections lose at most 0.125 m times the existing C0 gain. This is a
+bound on the difference from the old correction, **not a C0 command cap**.
+The field bounds remain C0 ±5.11 m and C1 ±0.5 rad. The scale and minimum slope
+are explicit drive-trial choices, not an identified stable PSCM calibration.
+Scales 0.15, 0.25, 0.4 and 0.5 m were compared on route 166; 0.25 m preserves
+about 96% of the good left's peak entry command while reducing the repeated
+C0 command component in both wobbles.
+
+The base action mapping, selected desired curvature, C1 P/I, delayed reference,
+integral cadence and anti-windup, driver/PSCM arbitration, CAN cadence and
+upstream limits are unchanged. The softening applies at all speeds in action
+mode: the bookmarked wobbles were above the proposed 11.2 mph freeze cutoff.
+Direct-path feedback retains its linear law; when it falls back to an action
+reference, the action softening applies. The master toggle still selects
+upstream Ford control when disabled. No new toggle is added.
+
+Diagnostics identify v22 and include `offset_proportional_linear` alongside
+the actual `offset_proportional`, so a new log can show exactly what softening
+removed. The extra stored scalar is diagnostic only and resets with P.
+
+## Validation
+
+Five native-time route replays cover 646,178 cycles and 64,620 CAN encode/decode
+checks: routes 149, 151, 157, 162 and 166. The v21 baseline matches its archived
+commands and integral exactly. C1 commands, C1 P/I, reference, validity,
+arbitration and base mapping remain identical on every cycle. C2/C3 remain
+zero. The largest raw C0 P change is 0.125 m; after CAN quantization the
+command difference is at most 0.13 m.
+
+| Route-166 event | Repeating total C0 component, before → after | Reduction |
+| --- | --- | --- |
+| First wobble | 0.146 → 0.076 m peak-to-peak | 48% |
+| Second wobble | 0.222 → 0.150 m peak-to-peak | 32% |
+| Second wobble exit | 0.335 → 0.199 m peak-to-peak | 41% |
+
+These use a same-frequency sine fit with quadratic trend removal. They measure
+the **command**, not a predicted reduction in wheel oscillation. The good left's
+peak entry C0 changes from -2.93 to -2.81 m; its mid-turn unwind peak changes
+from +1.44 to +1.31 m. C1 is identical. Entry and unwind are both softened;
+neither physical response is proven better by a frozen-motion replay.
+
+Regression tests first failed against v21, then passed with v22. They exercise
+small nonzero corrections, preserved large-error authority, monotonic bounded
+incremental gain, immediate reversal/release, unaffected C1 and base mapping,
+and the direct-path exception. Existing controls-to-CAN integration, model
+selection, driver override, request-history timing and default-upstream tests
+also pass. Exact counts and provenance are in
+`ford_c0_softening_v22_validation.json`.
+
+Reproduce a route comparison with the built Python dependencies:
+
+```sh
+PYTHONPATH=.:opendbc_repo:.cache/ford_geometry_deps python \
+  tools/ford_pscm_lab/c0_softening_replay.py \
+  --source .cache/ford_route166/full \
+  --delay-intake .cache/ford_route166/intake.npz \
+  --archive .cache/ford_feedback_delay_v21/166/commands.npz \
+  --output .cache/ford_c0_softening_v22/166
+```
+
+For the next drive, the discriminating observations are whether small
+left-right corrections settle sooner, whether centering becomes too loose,
+and whether strong entry and prompt release remain. Do not interpret this
+offline validation as a demonstrated physical stability fix.

docs/ford_c0_softening_v22_validation.json

@@ -0,0 +1,415 @@
+{
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+  "method": "Native-time production-controller replay using recorded wheel motion. Tests command behavior, not changed physical tracking.",
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+  "wire_checks": 64620,
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+    "subtests": 2,
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+    "diff_check": "passed",
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+  "code_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "b0aff6d70ad8ae7693c69068dbe646767e4d9fc20a23af70cbddcf6ebf849f48",
+    "tools/ford_pscm_lab/c0_softening_replay.py": "43e185871e5b9875cee5288160d344fe4d606c4bdf63dd719fb6a6cd9404307e"
+  }
+}

docs/ford_c1_carryover.md

@@ -0,0 +1,102 @@
+# Ford C1 correction carryover experiment
+
+The feedback controller at `5fbb583e5` can retain a correction from an earlier
+turn that outweighs the new base C1. The measured curvature can already be
+opposite the desired curvature, yet total C1 continues to request the old
+direction while the integral works back toward zero.
+
+This experiment keeps the existing 1:1 feedback strength and adds a conditional
+reset of that correction. It is a command-policy experiment, not a demonstrated
+improvement in physical steering response.
+
+## Release rule
+
+All of the following must be true on a valid, active cycle:
+
+- Feedback is enabled and a fresh steering publication advances measurement time.
+- Base C1 is nonzero by at least one DBC step (0.0005 rad).
+- Both target C0 and the slewed C0 request agree with base C1's direction,
+  by at least one DBC step (0.01 m).
+- Measured steering-derived curvature points opposite the desired curvature.
+- The accumulated correction prevents total C1 from requesting the base direction:
+  the sum of base C1 and correction is zero or opposite base C1.
+
+The stored correction is then set to zero before the usual feedback increment.
+The final C1 command still passes through its existing ±0.5 rad amplitude and
+0.5 rad/s slew limits. The reset cannot directly jump the transmitted command.
+The DBC steps reject requests smaller than one representable step; they are
+not new strength multipliers. This reset policy is itself an engineering choice.
+
+There is no reset simply because steering error crosses zero, or because C1
+and its correction have opposite signs. Matched curvature, neutral/conflicting
+C0, a correction that does not outweigh base C1, and repeated measurements all
+preserve normal integration. The condition can apply to small steering
+corrections as well as large turns; it has no turn-size or speed threshold.
+
+No previous-turn direction or timer is stored. Agreement between current path
+requests and disagreement with measured curvature are the confirmation. This
+does not establish which part of the combined C0/C1 request a PSCM physically
+needs. In particular, when C0 still points into the previous turn, this rule
+deliberately leaves the integral alone.
+
+## Preserved behavior and diagnostics
+
+C0's 7 m mapping, its limits, the base C1 mapping, upstream curvature limiting,
+the original integral strength, driver/PSCM arbitration, C2=C3=0 and the 100 Hz
+sender are unchanged. No fitted PSCM model, proportional term or gain schedule
+is added. There are still three values used by the command law: C0, C1 and
+the correction. A diagnostic-only `carryover_release_count` is added and resets
+with the controller. It is included in the existing periodic diagnostic event.
+
+The same default-off Sunnylink toggle selects this version. Its diagnostic
+identity is `model-action-c1-feedback-v2`. See the [drive-test instructions](ford_model_action_drive_test.md).
+
+## Offline evidence
+
+The two mirrored command-regression tests failed before the change. After
+building correction through actual feedback, the old controller still requested
+the old C1 direction 0.4 s into a reversal. Both tests now pass with the original
+output slew. Additional tests cover holding a steady curve, small error
+crossings, neutral and conflicting C0, representable command boundaries,
+freshness, driver override and PSCM limits. Integration tests execute the actual
+controlsd selection and upstream limiter, Float32 publication and Ford CAN
+builder, using both model and maneuver-plan requests and both turn directions.
+
+The combined suite passes **567 tests and 9,146 subtests**, with the same 178
+inherited/unsupported safety-test skips as the original feedback validation.
+The randomized checks include mirrored inputs, zero-error compatibility, and
+comparison against the exact previous controller from cloned pre-update states.
+
+Frozen b8 replay triggers 11 releases; b9 triggers 14. Activation and C0 match
+the previous controller exactly on every reconstructed cycle. In b9, most
+releases concern small corrections; one follows the large turn around 13:28.
+The C0/C1 disagreement at 14:36 is preserved. Numerical details and source
+hashes are in `ford_c1_carryover_validation.json`.
+
+At the release around 13:28, the candidate C1 crosses into the requested
+direction 0.255 s earlier than the previous controller on identical frozen
+inputs. This is a command zero-crossing comparison, not a measured improvement
+in the truck's steering response. The lab checks total 669,343 Float32/CAN
+round trips, in addition to the integration tests.
+
+Replay preserves recorded model requests and measured motion. A difference
+between candidate and baseline commands can persist because the recorded
+steering does not respond to the changed command. Replay cannot predict wheel
+angles, centering, oscillation, or how much earlier the vehicle would unwind.
+No device build, boot, installation or physical validation was performed.
+
+## Reproduction
+
+Use the branch's native dependencies and pinned opendbc revision
+`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The route commands require the existing
+full-rlog b8/b9 extracts and the baseline Git revision. Run:
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_carryover/stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_carryover/zero_error_stress.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb8
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb9 --baseline 5fbb583e592d30de266f8160a5d6b9c620c97f56 --output .cache/ford_c1_carryover/routeb9
+```

docs/ford_c1_carryover_validation.json

@@ -0,0 +1,177 @@
+{
+  "created_at_utc": "2026-09-10T14:00:37.853762+00:00",
+  "scope": "Conditional release of accumulated C1 correction; offline command behavior only, no predicted vehicle response.",
+  "baseline_commit": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
+  "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "hypothesis": "model-action-c1-feedback-v2",
+  "calibration_approved": false,
+  "toggle": {
+    "key": "FordModelActionController",
+    "default_enabled": false,
+    "activation": "Existing controlsd startup selection"
+  },
+  "release_rule": "Fresh enabled feedback; target and slewed C0 agree with base C1 by >= one DBC step; measured curvature is opposite; stored correction makes total C1 zero or opposite base. Clear correction, then apply original integration and output slew.",
+  "engineering_choices": "Conditional reset policy, using existing DBC steps (0.01 m, 0.0005 rad) to confirm nonzero commands. Original 1:1 integral strength is unchanged.",
+  "preserved": [
+    "C0 mapping and limits",
+    "Base C1 mapping",
+    "Original integral strength",
+    "Final C1 amplitude and slew limits",
+    "Driver and PSCM arbitration",
+    "Upstream selection and limiting",
+    "100 Hz sender",
+    "C2=C3=0"
+  ],
+  "panda_safety_changed": false,
+  "opendbc_submodule_changed": false,
+  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "controller_size": {
+    "total_lines": 194,
+    "code_lines_excluding_blanks_comments_docstrings": 131,
+    "core_command_state_values": 3,
+    "core_diagnostic_counters": 1
+  },
+  "tests": {
+    "combined_suite": "567 passed, 178 skipped, 9146 subtests passed in 6.45s",
+    "safety_skips": "Same 178 inherited or unsupported variants recorded in ford_c1_feedback_validation.json.",
+    "regression": "Two mirrored carryover command tests fail on the exact baseline class and pass in the candidate suite.",
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "settings_compiler_check": "pass",
+    "carryover_controlsd_to_can_frames": 1120,
+    "existing_feedback_controlsd_to_can_frames": 1010,
+    "integration_scope": "Actual source selection, upstream limiting, controller, Float32 publication, Ford sender, both plan sources and signs, all counters and checksums."
+  },
+  "routes": {
+    "b8": {
+      "cycles": 160431,
+      "active_cycles": 68217,
+      "validity_and_c0_match_baseline_exactly": true,
+      "c1_changed_cycles": 6065,
+      "max_abs_c1_change_rad": 0.09250000000000003,
+      "can_round_trips": 160431,
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
+      "carryover_release_count": 11,
+      "input_sha256": {
+        "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
+        "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
+        "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
+      }
+    },
+    "b9": {
+      "cycles": 90774,
+      "active_cycles": 86474,
+      "validity_and_c0_match_baseline_exactly": true,
+      "c1_changed_cycles": 15208,
+      "max_abs_c1_change_rad": 0.10400000000000004,
+      "can_round_trips": 90774,
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; b8 and b9 have no maneuver-plan messages.",
+      "carryover_release_count": 14,
+      "input_sha256": {
+        "route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
+        "model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
+        "metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee"
+      }
+    }
+  },
+  "command_timing_example": {
+    "event": {
+      "time_s": 808.286646083,
+      "correction_before_rad": -0.13089810321135922,
+      "correction_after_rad": 0.0,
+      "base_c1_rad": 0.06412824021622576,
+      "desired_angle_deg": -24.17155647277832,
+      "actual_angle_deg": -0.30000001192092896,
+      "speed_m_s": 11.804088592529297,
+      "baseline_c0_c1": [
+        0.15000000000000036,
+        -0.06600000000000006
+      ],
+      "candidate_c0_c1": [
+        0.15000000000000036,
+        -0.062000000000000055
+      ]
+    },
+    "scope": "Command zero crossing on identical frozen recorded inputs; not wheel response.",
+    "baseline_c1_rightward_at_s": 808.67241324,
+    "candidate_c1_rightward_at_s": 808.4169884780001,
+    "command_crossing_advance_s": 0.25542476199984776
+  },
+  "feedback_stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "carryover_release_count": 946,
+    "baseline_revision": "5fbb583e592d30de266f8160a5d6b9c620c97f56",
+    "baseline_source_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
+    "exact_unchanged_state_and_commands_without_release": 199054,
+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false,
+    "controller_sha256": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552"
+  },
+  "zero_error_stress": {
+    "seed": 20260907,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.40000000000000147,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "total_lab_float32_can_round_trips": 669343,
+  "source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "6f40a05977253987a2c96e74c8c18d912367ed1e55630558ed7b28d52576e552",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "04935fb941a795cb243870a4c03f7073c68147b01da3cedf2872476aa5fb798e",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "e2e98d3a0a531235abd032fc4d3564796613ad51ff6ba22a230c48e36f6f6848",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "90fb42ce580f0085e349467086a2eef28c2512c671755d0771f6331d30b19035",
+    "tools/ford_pscm_lab/feedback_replay.py": "9bf145fbff6ed685aec2c0e5d0584e2dc7ff831021f15110f939e8a94c93280b",
+    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8",
+    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
+    "docs/ford_c1_carryover.md": "e8d08375963efc6d1ae6ce503bb580ba00cfa90adb71c941d56fe6e3701d5cbb",
+    "docs/ford_c1_feedback.md": "1b440a03082e5cec264a1d6693833ed0a7e07b6c6e2122f8e4455c5971121b57",
+    "docs/ford_model_action_drive_test.md": "7ac5ca0faf9690a23e7058d09b55f23e21e2ba74666001cacb56b67e8d8b4376",
+    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
+    "opendbc_repo/opendbc/car/ford/carcontroller.py": "b2d327a1833fb1f0d09ee17f54c9c8d45517fa29beb04a4543cfbf1b43f1a65e",
+    "opendbc_repo/opendbc/safety/modes/ford.h": "1d9d996292d6697ab4f02d55fae348d6aca1df94a07f7bdae48b68971b91afe7",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401"
+  },
+  "artifact_sha256": {
+    ".cache/ford_c1_carryover/tests.txt": "cd65146df93632e4a2c1e086781e1da4673db7d038c7e673124f227efefbb567",
+    ".cache/ford_c1_carryover/baseline_regression.txt": "4469873f95ccf45a376a27fed05be3bdad5f808af7ceca472c6e2cb9d973eb7f",
+    ".cache/ford_c1_carryover/stress.json": "7a8d20d7abd7cf444f55b7316e8bedbed0fbe8e9587e09f90d5b1946c3c2e98c",
+    ".cache/ford_c1_carryover/zero_error_stress.json": "09e64eaac35df4ec324b41fabdc8baf91931106ac98b89c1ca71f4c8bf8796a4",
+    ".cache/ford_c1_carryover/timing.json": "0d18ed4164803adedbbd660fe024f4c28de8eb7921caa60659346ff386d3847f",
+    ".cache/ford_c1_carryover/routeb8/report.json": "d2c6f767cef29a74e292b6a16263d2da13b8c302e4653e419b0e232e1aaf762e",
+    ".cache/ford_c1_carryover/routeb8/commands.npz": "89b5c3474940b61afce060111c27fd9bad9e24d703c59fca61adf4ce10473df3",
+    ".cache/ford_c1_carryover/routeb9/report.json": "e3ff7bfa70e770eca763b125c283fd8a1d509ef1b6e7f26a81c398aca89a87da",
+    ".cache/ford_c1_carryover/routeb9/commands.npz": "e4f5f341146e2897a479baf222d678fd16352c8da931876a2471c3719faf9edf"
+  },
+  "test_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "PYTHONDONTWRITEBYTECODE": "1",
+    "LOG_ROOT": "/private/tmp/ford-carryover-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-carryover-params"
+  },
+  "limitations": [
+    "Frozen replay preserves recorded requests and measured motion; changed commands do not establish changed wheel angles, centering or stability.",
+    "C0/C1 agreement is a reset-policy choice, not an identified relationship between PSCM input and wheel angle.",
+    "The rule can release small corrections and does not promise unchanged centering during transients.",
+    "No device build, boot, installation or physical validation was performed."
+  ]
+}

docs/ford_c1_feedback.md

@@ -0,0 +1,129 @@
+# Ford C1 feedback experiment
+
+This document records the original feedback change at `5fbb583e5`. The current
+version retains its feedback law and adds [conditional carryover release](ford_c1_carryover.md).
+The validation counts below describe the original change; current results are
+recorded in `ford_c1_carryover_validation.json`.
+
+The restored original v1 can leave a steering error while C0 and C1 still have
+room. Its command law does not directly correct measured steering error. This
+experiment keeps that mapping and adds one accumulated C1 correction:
+
+```text
+error = selected_limited_desired_curvature - measured_curvature
+correction += error * speed * elapsed_measurement_time
+C1_target = original_model_C1 + correction
+```
+
+Curvature (1/m) multiplied by traveled distance (m) gives heading mismatch in
+radians. Applying that mismatch to C1 at **1:1 is an explicit feedback-strength
+choice**. Dimensional consistency does not prove that every PSCM responds
+correctly to that strength. There is no fitted PSCM response model or new
+tunable multiplier.
+
+For example, at 20 m/s, a constant curvature shortfall of 0.001/m adds 0.02 rad
+to C1 over one second when the output can accept it. When measured curvature
+matches the request, the correction holds. If the vehicle turns more than
+requested, the correction moves in the unwind direction. Changing the model
+request still changes the base immediately, subject to the existing slew.
+
+## Preserved mapping and limits
+
+- C0 is the current model path's lateral offset at 7 m of arc distance, holding
+  the available endpoint for shorter paths; its limits remain ±5.11 m and 4 m/s.
+- Base C1 is `max(7 m, speed × 1 s) × selected_limited_desired_curvature`, clipped
+  to ±0.5 rad. Final C1 uses the same ±0.5 rad and 0.5 rad/s limits as v1.
+- C2 and C3 are zero. Sign conversion, Float32/CAN rounding, upstream curvature
+  limiting and the 100 Hz sender retain their existing behavior.
+
+The core holds three values: unquantized C0, unquantized C1 and the correction.
+Zero error from a reset leaves the correction at zero and preserves the old
+command arithmetic exactly. There is no separate percentage or distance cap
+on the correction.
+
+## Feedback measurement, timing and limits
+
+The measurement is `controlsd.curvature`, computed from measured steering
+angle with the existing live vehicle parameters. It matches the curvature
+used for the desired-versus-actual steering comparison. It is not an independent
+measurement of tire slip or the vehicle's actual ground path. CAN yaw remains
+an input-health gate and does not drive this feedback.
+
+The adapter integrates only elapsed time between fresh `carState` publications.
+The first publication after reset integrates zero time. Duplicate timestamps
+integrate zero; a fresh timestamp accounts for the elapsed measurement interval.
+Output slew continues on valid control cycles. Existing service-age, speed,
+model-geometry and clock-order gates remain, with the same finite/range check
+also applied to measured curvature. Disengagement or invalid input clears all
+three core states.
+
+The correction cannot accumulate farther into an unavailable C1 amplitude or
+slew request. Increments that move back toward the available output remain
+allowed. Moving the base request does not itself rewrite the correction.
+
+Fresh PSCM status means a valid message whose original CAN receipt timestamp
+is within the existing −5 to +150 ms age allowance. Reached-limit status (2)
+prevents extra accumulation in the measured turn direction. An old correction
+opposing that direction can return to zero; it cannot be trapped below the
+base request by the limit flag. Unwind and base model changes remain available.
+Close-to-limit status (1) does not block feedback. Missing or stale status
+does not gate it; local amplitude and slew anti-windup still apply.
+
+Driver steering-pressed, torque above the existing 1 Nm allowance, nonfinite
+torque, or fresh driver-limit status (3) clears the correction. Fresh denied
+or inactive PSCM status also clears it. The base model request continues
+through existing engagement and driver arbitration; clearing the correction
+does not bypass the final output slew.
+
+## Offline evidence and reproduction
+
+`ford_c1_feedback_validation.json` records the source hashes and completed
+checks. Tests exercise build, hold, unwind, saturation, limit flags, immediate
+driver input, stale and repeated measurements, invalid inputs and both signs.
+Integration tests execute actual controlsd selection and limiting, Float32
+publication, CarControlSP conversion and the Ford CarController CAN builder.
+Randomized runs check feedback invariants separately from zero-error
+compatibility with the original independent scalar oracle.
+
+The combined suite passes **511 tests and 9,146 subtests**. Its 178 skips are
+in inherited safety base classes or unsupported safety-test variants. Ruff,
+the controller's Ty check and settings compilation pass. Feedback stress,
+zero-error stress and the b8 replay total **578,569 Float32/CAN round trips**;
+the integration test separately verifies 1,010 transmitted packet constructions,
+including every counter and checksum. No packets are sent to hardware.
+
+The b8 replay retains recorded desired/measured curvature, model publications,
+driver input and PSCM flags. It compares candidate commands with the restored
+v1 at `a7d70e2b0890184636827351e4789d866f2a7c97`. All 160,431 reconstructed
+activation decisions and C0 commands match. C1 changes on 58,106 cycles.
+At 4:12.493, for example, reconstructed host C1 changes from −0.1625 to
+−0.2035 rad; at 3:56.250 it changes from −0.1280 to −0.1080 rad. These are
+changes to commands on frozen measurements, not predicted wheel angles.
+
+Controls publication time proxies the unlogged computation clock, and the
+full SubMaster health state cannot be reconstructed. This route uses the
+consumed model publication as its reference and has no maneuver-plan messages.
+Replay cannot show whether this feedback fixes weak turns, hanging turns or
+oscillation. A new drive is needed to measure those outcomes.
+
+Use the branch's native dependencies and pinned opendbc revision
+`c21a9013700734dd20b09e05aa68329ad8cc20f9`:
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_feedback/feedback_stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260907 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_feedback/zero_error_stress.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb8 --output .cache/ford_c1_feedback/routeb8
+```
+
+The last command requires the existing full-rlog b8 extract (`route.npz`,
+`model_paths.npz`, `metadata.json`), identified by hashes in the validation
+record. The historical route90/95 replay deliberately sets measured curvature
+equal to requested curvature to check zero-error compatibility; it does not
+exercise recorded steering feedback.
+
+Enable using the [existing Sunnylink toggle](ford_model_action_drive_test.md).
+The diagnostic identity is `model-action-c1-feedback-v1`.

docs/ford_c1_feedback_validation.json

@@ -0,0 +1,258 @@
+{
+  "created_at_utc": "2026-09-09T14:45:33.853345+00:00",
+  "baseline_commit": "a7d70e2b0890184636827351e4789d866f2a7c97",
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "scope": "C1 measured-curvature feedback on restored original v1. Offline software validation only; no predicted or measured physical improvement.",
+  "calibration_approved": false,
+  "toggle": {
+    "key": "FordModelActionController",
+    "default_enabled": false,
+    "activation": "Existing startup selection after offroad-to-onroad cycle"
+  },
+  "feedback_law": "correction += (desired_curvature - measured_curvature) * speed * elapsed_measurement_time, subject to output and PSCM anti-windup",
+  "feedback_strength": "Explicit 1:1 heading-error-to-C1 choice; no fitted PSCM plant or new tunable multiplier",
+  "preserved": [
+    "C0 mapping and limits",
+    "C2=C3=0",
+    "C1 final amplitude and slew limits",
+    "100 Hz sender",
+    "upstream selection and limiting"
+  ],
+  "panda_safety_changed": false,
+  "opendbc_submodule_changed": false,
+  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "controller_size": {
+    "total_lines": 181,
+    "code_lines_excluding_blanks_comments_docstrings": 123,
+    "core_persistent_values": 3,
+    "adapter_timestamps": 3
+  },
+  "tests": {
+    "combined_suite": "511 passed, 178 skipped, 9146 subtests passed in 5.14s",
+    "suite_log_sha256": "001ef6633b22513317593dd8debc160a0ca8aaf78ea53418c5f7a50c370cc818",
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "settings_compiler_check": "pass",
+    "safety_skip_reasons": [
+      "SKIPPED [145] ../../../../dev/sunnypilot/.venv/lib/python3.12/site-packages/_pytest/unittest.py:523: Skipped",
+      "SKIPPED [9] opendbc_repo/opendbc/safety/tests/common.py:64: Safety mode implements no _user_regen_msg",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:51: Skipping test because MADS button is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:254: Skipping test because MADS button is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:67: Skipping test because _acc_state_msg is not implemented for this car",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because MADS button is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:165: Skipping test because ACC main is not supported",
+      "SKIPPED [3] opendbc_repo/opendbc/safety/tests/mads_common.py:411: MADS button not supported",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:378: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:361: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:351: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:327: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:341: CAN FD only",
+      "SKIPPED [1] opendbc_repo/opendbc/safety/tests/test_ford.py:320: CAN FD only"
+    ],
+    "safety_native_build": "Pinned safety C source is compiled locally by libsafety_py before testing.",
+    "controlsd_to_can_feedback_integration_frames": 1010,
+    "integration_checks": "Both signs: build, hold, unwind, rebuild, immediate driver override; actual 100 Hz sender, counter, checksum, fields and publication. Separate integration tests validate PSCM service forwarding.",
+    "regression_test_evidence": [
+      "Nonzero-error integration failed with zero correction before implementing feedback.",
+      "Both sign tests failed when a reached limit trapped an old opposing correction; they pass after allowing return to zero."
+    ]
+  },
+  "route_b8": {
+    "baseline_revision": "a7d70e2b0890184636827351e4789d866f2a7c97",
+    "baseline_source_sha256": "8f3bc5d68e0051776f614a2ccffae84a88f7898dc95bdc12c23dcfe10dfe676a",
+    "cycles": 160431,
+    "active_cycles": 68217,
+    "validity_and_c0_match_original_v1_exactly": true,
+    "status_counts": {
+      "inactive": 92214,
+      "active": 68217
+    },
+    "feedback_enabled_seconds": 598.256888772994,
+    "pscm_limit_2_seconds": 12.139079590997426,
+    "c1_changed_cycles": 58106,
+    "max_abs_c1_change_rad": 0.29800000000000004,
+    "max_abs_correction_rad": 0.29816844327770786,
+    "can_round_trips": 160431,
+    "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+    "reference_limit": "Uses exact consumed model publication as reference; the b8 route has no maneuver-plan messages.",
+    "example_points": [
+      {
+        "time_s": 130.9368894940053,
+        "old_c0_c1": [
+          -0.7400000000000002,
+          -0.18700000000000006
+        ],
+        "candidate_c0_c1": [
+          -0.7400000000000002,
+          -0.22899999999999998
+        ],
+        "correction_rad": -0.042171663052515254,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 235.3960996990063,
+        "old_c0_c1": [
+          -2.04,
+          -0.40449999999999997
+        ],
+        "candidate_c0_c1": [
+          -2.04,
+          -0.4145
+        ],
+        "correction_rad": -0.00989648519895422,
+        "feedback_enabled": true,
+        "pscm_limited": true
+      },
+      {
+        "time_s": 236.25034470800165,
+        "old_c0_c1": [
+          -1.46,
+          -0.128
+        ],
+        "candidate_c0_c1": [
+          -1.46,
+          -0.10799999999999998
+        ],
+        "correction_rad": 0.01990758350705991,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 252.49320156300382,
+        "old_c0_c1": [
+          -0.6699999999999999,
+          -0.16249999999999998
+        ],
+        "candidate_c0_c1": [
+          -0.6699999999999999,
+          -0.20350000000000001
+        ],
+        "correction_rad": -0.040907632902654506,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 674.430371745002,
+        "old_c0_c1": [
+          0.4299999999999997,
+          0.128
+        ],
+        "candidate_c0_c1": [
+          0.4299999999999997,
+          0.1345
+        ],
+        "correction_rad": 0.00639271291315417,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      },
+      {
+        "time_s": 1534.5190040400048,
+        "old_c0_c1": [
+          2.62,
+          0.5
+        ],
+        "candidate_c0_c1": [
+          2.62,
+          0.5
+        ],
+        "correction_rad": 0.0,
+        "feedback_enabled": true,
+        "pscm_limited": true
+      },
+      {
+        "time_s": 1562.5074677500015,
+        "old_c0_c1": [
+          -0.1200000000000001,
+          -0.051000000000000045
+        ],
+        "candidate_c0_c1": [
+          -0.1200000000000001,
+          -0.046499999999999986
+        ],
+        "correction_rad": 0.004453988923883501,
+        "feedback_enabled": true,
+        "pscm_limited": false
+      }
+    ]
+  },
+  "route_input_sha256": {
+    "route.npz": "6f5dd369b70eaed4b95b28c8b25c9f2e9b830fa07a334881a185505481667c8b",
+    "model_paths.npz": "939af6cf7e74251d8842581cc078d26d9fbfd22a0d7817cb0e368697d419b615",
+    "metadata.json": "73b439132d1de37ec187b544c04d2b05c80965065515a4b7dec29ba57ae37e7c"
+  },
+  "feedback_stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, integration direction/size, PSCM anti-windup, CAN fields.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false,
+    "controller_sha256": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34"
+  },
+  "zero_error_stress": {
+    "seed": 20260907,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.40000000000000147,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "total_lab_float32_can_round_trips": 578569,
+  "artifact_sha256": {
+    ".cache/ford_c1_feedback/routeb8/report.json": "648887eebb76260a60f7c0f0d9aaac83d0f1c06b443e28bc6fdf296bad4526c0",
+    ".cache/ford_c1_feedback/routeb8/commands.npz": "1aef98365572b3fb3cb8ba2a93cf30041ff3be133718d469145b710f2c94dc32",
+    ".cache/ford_c1_feedback/feedback_stress.json": "abf4e7bccc1e460008cc7450fcd92e9b2a6108bd71e53a01bdc24e31e5b5ad32",
+    ".cache/ford_c1_feedback/zero_error_stress.json": "2a3f284e10e5054205a788cce59bcf57bd837e13afff327457244141ba5522f0",
+    ".cache/ford_c1_feedback/safety_skip_reasons.txt": "5384c82b07b7cc20c6b22b8e94246cb104d53f8866af02b28fda7d4138cf377f"
+  },
+  "native_params": {
+    "library_sha256": "270bf43241cf7c02cc432cf78ec9411a62d7653ca445695efe785ae82241aa09",
+    "sources_match_original_rebuild_record": true,
+    "provenance": "Same locally rebuilt native library and source hashes recorded in ford_model_action_drive_test_validation.json; verified for this run."
+  },
+  "test_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "LOG_ROOT": "/private/tmp/ford-feedback-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-feedback-params",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "source_sha256": {
+    "docs/ford_c1_feedback.md": "c1bc7f24c5ebe28679b4a04d09085d7b937926e63a38d43a3abfac93dfcfa0f9",
+    "docs/ford_model_action_candidate.md": "20cd8d10008cd796cc8719f5795ee80f50d8133d6e7684fb057a78fb05323fbe",
+    "docs/ford_model_action_drive_test.md": "7860ae26a61682aff86743ba302eb23c8f271d5700a2e616da1b6b38d438b57d",
+    "opendbc_repo/opendbc/car/vehicle_model.py": "ddc2a93d9c2b2ef6c9a913a5aef4c51e2bc387db1f7640473657e5ade4e50fac",
+    "openpilot/selfdrive/controls/controlsd.py": "2b7e246f00bccce3a2bb9f6f44009ca77690cadb8527cd2bdfe855e9ad72ad1e",
+    "openpilot/selfdrive/controls/lib/drive_helpers.py": "916bcd83c2a909a89795da58c7c43d7b168c9b82e1a6d281484bae45c667c01e",
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "4499defbb7fc5ddf5029ca42c549f0935b0758b08818c5bf0490fb52221f9a34",
+    "openpilot/selfdrive/controls/lib/ford_path.py": "383538fc7cdae3bc28dffb71fe12ac5f3f9866ffbe6adfb7457f3593e9fc903a",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "84113b1b7800c868117af0034278f53a1a6153c7bb5fadc1ea45958e62c4f0d0",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "cbe1b2aa1961deba3a42e1d82f5f75ae0c3d7a219428dea5f50cb70e1b27fd11",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "c7f5ffd650e804e6e02fa12d435e0867b56b13a49c3d9fa511993188d5cb625a",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_feedback.py": "f7a956c082a246d9506e21adbf348cbdc7f94d5342d832841058c71f7e264eeb",
+    "openpilot/sunnypilot/selfdrive/controls/controlsd_ext.py": "7a13dc5ce49b40e27e05e62cdb9ef1bb764de8ed8167f7e982d54a4dffe97ed4",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "7d38f315a7c5ce6d46d01a06f7eaddd4933f85639e5325ff71fdce22866ef401",
+    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "410e306958ece12e49fc114707741c57a2dd927c6ba3410e160834e52a759ea9",
+    "tools/ford_pscm_lab/feedback_replay.py": "ca552217953f3cce35da0b1666252fd43b6f8ab6c067e5c9102da8ea8d97c2f3",
+    "tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f",
+    "tools/ford_pscm_lab/stress_model_action.py": "0b25188edf2b248ebe741173ce02ce75bd59f1f39fd5bd909d41a3dca2294aa8"
+  },
+  "limitations": [
+    "Frozen route replay changes commands only; it cannot establish tracking, unwind response or closed-loop stability.",
+    "Measured curvature uses the existing steering-angle vehicle model; it is not an independent ground-path measurement.",
+    "No full device build, device boot, installation or road validation was performed."
+  ]
+}

docs/ford_c1_i1_trial.md

@@ -0,0 +1,102 @@
+# Ford C1 integral trial: I=1.0
+
+Route 151 had large entry shortfalls before driver input while C1 still had
+command range available. At the segment-5 right-turn shortfall, the selected
+request was 125 degrees right and the wheel was at 49 degrees right. The stored
+correction was only 0.015 rad and was growing at about 0.0245 rad/s. Neither the
+C1 field bound nor the PSCM reached-limit flag explained that point.
+
+This trial raises I from 0.25 to **1.0**, keeping P at **0.75**. The fresh-error
+increment is four times larger for the same curvature error, speed and elapsed
+measurement time. This also retires existing correction four times faster for
+the same opposing error, before the existing accumulation/headroom rules apply.
+It does not introduce a new state, rate limit, threshold or release heuristic.
+Runtime changes are one gain constant and the diagnostic identifier
+`model-action-curvature-c0-distance-pi-v14`.
+
+C0's desired-curvature formula and distance toggle, base C1, +0.40 s low-speed
+model preview, feedback measurement, driver override, PSCM arbitration, field
+bounds and 100 Hz sender remain unchanged. Zero error holds I. Driver override
+clears P and I. Fresh limitReached blocks outward accumulation while allowing
+retirement. Accumulation cannot charge beyond the combined command's available
+range. C2/C3 stay zero, and toggle-off still selects upstream Ford control.
+
+## Why this coefficient
+
+Compared I=0.25, 0.50, 1.0 and 2.0 with P=0.75 on routes 149 and 151, using
+the production adapter and Float32/CAN path for every sample. I=1.0 gives a
+substantial increase in retained correction. I=2.0 adds considerably more
+opposite-direction correction on reviewed exits and approaches the C1 bound
+in the route-151 right turn. I=1.0 is a fourfold experimental step, not an
+offline-fitted optimum or a validated physical calibration.
+
+Paired fixed-motion examples with I=0.25 / I=1.0:
+
+| Route / time | Recorded situation | C1 before | C1 candidate |
+| --- | --- | ---: | ---: |
+| 151 / 306.891 s | 125-degree right request, 49-degree wheel | +0.3270 | +0.3725 |
+| 151 / 307.999 s | Wheel remains behind on the same right turn | +0.2675 | +0.3625 |
+| 151 / 2363.807 s | 137-degree left request, 64-degree wheel | -0.3410 | -0.3785 |
+| 149 / 319.549 s | Right-turn entry shortfall | +0.4190 | +0.4840 |
+| 149 / 850.497 s | Right-turn release | +0.0670 | +0.0010 |
+| 149 / 851.331 s | Near center on that release | +0.0105 | -0.0460 |
+
+These are same-cycle controller requests, not necessarily the preceding CAN
+message at that timestamp. Positive C1 requests right steering; positive logged
+wheel angle means left. Both replays use P=0.75; route 149 originally drove
+P=0.50, so the old-I replay is not its historical command trace.
+
+The exit examples show why faster retirement does not guarantee a smoother
+unwind: the candidate can accumulate more correction in the opposite direction
+and retain it when error reaches zero. Higher I also affects centering. On
+route 151's clean requests under 10 degrees, mean absolute C1 rises from about
+0.0083 to 0.0122 rad on the fixed recording; route 149 rises from 0.0077 to
+0.0154 rad. The vehicle would generate different errors under the candidate.
+These are command observations, not predictions of wheel motion, stability,
+overshoot, or future tracking accuracy.
+
+## Broader validation
+
+The paired production replay covers 22 extracts: 112–117, 119, 11a, 120, 124,
+125, 146, 149, 151, a0, a2, a5, a9, b8, b9, ca and Raptor 02. It processes
+2,600,956 source cycles and 5,201,912 Float32/CAN round trips. Both settings have
+identical eligibility, C0, P, base heading, overflow, and driver/PSCM feedback
+gates on every cycle. Output remains finite and bounded; inactive commands and
+C2/C3 are zero. The decoder checks fields, mode and counter on every command.
+
+Scoring excludes driver override, inactive/invalid control, disabled feedback,
+the following second, and speeds below 3 mph. There are 12,213.62 scored seconds.
+C1-bound time rises from 22.67 to 25.13 seconds. Route 151 has no C1-bound samples
+in that cohort under either setting. Its I=0.25 baseline matches the recorded
+path output to Float32 precision: maximum C0 error 5.8e-8 m, C1 error 1.5e-8 rad.
+Older routes intentionally retain their original model requests and physical
+measurements, including any historical tracking errors. Their baseline command
+traces need not match older controller implementations.
+
+The existing controlsd-to-publication-to-CAN feedback test was updated before
+the gain change. It failed on the old default (0.005 rad accumulated versus
+0.020 rad required over its one-second error interval), then passed with the
+new default. **468 tests and 25 subtests pass**, covering selection, current
+references, accumulation/hold/retirement, reversals, duplicate measurements,
+PSCM limits, driver overrides, downstream checksums and upstream fallback.
+Ruff and `git diff --check` pass. No device build or physical evaluation is
+claimed by these offline checks.
+
+Evidence: [ford_c1_i1_validation.json](ford_c1_i1_validation.json). Local arrays
+are in `.cache/ford_i1_trial`, with the four-setting comparison in
+`.cache/ford_i_trial_sweep`. Reproduce a comparison:
+
+```sh
+PYTHONPATH=.:opendbc_repo PYTHONDONTWRITEBYTECODE=1 python \
+  tools/ford_pscm_lab/proportional_replay.py \
+  --routes 151=.cache/ford_route151/full 149=.cache/ford_route149/full \
+  --settings .75:.25 .75:1.0 \
+  --output .cache/ford_i1_recheck --workers 2
+```
+
+The replay tool's default P=0.50 / P=0.75 comparison with I=0.25 is preserved.
+Explicit `--settings` accepts P:I pairs; the first is the baseline. Publication
+timestamps approximate execution time because full process scheduling and
+SubMaster state are not logged. The trial still needs physical measurement;
+route 151 also changed the big model from CTMV2 to Tee Time, so its comparison
+with route 149 cannot isolate the controller's physical effect.

docs/ford_c1_minimal_pi.md

@@ -0,0 +1,82 @@
+# Ford continuous PI drive trial (v7)
+
+The selected controller follows the current, upstream-limited desired curvature
+with P=0.50 and I=0.25. It replaces v6's request-change, C0-confirmation and
+unwind-catchup release rules. C0 mapping, heading overflow allocation, input
+health gates, driver/PSCM arbitration and final output limits remain unchanged.
+Only C0, C1 and I carry control history. C2/C3 stay zero.
+
+```text
+D = max(7 m, speed × 1 s)
+error = selected desired curvature − measured steering-derived curvature
+base = clip(D × desired curvature, −0.5, +0.5)
+P = 0.50 × D × error
+increment = 0.25 × speed × error × fresh steering measurement interval
+C1 target = clip(base + P + I, −0.5, +0.5)
+```
+
+After PSCM outward-accumulation arbitration, the increment first cancels up to
+its own magnitude of opposing I. It cannot cross zero in that step. Any remainder
+is bounded by the combined command's amplitude/slew headroom. C1 output still
+slews at 0.5 rad/s. This allows old I to unwind even when the output is already
+slewing. It adds no timer, request history, turn detection or position threshold.
+
+P doubles relative to v6, and I builds at one quarter the previous rate for an
+identical error and fresh measurement interval. Lower I also unwinds more slowly
+for an identical existing state and error; its replay benefit comes mainly from
+storing less correction. Zero error removes P and holds I. Persistent tracking
+bias may need that holding correction. There is no claim that all I is unwanted.
+
+## Evidence and limitations
+
+Six offline settings were compared across fourteen routes and 1,578,250 source
+cycles before selecting this candidate. The production selector and adapter now
+exactly reproduce the selected P=0.50/I=0.25 archived commands, validity, P, I,
+feedforward, C0 overflow and feedback/PSCM gates on every cycle of all fourteen
+routes. These comprise Lightning 112–117, a0, a2, a5, a9, b8, b9, ca and Raptor 02.
+The integration replay performs 1,578,250 actual Float32/CAN round trips.
+
+A further 20,000 randomized cycles with mirrored and independent C0 paths perform
+60,000 CAN checks on production, checking independent scalar arithmetic,
+C0-independent feedback, symmetry, reset, amplitude and slew behavior.
+The Ford, Sunnylink, params, sender and safety suite passes 679 tests and
+9,145 subtests; 178 are skipped by the platform test suite. Removed maneuver
+heuristic tests are replaced with continuous-error, cancellation, freshness,
+three-state reproduction and actual controlsd-to-CAN entry/exit checks.
+Historical untracked offline experiment tests are outside this deployment suite.
+
+At a previously reviewed route-115 exit (133.595 s), the original small PI
+controller requested +0.1090 rad C1; this trial requests +0.0175. That sample
+includes driver context. Reviewed large entries remain similar, but commands
+are not identical everywhere. In a previously well-tracked route-116 bend
+(112 s), C1 falls from +0.1530 to +0.1355 rad. Lower I could weaken a persistent
+bend, while higher P can increase response to measurement fluctuations.
+
+Recorded wheel motion remains fixed in replay. These checks establish software
+behavior and exact integration of the candidate; they do not establish improved
+physical tracking or stability. Gains remain experimental, not an identified
+universal PSCM calibration. No device build, boot or new drive is claimed.
+
+## Selection and reproduction
+
+Use the existing default-off Sunnylink **Selected-Action Path Tracking
+(Experimental)** toggle on any Ford CAN FD, followed by a real offroad-to-onroad
+cycle. Logs identify `model-action-c1-pi-v7`, `proportional_gain=0.5`,
+`integral_gain=0.25`. Toggle-off selects upstream Ford control. See the
+[drive instructions](ford_model_action_drive_test.md).
+
+With the built cereal/opendbc environment and archived local extracts:
+
+```sh
+export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
+export PYTHONDONTWRITEBYTECODE=1
+export PARAMS_ROOT=/tmp/ford-v7-params
+export LOG_ROOT=/tmp/ford-v7-logs
+python -m tools.ford_pscm_lab.minimal_pi_validate --output .cache/ford_minimal_tuning/production --workers 4
+python -m tools.ford_pscm_lab.minimal_pi_production_stress --cycles 20000 --output .cache/ford_minimal_tuning/production_stress.json
+```
+
+The validation JSON records route and source hashes. The archived six-setting
+sweep is local evidence, not a checked-in dataset. Historical v5/v6 lab tools
+load their pinned controller revisions so their baseline comparisons retain
+their original meaning after production changes.

docs/ford_c1_minimal_pi_validation.json

@@ -0,0 +1,332 @@
+{
+  "scope": "Production integration of the selected continuous PI drive trial; fixed recorded motion, not a physical tracking prediction.",
+  "parent_revision": "5e6993aab",
+  "previous_controller_revision": "bf00bc691def830e1beb15363d05416714c1dc42",
+  "hypothesis": "model-action-c1-pi-v7",
+  "kp": 0.5,
+  "ki": 0.25,
+  "control_history": [
+    "c0",
+    "c1",
+    "correction"
+  ],
+  "physical_lines": {
+    "module": 201,
+    "core_class": 58,
+    "core_update": 42
+  },
+  "production_source_sha256": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8",
+  "route_cycles": 1578250,
+  "production_can_round_trips": 1638250,
+  "tests": {
+    "passed": 679,
+    "skipped": 178,
+    "subtests_passed": 9145,
+    "log_sha256": "2bc3dfd7ba08d4985d3dea98f235eb1fc99b23e5bbb3927e823a2439c8e9a481",
+    "scope": "Ford controls, tracked PSCM lab tests, PSCM status, Sunnylink, params, Ford car and safety suites; historical untracked experiments excluded."
+  },
+  "ruff": "pass",
+  "ty_production": "pass",
+  "routes": [
+    {
+      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
+      "route": "112",
+      "cycles": 108971,
+      "can_round_trips": 108971,
+      "production_matches_archived_trial_exactly": true,
+      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+      "hypothesis": "model-action-c1-pi-v7",
+      "kp": 0.5,
+      "ki": 0.25,
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route112/route.npz": "2b08a2fb636f7d14556d7df4035eafc1d1b97932237955528562a16db2b31d3e",
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+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b8/report.json": "5c6b52222abbb95147dc756a34e62ada97c42aa550b952fd6ae7b26d8d9639fa",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b8/commands.npz": "9c158eff98009bcb039a4e7c29b97b0d3a9c67d61160a4e4766a176174de52d7",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
+      }
+    },
+    {
+      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
+      "route": "b9",
+      "cycles": 90774,
+      "can_round_trips": 90774,
+      "production_matches_archived_trial_exactly": true,
+      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+      "hypothesis": "model-action-c1-pi-v7",
+      "kp": 0.5,
+      "ki": 0.25,
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b9/report.json": "9eeda0c24ede7a55ef8a924e0ebe0bcb0dea7a9612457af0c5aff898a828c195",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/b9/commands.npz": "2dcc0865591c988d8a08671311a9631f3c4aa3ded4e90ee6f76d28b1654809ad",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
+      }
+    },
+    {
+      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
+      "route": "ca",
+      "cycles": 327448,
+      "can_round_trips": 327448,
+      "production_matches_archived_trial_exactly": true,
+      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+      "hypothesis": "model-action-c1-pi-v7",
+      "kp": 0.5,
+      "ki": 0.25,
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/ca/report.json": "025f2f49f68ec2164a10474a4c6ec0eb1b6022990e135fc38134a052a8710dff",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/ca/commands.npz": "cbe9f63955a409495f57466dc5811d3eed65af2cf096ee060d924437488c3f76",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
+      }
+    },
+    {
+      "scope": "Verify production commands against the archived P=.50/I=.25 offline candidate.\n\nFixed recorded motion verifies integration parity, not physical tracking.\n",
+      "route": "raptor02",
+      "cycles": 132881,
+      "can_round_trips": 132881,
+      "production_matches_archived_trial_exactly": true,
+      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+      "hypothesis": "model-action-c1-pi-v7",
+      "kp": 0.5,
+      "ki": 0.25,
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/route.npz": "8a4cfe53994988d053b47d9caadf21ebd064fd20e598fa05ddc2da245bd0e980",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/model_paths.npz": "d5dc6f72d91472b8f2fb1add1680cdaea1e122774ddd6d8519fd7673daf71bb5",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_raptor_route02/metadata.json": "9602e08efc2bd784133837c4156c075bb89bad3bedd6b309f15e884ed20e338a",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/raptor02/report.json": "2c2dda2a5e4e8a764a10852cca3e5caf319b62e3d1d841ef9e1b8c11be77ebf6",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_minimal_tuning/sweep/raptor02/commands.npz": "e0440d0a4035b975a9c4a47d85335b5b0f0903fcd00dd7e7c858856deffd1249",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_validate.py": "35b5334f52eb6069b79fc3ed3be71ceaa81a3db8e1f76e8b1ab6e363cd4f18ae",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
+      }
+    }
+  ],
+  "production_stress": {
+    "cycles": 20000,
+    "kp": 0.5,
+    "ki": 0.25,
+    "controller_updates": 60000,
+    "can_round_trips": 60000,
+    "seed": 20260913,
+    "independent_c0_comparisons": 20000,
+    "checks": "Independent scalar PI/unwind-first/anti-windup arithmetic, mirror symmetry, exact C0 independence, limits, slew, resets, CAN.",
+    "source_sha256": {
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/minimal_pi_production_stress.py": "fa9058826512498be1938797efba25666df832080fb7ad6ff18788ee4bda333d",
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "a899b8595e903d6fc4401392a8d123ef77725f6d6d7fa10392a7b3fe72e732b8"
+    }
+  },
+  "limits": [
+    "No hardware build, device boot or new physical drive performed.",
+    "Matched offline commands do not establish improved tracking or closed-loop stability.",
+    "Higher P can amplify measurement fluctuations; lower I can take longer to correct persistent error.",
+    "Toggle defaults off and off selects upstream Ford control; on applies to any Ford CAN FD."
+  ]
+}

docs/ford_c1_overflow.md

@@ -0,0 +1,131 @@
+# Ford base-heading overflow experiment
+
+This records the overflow implementation and validation at `b81c00f5b`.
+The later [toggle-off restoration](ford_upstream_fallback.md) updates selection
+and the opendbc sender while preserving the enabled experiment's command law.
+
+The Lightning ca route recorded controller `959ae3d6e`. Its large turns included
+flat C1 requests at ±0.5 rad while C0 still had available range. Those were
+nonzero, active commands, but increasing base heading above the C1 limit was
+discarded. Other apparent pauses followed reductions in the selected model
+request; this change continues to follow those reductions.
+
+The new experiment allocates clipped-away **base heading** to C0 using the
+existing 7 m reference. It does not allocate the accumulated feedback correction.
+This is a hypothesis about command allocation, not a measured improvement in
+PSCM response or a claim that C0 and C1 are physically interchangeable.
+
+## Command rule
+
+Using the selected, upstream-limited desired curvature:
+
+```text
+raw_base_c1 = max(7 m, speed × 1 s) × desired_curvature
+base_c1 = clip(raw_base_c1, -0.5 rad, +0.5 rad)
+extra_c0 = 7 m × (raw_base_c1 - base_c1)
+c0_target = clip(model_y_at_7m + extra_c0, -5.11 m, +5.11 m)
+```
+
+The combined C0 target still passes through the existing 4 m/s slew limit.
+C1 retains its existing feedback, ±0.5 rad amplitude and 0.5 rad/s slew limits.
+C2 and C3 remain zero. Short model paths retain their existing endpoint hold.
+
+Before amplitude/slew limits, the allocation preserves the linear reference
+`C0 + 7*C1` for the base request. This is a single-reference identity; it does
+not preserve the entire path or predict steering torque. The 7 m reference is
+an existing engineering choice. No fitted plant, new tunable strength multiplier,
+timer or stored overflow is added. The existing 1:1 feedback strength remains.
+
+Extra C0 falls with raw base heading and its target becomes zero at the C1 cap.
+The output can take longer to return because of its existing slew state. There
+is no guarantee that increasing C0 makes every PSCM turn better or release sooner.
+
+## Preserved integration
+
+The conditional correction release still requires **original model C0** and
+applied C0 to confirm base C1's direction. Added overflow cannot itself substitute
+for model confirmation. Changed applied C0 can nevertheless affect release
+timing in some histories. Driver/PSCM arbitration, service freshness, resets,
+upstream curvature limiting, Float32 publication and the 100 Hz sender remain.
+No opendbc dependency or Panda safety change is made.
+
+The existing default-off Sunnylink toggle selects this version on any Ford
+CAN FD vehicle. Diagnostic identity is `model-action-c1-feedback-v3`.
+`offset_overflow` records extra target meters before C0 amplitude and slew;
+`offset_request` continues to record the actual continuous C0 state.
+See the [drive-test instructions](ford_model_action_drive_test.md).
+
+## Offline evidence
+
+The focused overflow regressions initially produced 28 failures and 18 passes
+against the prior controller. They now pass. They cover both signs, several
+speeds, the heading threshold, combined C0 clipping, short paths, release,
+feedback-only saturation, driver/PSCM feedback gates and independent model
+confirmation. Twelve integration cases send 4,800 frames through actual
+controlsd selection/limiting, Float32 publication and Ford CAN packing on all
+six listed Ford CAN FD platforms, checking counters and checksums.
+
+The combined suite passes **670 tests and 9,146 subtests**, with 178 inherited
+or unsupported safety-test skips. Both 200,000-cycle randomized runs pass,
+including mirrored inputs, independent scalar target/slew checks, feedback
+invariants, comparison with the exact prior controller from cloned states,
+and 18,138 exhaustive field/Float32 boundary cases. These checks and the ca
+replay total **745,586 Float32/CAN round trips**, in addition to integration tests.
+
+Frozen ca replay covers 327,448 control cycles across all 55 extracted segments.
+Activation is identical; C1, C2 and C3 are identical on every cycle. C0 differs
+for 855 cycles (8.607 s), concentrated in the large turns and their slew tails.
+The extra target is present for 7.359 s. Before the first overflow, every command
+matches the prior controller. All disabled cycles have zero commands.
+
+At the same recorded peak-request timestamps, absolute packed C0 changes as follows:
+
+| Segment | Previous C0 | Candidate C0 | C1 magnitude, both |
+| --- | ---: | ---: | ---: |
+| 10 | 3.90 m | 5.11 m | 0.50 rad |
+| 31 | 2.85 m | 3.08 m | 0.50 rad |
+| 35 | 3.67 m | 5.11 m | 0.50 rad |
+| 52 | 3.11 m | 3.42 m | 0.50 rad |
+
+The candidate reaches the existing C0 cap for 2.054 s. These are reconstructed
+commands on original inputs, not newly transmitted commands or predicted wheel
+angles. Segment 52's output is still slewing at the selected timestamp.
+
+Every overflow episode returns to the previous C0 output without a reset or
+another overflow interrupting the comparison. After overflow first becomes
+zero, the longest output tails are **0.475 s in segment 10** and **0.712 s in
+segment 35**. This is the added slew tail relative to the prior command, not
+the truck's physical release delay. It is a material behavior to inspect during
+controlled evaluation: more pull through capped turns may also add hanging
+on exit. Ordinary requests below the cap retain the original target mapping.
+
+The recorded model, vehicle motion, driver input and PSCM flags remain fixed.
+Replay cannot establish resulting tracking, centering, torque or stability.
+The route has no maneuver-plan messages; the replay uses the consumed model
+reference and recorded selected curvature. Computation time is approximated
+by control publication time, and full SubMaster health checks are unavailable.
+No device build, boot or installation is performed offline.
+
+## Reproduction
+
+Numeric results and source hashes are in `ford_c1_overflow_validation.json`.
+Use native project dependencies and pinned opendbc
+`c21a9013700734dd20b09e05aa68329ad8cc20f9`. The ca replay requires the existing
+full-rlog extract (`route.npz`, `model_paths.npz`, `metadata.json`).
+The following commands apply to this version; earlier validation documents
+record their named historical controllers.
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_c1_overflow/stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260910 --opendbc-revision c21a9013700734dd20b09e05aa68329ad8cc20f9 --output .cache/ford_c1_overflow/zero_error_stress.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeca --baseline 959ae3d6e76c479f48e081c060b0f3569a6f15f4 --output .cache/ford_c1_overflow/routeca
+python openpilot/sunnypilot/sunnylink/tools/compile_settings_ui.py --check
+```
+
+For slew-tail analysis, in the replay's `commands.npz` find each nonzero run of
+`offset_overflow`. From its first zero sample, measure until packed candidate
+and baseline C0 agree within 1e-8 m, stopping separately at another overflow or
+inactive cycle. Sum sample durations capped at 30 ms for weighted time totals.

docs/ford_c1_overflow_validation.json

@@ -0,0 +1,307 @@
+{
+  "created_at_utc": "2026-09-10T22:04:22.589047+00:00",
+  "scope": "Base heading overflow allocated to C0; frozen-input command verification only, no vehicle response prediction.",
+  "baseline_commit": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
+  "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
+  "deployment_target": {
+    "repository": "sunnypilot/sunnypilot",
+    "branch": "hiimisaac-dev"
+  },
+  "hypothesis": "model-action-c1-feedback-v3",
+  "calibration_approved": false,
+  "toggle": {
+    "key": "FordModelActionController",
+    "default_enabled": false,
+    "eligibility": "Any Ford CAN FD",
+    "activation": "Existing controlsd startup selection"
+  },
+  "command_rule": "extra C0 = 7 m * (raw base C1 - clip(raw base C1, -0.5, 0.5)); add to original model C0, then existing C0 amplitude/slew limits.",
+  "engineering_choices": "Single-reference linear allocation at existing 7 m. No new tuning parameter or stored overflow. Does not establish physical C0/C1 interchangeability. Existing 1:1 integral feedback strength remains.",
+  "output_limits": {
+    "c0_m": [
+      -5.11,
+      5.11
+    ],
+    "c1_rad": [
+      -0.5,
+      0.5
+    ],
+    "c0_slew_m_s": 4.0,
+    "c1_slew_rad_s": 0.5,
+    "c2": 0.0,
+    "c3": 0.0
+  },
+  "preserved": [
+    "Upstream reference selection/limiting",
+    "Driver and PSCM arbitration",
+    "Freshness/reset gates",
+    "C1 feedback law",
+    "Original model C0 required for carryover confirmation",
+    "100 Hz CAN sender",
+    "Float32 publication"
+  ],
+  "controller_command_state_values": 3,
+  "controller_diagnostic_counters": 1,
+  "controller_total_lines": 200,
+  "opendbc_submodule_changed": false,
+  "panda_safety_changed": false,
+  "opendbc_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9",
+  "tests": {
+    "combined_suite": "670 passed, 178 skipped, 9146 subtests passed in 5.77s",
+    "safety_skips": "Inherited or unsupported variants; unchanged from prior feedback validations.",
+    "new_core_regressions": "Before implementation: 28 failed, 18 passed; after: all 46 pass.",
+    "overflow_controlsd_to_can_cases": 12,
+    "overflow_controlsd_to_can_frames": 4800,
+    "integration_scope": "All six listed CAN FD platforms; both signs; selected upstream-limited request, release, limits, Float32 publication, decoded commands, zero C2/C3, active mode, counters, checksums.",
+    "ruff_changed_python": "pass",
+    "ty_controller": "pass",
+    "git_diff_check": "pass",
+    "settings_compiler_check": "pass"
+  },
+  "stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "carryover_release_count": 864,
+    "baseline_revision": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
+    "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
+    "exact_unchanged_state_and_commands_without_overflow": 56061,
+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, carryover direction/confirmation, integration, PSCM limits, CAN.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false
+  },
+  "zero_error_stress": {
+    "seed": 20260910,
+    "random_cycles": 200000,
+    "mirrored_core_updates": 200000,
+    "invalid_or_inactive_resets": 3537,
+    "field_boundary_cases": 18138,
+    "float32_can_round_trips": 218138,
+    "analytic_targets_scalar_slew_and_mirror_checks_pass": true,
+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
+      0.4000000000000019,
+      0.05000000000000002
+    ],
+    "calibration_approved": false,
+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "c21a9013700734dd20b09e05aa68329ad8cc20f9"
+  },
+  "route_ca": {
+    "baseline_revision": "959ae3d6e76c479f48e081c060b0f3569a6f15f4",
+    "baseline_source_sha256": "47fff1fd1bd7e65ca6d6b437fa9d2e8a864d421622d9efdfe0fe04b927c6d972",
+    "calibration_approved": false,
+    "cycles": 327448,
+    "active_cycles": 118756,
+    "validity_matches_baseline_exactly": true,
+    "status_counts": {
+      "inactive": 208692,
+      "active": 118756
+    },
+    "c0_matches_baseline_exactly": false,
+    "c0_changed_cycles": 855,
+    "max_abs_c0_change_m": 2.2,
+    "offset_overflow_seconds": 7.359375754000212,
+    "max_abs_offset_overflow_target_m": 2.867466852068901,
+    "feedback_enabled_seconds": 1128.448330694985,
+    "pscm_limit_2_seconds": 1.5229074359986043,
+    "c1_changed_cycles": 0,
+    "max_abs_c1_change_rad": 0.0,
+    "max_abs_correction_rad": 0.13238253764709199,
+    "can_round_trips": 327448,
+    "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+    "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
+    "carryover_release_count": 32
+  },
+  "route_ca_release": {
+    "scope": "Describe candidate command tails on frozen ca measurements, not wheel response.",
+    "changed_c0_seconds": 8.606610047996583,
+    "overflow_target_seconds": 7.359375754000212,
+    "changed_c0_without_current_overflow_seconds": 1.4386431469993113,
+    "candidate_c0_at_cap_seconds": 2.054423716999736,
+    "baseline_c0_at_cap_seconds": 0.0,
+    "all_c1_c2_c3_match_baseline_exactly": true,
+    "all_pre_overflow_commands_match_baseline_exactly": true,
+    "all_inactive_commands_zero": true,
+    "windows": [
+      {
+        "start_s": 645.4515506280004,
+        "last_overflow_s": 647.9591778859995,
+        "duration_s": 2.5175176129996544,
+        "extra_target_peak_m": 2.867466852068901,
+        "c0_change_peak_m": 2.2,
+        "post_overflow_tail_s": 0.4753179760009516,
+        "tail_end_s": 648.444386217001,
+        "tail_ended_by": "matches baseline"
+      },
+      {
+        "start_s": 1896.7594062080007,
+        "last_overflow_s": 1897.0382758169999,
+        "duration_s": 0.29005605599923,
+        "extra_target_peak_m": 0.16229432076215744,
+        "c0_change_peak_m": 0.16999999999999993,
+        "post_overflow_tail_s": 0.0,
+        "tail_end_s": 1897.0494622639999,
+        "tail_ended_by": "matches baseline"
+      },
+      {
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+  "route_ca_input_sha256": {
+    "route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
+    "model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
+    "metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525"
+  },
+  "lab_can_round_trips_excluding_integration": 745586,
+  "validation_environment": {
+    "python": "/Users/ibpersonal/dev/sunnypilot/.venv/bin/python",
+    "PYTHONPATH": ".:opendbc_repo:.cache/ford_v6/test_deps",
+    "PYTHONDONTWRITEBYTECODE": "1",
+    "LOG_ROOT": "/private/tmp/ford-overflow-logs",
+    "PARAMS_ROOT": "/private/tmp/ford-overflow-params"
+  },
+  "source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "90269d748d55558bf2495d3b4afcfd7429f373108df1f9259e154d1b92184262",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_overflow.py": "9086434d2b76ab51f69ef08c4f0033c4eaa1950083cc9cce4b34279eb17c5b1b",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "dc552f3088b7e437a928f349989b74c4e7772d2a88b14a93e933ea8b8344d23b",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "4e82101463c5d83f6b1f72ba4918c2b37731bc2db6ec7e29e6b402ea67276db2",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "6b73e70b120527275a9e4e3dff07dd7d19648da517402187d57a90ba09b017eb",
+    "tools/ford_pscm_lab/feedback_replay.py": "7c65515d37aac900eaaef8451a7d643b72c566a2366651f843de2ffca5f24b8d",
+    "tools/ford_pscm_lab/stress_model_action.py": "cec2619285dd41274562ac035ee8ea0a389269a0c4ef1b62efa6252ad1a714aa",
+    "openpilot/sunnypilot/sunnylink/settings_ui_src/pages/vehicle.yaml": "3ae6b16a8c267ab181e00f4b59be8b65134480bec26c8c039bcbae88cb745feb",
+    "openpilot/sunnypilot/sunnylink/settings_ui.json": "ba803819751b304e82936a95902afae63ff88e16e64988622715a7b713f3b982"
+  },
+  "limitations": [
+    "Recorded vehicle motion does not react to changed commands.",
+    "Computation time proxies and service-check reconstruction limits apply.",
+    "C0 slew can leave extra command after overflow stops; maximum observed tail 0.712 s.",
+    "No device build, boot, installation, road tracking or physical stability validation."
+  ]
+}

docs/ford_c1_p75_trial.md

@@ -0,0 +1,98 @@
+# Ford C1 proportional trial: P=0.75
+
+Route 149 contains large steering shortfalls before driver intervention while
+the selected curvature matches the model and neither C1's bound nor the PSCM
+reached-limit flag explains the shortfall. This trial raises the immediate C1
+error correction from P=0.50 to P=0.75. I remains 0.25. Runtime changes are the
+gain constant and the diagnostic version, `model-action-curvature-c0-distance-pi-v13`.
+
+The intended effect is more correction while behind and more release correction
+when measured steering exceeds the request. Increasing P does not establish a
+faster physical response: it can also amplify measurement fluctuations and
+produce oscillation. This is a trial coefficient, not a learned calibration.
+
+The selected model action, +0.40 s low-speed preview, C0 distance setting and
+formula, integral arithmetic, PSCM arbitration, field bounds, and 100 Hz sender
+remain unchanged. C2/C3 stay zero. The existing default-off Sunnylink toggle
+still selects the experiment on Ford CAN FD; toggle-off selects upstream Ford.
+
+## Paired production replay
+
+Compared explicit P=0.50 and P=0.75 production adapters with I=0.25 and fixed-7 m
+C0 across 21 route extracts: 112–117, 119, 11a, 120, 124, 125, 146, 149, a0, a2,
+a5, a9, b8, b9, ca, and Raptor 02. The passes cover 2,275,248 source cycles and
+4,550,496 real Float32-to-CAN encode/decode round trips.
+
+Both passes use the same recorded selected curvature, measured motion, model
+geometry, input timestamps, and driver/PSCM flags. Older routes retain their
+original model requests; their neural inference is not rerun with the new delay.
+This compares commands, not predicted wheel motion or tracking accuracy.
+
+Checks passed on every cycle: identical C0, eligibility, feedforward, overflow,
+and feedback/driver/PSCM gates; finite and bounded output; inactive zero output;
+zero C2/C3; exact decoded fields, mode and counter; and the expected 1.5 ratio
+between proportional terms. Integration tests separately check the selected
+defaults, downstream checksums, reference selection, reversals, driver override,
+reached-limit behavior, duplicate measurements, and toggle-off upstream behavior.
+
+On route 149, the P=0.50 replay agrees with the recorded path commands over the
+clean scoring cohort to Float32 precision: maximum C0 difference 5.8e-8 m and C1
+difference 1.5e-8 rad. Full SubMaster health and exact control execution clocks
+are not in the extract; publication timestamps approximate them. Historical
+versions used different command laws, so their recorded commands are not
+expected to match this baseline.
+
+Clean scoring excludes driver steering, unavailable feedback, inactive/invalid
+control, the following second, and speed below 3 mph. It contains 11,128.80 s.
+Durations use original timestamps, clipping gaps to 30 ms. Percentiles are
+sample-based. Request-angle categories do not identify road geometry.
+
+| Recorded request magnitude | Scored seconds | Mean absolute C1 change | P95 C1 change |
+| --- | ---: | ---: | ---: |
+| Under 10 degrees | 9,051.37 | 0.00088 rad | 0.00250 rad |
+| 10–45 degrees | 1,631.68 | 0.00250 rad | 0.00900 rad |
+| At least 45 degrees | 445.75 | 0.00829 rad | 0.03100 rad |
+
+C1 bound exposure increases from 21.30 to 22.67 s over the clean cohort. Mean
+absolute stored I changes from 0.005987 to 0.005984 rad; a larger P term changes
+the remaining accumulation headroom even though I's gain is unchanged.
+
+The largest small-request C1 difference is 0.093 rad on route 117, where the
+recorded request is +4.6 degrees and the wheel is still at -210 degrees. This is
+a large release error, not ordinary centering. Restricting both requested and
+actual wheel angle to within 10 degrees leaves 8,788.38 s: mean absolute C1
+change 0.00073 rad, P95 0.00200 rad, maximum 0.01250 rad. These measurements do not
+establish preserved centering or closed-loop stability.
+
+In route 149, the candidate increases the C1 request at the reviewed entry
+misses and reduces the remaining turn command during the clean segment-14
+release. Its clean C1 bound exposure rises from 0.23 to 0.61 s. The paired I
+traces remain nearly identical. The local report includes five entry, reversal,
+and exit comparisons with the recorded wheel trace clearly distinguished from
+replayed command traces.
+
+## Validation and reproduction
+
+455 tests and 25 subtests pass, including Ford controller/adapter/selection,
+C0 distance settings, diagnostic logging, delay helpers, and Ford CAN tests.
+The actual controlsd-to-CAN integration test failed at the old proportional
+output before changing the default, then passed at the new setting. Ruff and
+`git diff --check` pass. A device build, installation, and physical evaluation
+are not part of these offline checks.
+
+The compact evidence record is [ford_c1_p75_validation.json](ford_c1_p75_validation.json).
+Full command arrays and per-route reports are in `.cache/ford_p75_trial` locally.
+Reproduce one route using the built cereal/opendbc environment:
+
+```sh
+PYTHONPATH=.:opendbc_repo PYTHONDONTWRITEBYTECODE=1 python \
+  tools/ford_pscm_lab/proportional_replay.py \
+  --routes 149=.cache/ford_route149/full \
+  --output .cache/ford_p75_recheck --workers 1
+```
+
+Additional `label=extract-directory` pairs replay independently. Each directory
+must contain `route.npz`, `model_paths.npz`, and `metadata.json`; injection routes
+are rejected. The input hashes are recorded in each result. The new test is
+worth evaluating as a bounded change, but improved entry and preserved smooth
+release still require measured vehicle response.

docs/ford_c1_p75_validation.json

@@ -0,0 +1,707 @@
+{
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+  "hypothesis": "model-action-curvature-c0-distance-pi-v13",
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+    "ruff": "passed",
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+}

docs/ford_c1_pi.md

@@ -0,0 +1,151 @@
+# Ford C1 proportional feedback trial
+
+V6 adds **P = 0.25** to the selected-action controller. It responds to a steering
+shortfall immediately and subtracts demand immediately when the wheel exceeds
+the selected request. V5 accumulated correction over traveled distance. P has
+no stored correction to release when its error disappears.
+
+This is an initial drive-trial gain, not an identified PSCM calibration or a
+claim of improved physical tracking. Six Lightning routes establish command
+behavior across recorded scenarios. They cannot identify the best stable gain
+without observing the vehicle responding to the changed commands.
+
+## Command law
+
+With curvature in inverse meters, speed in meters per second and heading in radians:
+
+```text
+D = max(7 m, speed × 1 s)
+error = selected_limited_curvature - measured_steering_curvature
+base_C1 = clip(D × selected_limited_curvature, -0.5, +0.5)
+P = 0.25 × D × error
+I_increment = speed × error × fresh_measurement_elapsed_time
+C1 = amplitude_and_slew_limit(base_C1 + P + I)
+```
+
+P is 25% of the heading-equivalent tracking error, not a 25% multiplier on the
+model request. At matched curvature it is zero. It is stateless and can change
+with a new request even if a steering publication repeats; repeated steering
+publications still cannot integrate I twice. Driver override and fresh PSCM
+denied/inactive states clear both feedback terms. Fresh `limit=2` inhibits
+outward I accumulation while permitting unwind; P remains available inside the
+existing combined output envelope.
+
+The existing C1 amplitude limit (±0.5 rad) and slew (0.5 rad/s) apply to the sum.
+Anti-windup includes P when calculating I's available headroom. P can consume
+a slew interval that previously allowed I accumulation. The conditional I
+release rules, including [completed-unwind release](ford_unwind_catchup.md),
+remain. C0 retains the same 7 m mapping, base-heading overflow, cap and slew;
+neither P nor I spills into C0. C2/C3 stay zero. No plant, gain schedule or
+automatic gain learning is introduced.
+
+Onroad selection explicitly supplies `C1_PROPORTIONAL_GAIN = 0.25`. Direct
+`FordModelActionController()` and `ModelActionController()` construction defaults
+to zero P for v5 reference/replay compatibility. The existing default-off
+Sunnylink toggle selects v6 on any Ford CAN FD. Toggle off still selects
+upstream Ford control. See [installation and selection](ford_model_action_drive_test.md).
+
+## Lightning replay findings
+
+Routes `112`, `113`, `114`, `115`, `b9` and `ca` supplied 677,871 control cycles.
+Each was replayed with P gains 0, 0.1, 0.25 and 0.5, paired with diagnostic
+feedback delays 0, 0.2 and 0.4 s: 12 combinations and 8,134,452 candidate updates.
+Recorded model, driver, steering and PSCM inputs stayed fixed.
+
+Both command columns are replayed C1 in radians with left positive. The angle
+pair is the single recorded desired/actual wheel measurement, not a predicted
+outcome for either candidate.
+
+| Example | Desired / actual angle | V5 C1 | P=0.25 C1 |
+| --- | ---: | ---: | ---: |
+| 115, 207.908 s: late left entry | 94.2° / 51.2° | +0.1685 | +0.1825 |
+| 115, 208.099 s: entry continues | 111.0° / 72.8° | +0.2105 | +0.2245 |
+| 114, 473.086 s: well-tracked bend | 57.3° / 56.3° | +0.1855 | +0.1850 |
+| 113, 481.567 s: hanging right exit | −7.6° / −94.4° | +0.0645 | +0.0875 |
+| 115, 133.595 s: completed unwind | 6.0° / 29.9° | +0.0105 | 0.0000 |
+
+The completed-unwind example is excluded by the original quality/driver clean
+mask. It is useful for checking command release, not autonomous tracking
+attribution. Large-turn windows often contain interventions and require review
+of driver input before assigning a tracking result to the controller.
+
+Across 2,740.44 seconds of valid, feedback-enabled, clean samples with desired
+wheel angle below 30°, the duration-weighted mean absolute C1 change is
+0.001001 rad at P=0.25, versus 0.001961 at P=0.5. Per-route 95th-percentile
+changes at P=0.25 are 0.0025–0.0070 rad; the largest ordinary-cohort change is
+0.0350 rad. Small average command changes do not establish unchanged centering
+or stability.
+
+P=0.25 is an engineering choice between the tested smaller and larger responses,
+not an optimization result. At the late-entry example, adding a fixed 0.4 s
+feedback delay instead gives C1 +0.1420 rad. Across the ordinary cohort, that
+delayed P=0.25 variant changes C1 by 0.011255 rad on average. V6 therefore
+retains v5's feedback timing to isolate P. This does not identify or disprove
+the vehicle's physical delay. The diagnostic delay variants change only P and
+I integration targets; request-release decisions still use the current request.
+
+## Tuning and next-drive evidence
+
+Comma's [torque controller](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/controls/lib/latcontrol_torque.py)
+separates feedforward, P and I and aligns its torque feedback reference with
+steering delay. Its [angle PID controller](https://github.com/commaai/openpilot/blob/master/openpilot/selfdrive/controls/lib/latcontrol_pid.py)
+uses desired-minus-measured steering angle directly. These different paths do
+not imply one delay setting should be copied into Ford C1.
+
+Use the same discipline: explicit parameters, separate term logging, fixed
+request conditions and measured response. Comma's
+[lateral maneuver report](https://blog.comma.ai/0111release/#lateral-maneuver-report)
+uses repeatable step/sine maneuvers to assess response. C1 is a path-heading
+request to another controller, not normalized steering torque; numerical torque
+gains and torque calibration cannot be copied across.
+
+For the next controlled evaluation, compare similar speeds and model requests:
+entry delay/shortfall, overshoot as the request relaxes, correction after catch-up,
+ordinary-bend centering and oscillation. Keep desired/actual tracking on original
+timestamps. Check C0/C1 caps, slew, driver input and fresh PSCM flags separately.
+More gain cannot remove hardware limits and can introduce oscillation. These
+logs all come from a Lightning; the gain is not yet validated across other
+PSCMs. No scripted maneuver mode is enabled by this change.
+
+Periodic `Ford C2-free path tracking` events identify
+`hypothesis=model-action-c1-pi-v6` and expose `heading_proportional`,
+`proportional_gain`, `feedback_curvature` and `feedback_error` alongside
+`heading_feedforward`, `heading_correction`, command and release diagnostics.
+`calibration_approved=false` remains.
+
+## Validation and reproduction
+
+The final selected path exactly matches the sweep's P=0.25, zero-delay variant
+on all six routes, including C0/C1, P, I and activation. Zero-P/zero-delay matches
+v5 exactly on every cycle. All variants preserve C0 and activation. Another
+200,000 seeded stress cycles check PI arithmetic, anti-windup, mirror symmetry,
+driver/PSCM arbitration, resets, amplitude/slew and zero-P parity. Sweep,
+selected replay and stress total **9,012,323 Float32/CAN round trips**.
+Encoding checks do not test vehicle motion.
+
+**776 tests and 9,145 subtests passed; 178 were skipped.** Coverage includes
+actual startup selection, controlsd request source/limiting, Float32 publication,
+100 Hz CAN encoding, checksums, both turn signs, integral release, Sunnylink
+persistence, toggle-off upstream behavior and Ford safety tests. Ruff,
+controller Ty and settings compilation passed. A hardware build/device boot
+and physical response tests have not been performed.
+
+Use the project's Python environment and built cereal/opendbc dependencies:
+
+```sh
+export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
+export PYTHONDONTWRITEBYTECODE=1
+export PARAMS_ROOT=/tmp/ford-pi-test-params
+export LOG_ROOT=/tmp/ford-pi-test-logs
+python -m tools.ford_pscm_lab.pi_replay .cache/ford_route115 --output .cache/ford_pi_sweep/route115
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route115 --baseline 22d188776cb557acea459a1fca70812bdb2df46c --output .cache/ford_pi_sweep/selected115
+python -m tools.ford_pscm_lab.pi_stress --cycles 200000 --gain .25 --output .cache/ford_pi_sweep/stress.json
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+```
+
+Repeat both replay commands for the other five extracts. The machine-readable
+[validation record](ford_c1_pi_validation.json) records counts, source hashes,
+cohort definitions and sampled command changes. Publication time proxies the
+computation clock; full SubMaster state and selected maneuver-plan publications
+are not reconstructed. Real maneuver source selection is exercised in integration
+tests. Historical controller reports retain their original version scope.

docs/ford_c1_pi_validation.json

@@ -0,0 +1,373 @@
+{
+  "hypothesis": "model-action-c1-pi-v6",
+  "baseline_revision": "22d188776cb557acea459a1fca70812bdb2df46c",
+  "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+  "selected_gain": 0.25,
+  "selected_feedback_delay_s": 0.0,
+  "calibration_approved": false,
+  "scope": "Frozen recorded steering, model, driver and PSCM inputs. Command checks only; no predicted wheel response or physical tracking improvement score.",
+  "controller_sha256": "8eaf242a8627c398b732e9c185527640b2ae39b4726cbb138c0a10490a4b890f",
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+    },
+    "b9": {
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+      "fingerprint": "FORD_F_150_LIGHTNING_MK1",
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+      "zero_gain_zero_delay_matches_v5_exactly": true,
+      "all_c0_and_activation_match_exactly": true,
+      "ordinary_clean_seconds": 577.3471252719997,
+      "ordinary_mean_abs_c1_change_rad": 0.001220959786299961,
+      "ordinary_p95_abs_c1_change_rad": 0.0050000000000000044,
+      "ordinary_max_abs_c1_change_rad": 0.02350000000000002,
+      "all_valid_max_abs_c1_change_rad": 0.10250000000000004,
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+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee",
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+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "8eaf242a8627c398b732e9c185527640b2ae39b4726cbb138c0a10490a4b890f",
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+      "selected_report_sha256": "733c3eb657cbae29fcb809ca42b85ed6fc03ab44665c5fe31020e266717ce53c"
+    },
+    "ca": {
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+      "ordinary_clean_seconds": 892.0115341569954,
+      "ordinary_mean_abs_c1_change_rad": 0.0008244438245156879,
+      "ordinary_p95_abs_c1_change_rad": 0.0025000000000000022,
+      "ordinary_max_abs_c1_change_rad": 0.01200000000000001,
+      "all_valid_max_abs_c1_change_rad": 0.05149999999999999,
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/route.npz": "ae9d46770eaf0dbbac6af86aebc926320eed0cf114eb43d5f78b0676e8e0dbf9",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/model_paths.npz": "bf17deb442383aaa79432566cd382df24a1bbbbd0521d0cafab956618f5bdd96",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/metadata.json": "a759d5cdf878df8b05d91db637b1935b6b4bdd87af96f0f256b67e7d809b3525",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "c7de9d9d7aefb27221ad6d964df723fbf9f2b0f820cdd7de4799c83984d05485",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "8eaf242a8627c398b732e9c185527640b2ae39b4726cbb138c0a10490a4b890f",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeca/angles.npz": "1681bda6db7dac332abf627d97e7452acd7e0faef0c196b11e55e22291cad073"
+      },
+      "sweep_report_sha256": "4ced4be50569d4025c9de7fb8085714deebfb6098238ab63e5a2e4c88460a94b",
+      "selected_report_sha256": "db0edb05105600f211e7ff833a324887f4402dc64ddceb44ee8ddec911de7533"
+    }
+  },
+  "examples": [
+    {
+      "description": "Late left entry",
+      "route": "115",
+      "time_s": 207.908066963,
+      "desired_angle_deg": 94.1796646118164,
+      "actual_angle_deg": 51.20000076293945,
+      "speed_mph": 12.099885821086458,
+      "strict_clean": true,
+      "c0_m_left_positive": 0.96,
+      "c1_rad_left_positive": {
+        "v5": 0.16849999999999998,
+        "p_025": 0.1825,
+        "p_025_delay_04": 0.14200000000000002
+      },
+      "p_rad_left_positive": 0.018101743422448635,
+      "i_rad_left_positive": 0.015372994845796784
+    },
+    {
+      "description": "Entry continues",
+      "route": "115",
+      "time_s": 208.09921410900006,
+      "desired_angle_deg": 111.01296997070312,
+      "actual_angle_deg": 72.80000305175781,
+      "speed_mph": 12.297558204224886,
+      "strict_clean": true,
+      "c0_m_left_positive": 1.13,
+      "c1_rad_left_positive": {
+        "v5": 0.21050000000000002,
+        "p_025": 0.22450000000000003,
+        "p_025_delay_04": 0.18100000000000005
+      },
+      "p_rad_left_positive": 0.016087211202830076,
+      "i_rad_left_positive": 0.02176835685651445
+    },
+    {
+      "description": "Completed right-turn unwind",
+      "route": "115",
+      "time_s": 133.59461515599992,
+      "desired_angle_deg": 5.989600658416748,
+      "actual_angle_deg": 29.899999618530273,
+      "speed_mph": 5.890273288393662,
+      "strict_clean": false,
+      "c0_m_left_positive": 0.1900000000000004,
+      "c1_rad_left_positive": {
+        "v5": 0.010500000000000065,
+        "p_025": 0.0,
+        "p_025_delay_04": -0.0030000000000000027
+      },
+      "p_rad_left_positive": -0.010158478980883956,
+      "i_rad_left_positive": -0.0015653052344988395
+    },
+    {
+      "description": "Large left overshoot; nearby driver input",
+      "route": "114",
+      "time_s": 168.957705716,
+      "desired_angle_deg": 278.3920593261719,
+      "actual_angle_deg": 450.20001220703125,
+      "speed_mph": 7.027778014508665,
+      "strict_clean": true,
+      "c0_m_left_positive": 5.11,
+      "c1_rad_left_positive": {
+        "v5": 0.34099999999999997,
+        "p_025": 0.2875,
+        "p_025_delay_04": 0.3125
+      },
+      "p_rad_left_positive": -0.07201755233108997,
+      "i_rad_left_positive": -0.13527950258838367
+    },
+    {
+      "description": "Well-tracked left bend",
+      "route": "114",
+      "time_s": 473.085523785,
+      "desired_angle_deg": 57.32655334472656,
+      "actual_angle_deg": 56.29999923706055,
+      "speed_mph": 27.33261651794824,
+      "strict_clean": true,
+      "c0_m_left_positive": 0.6699999999999999,
+      "c1_rad_left_positive": {
+        "v5": 0.1855,
+        "p_025": 0.18500000000000005,
+        "p_025_delay_04": 0.15900000000000003
+      },
+      "p_rad_left_positive": 0.0007143015310955292,
+      "i_rad_left_positive": 0.022011912629614844
+    },
+    {
+      "description": "Hanging right exit",
+      "route": "113",
+      "time_s": 481.56693996600006,
+      "desired_angle_deg": -7.566320896148682,
+      "actual_angle_deg": -94.4000015258789,
+      "speed_mph": 11.959057581279636,
+      "strict_clean": true,
+      "c0_m_left_positive": -0.5800000000000001,
+      "c1_rad_left_positive": {
+        "v5": 0.0645,
+        "p_025": 0.08750000000000002,
+        "p_025_delay_04": 0.034499999999999975
+      },
+      "p_rad_left_positive": 0.03597008844371885,
+      "i_rad_left_positive": 0.06765882642510383
+    }
+  ],
+  "ordinary_cohort": "Existing interval-clean angle mask, valid replay and feedback enabled, absolute desired wheel angle <30 degrees.",
+  "weighting": "Extracted interval duration weights for seconds and mean absolute command changes; percentiles are cycle-weighted.",
+  "ordinary_clean_seconds": 2740.4427841649945,
+  "ordinary_mean_abs_c1_change_by_setting_rad": [
+    {
+      "kp": 0.0,
+      "delay_s": 0.0,
+      "mean_abs_delta_rad": 0.0
+    },
+    {
+      "kp": 0.1,
+      "delay_s": 0.0,
+      "mean_abs_delta_rad": 0.0003946011107110312
+    },
+    {
+      "kp": 0.25,
+      "delay_s": 0.0,
+      "mean_abs_delta_rad": 0.0010009008647461168
+    },
+    {
+      "kp": 0.5,
+      "delay_s": 0.0,
+      "mean_abs_delta_rad": 0.001961192031401653
+    },
+    {
+      "kp": 0.0,
+      "delay_s": 0.2,
+      "mean_abs_delta_rad": 0.006131012841938232
+    },
+    {
+      "kp": 0.1,
+      "delay_s": 0.2,
+      "mean_abs_delta_rad": 0.006179941022213607
+    },
+    {
+      "kp": 0.25,
+      "delay_s": 0.2,
+      "mean_abs_delta_rad": 0.006305419932002006
+    },
+    {
+      "kp": 0.5,
+      "delay_s": 0.2,
+      "mean_abs_delta_rad": 0.006643212063186747
+    },
+    {
+      "kp": 0.0,
+      "delay_s": 0.4,
+      "mean_abs_delta_rad": 0.010964264260175235
+    },
+    {
+      "kp": 0.1,
+      "delay_s": 0.4,
+      "mean_abs_delta_rad": 0.011070256870936306
+    },
+    {
+      "kp": 0.25,
+      "delay_s": 0.4,
+      "mean_abs_delta_rad": 0.011255438766715855
+    },
+    {
+      "kp": 0.5,
+      "delay_s": 0.4,
+      "mean_abs_delta_rad": 0.01162257561022028
+    }
+  ],
+  "totals": {
+    "cycles": 677871,
+    "candidate_updates": 8134452,
+    "sweep_can_round_trips": 8134452,
+    "selected_can_round_trips": 677871,
+    "can_round_trips_including_stress": 9012323
+  },
+  "stress": {
+    "cycles": 200000,
+    "gain": 0.25,
+    "seed": 20260913,
+    "mirrored_updates": 200000,
+    "zero_gain_exact_v5_comparisons": 200000,
+    "can_round_trips": 200000,
+    "baseline_revision": "22d188776cb557acea459a1fca70812bdb2df46c",
+    "baseline_source_sha256": "2ceb4cd8717bb3325f9b22189c78605ad5d42a1061dec9ca2e4dbb90fd256d1e",
+    "release_cycles": 91,
+    "calibration_approved": false,
+    "checks": "Independent scalar PI arithmetic, combined anti-windup, mirror symmetry, slew/amplitude, driver/PSCM gates, resets, zero-P v5 parity and CAN.",
+    "scope": "Check PI arithmetic and CAN invariants without a model of vehicle response.",
+    "source_sha256": {
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/pi_stress.py": "07f3bd99c56e2184ba3402d7b2f324506ac0b786c7a15e422e9e2392c934544a",
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "8eaf242a8627c398b732e9c185527640b2ae39b4726cbb138c0a10490a4b890f"
+    },
+    "formatting_only_final_source_ast_identical": true,
+    "final_script_sha256": "cff014beda81b0bfbaabd7219b8e2848464c5c45ac779669f80084d5be347a06"
+  },
+  "tests": {
+    "passed": 776,
+    "skipped": 178,
+    "subtests_passed": 9145,
+    "log_sha256": "5b9274e2557f41b630ad285b0426c916835c2997fc7f5c4fcad91aa4c6f64243",
+    "ruff": "passed",
+    "controller_ty": "passed",
+    "settings_compiler": "passed"
+  }
+}

docs/ford_c1_request_release.md

@@ -0,0 +1,128 @@
+# Ford changed-request correction release
+
+The Chestnut/Tee Time routes 112 and 113 ran `17a86842f` (C1 feedback v3).
+In route 113, an increasing turn request remained below its base C1 because
+negative correction from an earlier oversteer episode took time to return to
+zero. The existing reversal release did not apply: requested and measured
+curvature were already in the same turn direction.
+
+Version `model-action-c1-feedback-v4` retires a bounded amount of correction
+when a changed request and measured error both oppose that correction. This
+addresses software command delay. It does not establish improved wheel tracking
+or fix all the recorded hanging exits.
+
+## Rule
+
+On a fresh steering measurement, evaluate the previous selected curvature and
+the current selected curvature using today's existing heading reference:
+
+```text
+distance = max(7 m, speed * 1 s)
+change = clip(distance * desired, -0.5, 0.5)
+       - clip(distance * previous_desired, -0.5, 0.5)
+error = desired - measured
+```
+
+Retirement requires all of:
+
+- Feedback enabled and a previous feedback request available.
+- Heading change at least one existing C1 DBC step (0.0005 rad).
+- Change and current error agree in direction.
+- Stored correction opposes that direction.
+- The magnitude of `distance * error` is at least the correction magnitude.
+
+Move the correction toward zero by at most the heading change, without crossing
+zero. Then run the existing reversal release, elapsed-distance integration,
+PSCM arbitration and final output slew. The mismatch requirement is an
+engineering guard using the existing reference distance; it is not a fitted
+PSCM response threshold or proof of stability. It protects a larger learned
+correction from small target/measurement noise. There is no new tunable strength
+multiplier, and the existing 1:1 feedback-strength choice remains.
+
+The last selected curvature adds one control state. Duplicate steering samples
+do not advance this history or retire correction; the next fresh sample uses
+the net request change. A speed change alone cannot cause retirement because
+both requests are evaluated at the same current speed. Invalid input and
+disengagement reset the history. Driver override clears correction and prevents
+a pending request change from being applied later.
+
+C0 mapping and overflow, C2/C3 zeroing, amplitude/slew limits, sender cadence and
+all input/driver/PSCM gates remain unchanged. Toggle off still selects upstream
+Ford control on every platform. The existing default-off toggle selects v4 on
+Ford CAN FD vehicles. `request_release` logs signed radians retired on that
+cycle; periodic diagnostics do not capture every individual retirement.
+
+## Evidence and limits
+
+The regression command `python -m pytest -q -p no:cacheprovider
+openpilot/selfdrive/controls/tests/test_ford_model_action_request_release.py`
+initially returned **4 failed** on v3. It checks that an obsolete correction no
+longer delays a changed same-direction turn or unwind after the output slew
+has time to respond. Expanded cases cover small noise, matched tracking,
+insufficient error, speed-only changes, clipped base requests, duplicate
+measurements, override and reset. Integration tests exercise actual controlsd
+selection/limiting, both model and maneuver references, Float32 publication
+and Ford CAN packing.
+
+Frozen replay compares v4 with the deployed v3 on the same recorded model,
+measurement, driver and PSCM inputs:
+
+| Route | Control cycles | Retirement cycles | Largest C1 difference |
+| --- | ---: | ---: | ---: |
+| 112 | 108,971 | 414 | 0.0235 rad |
+| 113 | 49,614 | 119 | 0.0275 rad |
+| Historical b9 | 90,774 | 440 | 0.0350 rad |
+
+Activation and C0 are identical on every replay cycle. C2/C3 remain zero.
+Retirement changes subsequent correction history, so command differences can
+persist after a retirement cycle. In frozen measurements the vehicle cannot
+react to those differences. Command differences occur in ordinary bends too;
+these tests do not establish unchanged real-world centering or stability.
+
+In route 113, segment 3, old opposing correction reaches zero at **3:18.630**
+instead of **3:19.253**: **0.623 s earlier**. At 3:18.649, C1 magnitude is
+0.319 rad instead of 0.2925 rad. The PSCM limit flag still inhibits additional
+outward integration; retiring opposing correction cannot create new stored
+outward demand through that gate.
+
+The route 113 exit at 8:01.567 has **identical C1** in this replay. Route 112's
+11:40.555 overshoot changes C1 by only 0.0015 rad, slightly later in the unwind
+direction on the frozen history. These are material limits: the change does
+not solve those exits. C0's contribution and physical PSCM response remain
+unresolved. No counterfactual wheel-angle or tracking-error score is reported.
+
+The combined suite passes **717 tests and 9,145 subtests**, with 178 inherited
+or unsupported safety-test skips. Feedback stress and zero-error stress cover
+200,000 cycles each; the latter also covers 18,138 field-boundary cases.
+Together with the three route replays, these verify **667,497 Float32/CAN round
+trips**, separately from the integration suite. Stress compares each step to
+v3 after only the declared retirement and checks sign symmetry, bounds, slew,
+resets, arbitration and correction direction. Ruff, the controller Ty check
+and settings compilation pass. Numerical records are in
+`ford_c1_request_release_validation.json`.
+
+## Reproduction
+
+Use the project's native Python dependencies and unchanged opendbc revision
+`64aa61b9b3fd26e70a7caa915acab207ff3cd64a`. Route commands require the full-rlog
+extracts (`route.npz`, `model_paths.npz`, `metadata.json`) identified by the
+validation hashes. No original logs are modified.
+
+```sh
+export PYTHONDONTWRITEBYTECODE=1
+export PYTHONPATH=.:opendbc_repo
+# Optional writable roots for the tests' temporary parameter stores and logs:
+export PARAMS_ROOT=/tmp/ford-v4-test-params
+export LOG_ROOT=/tmp/ford-v4-test-logs
+python -m pytest -q -p no:cacheprovider openpilot/selfdrive/controls/tests/test_ford_*.py tools/ford_pscm_lab openpilot/selfdrive/car/tests/test_ford_pscm_status.py openpilot/sunnypilot/sunnylink/tests openpilot/common/tests/test_params.py opendbc_repo/opendbc/car/ford/tests/test_ford.py opendbc_repo/opendbc/safety/tests/test_ford.py
+python -m tools.ford_pscm_lab.feedback_replay stress --cycles 200000 --output .cache/ford_v4/stress.json
+python -m tools.ford_pscm_lab.stress_model_action --cycles 200000 --seed 20260912 --opendbc-revision 64aa61b9b3fd26e70a7caa915acab207ff3cd64a --output .cache/ford_v4/zero_error.json
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route112 --baseline 17a86842f --output .cache/ford_v4/route112
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_route113 --baseline 17a86842f --output .cache/ford_v4/route113
+python -m tools.ford_pscm_lab.feedback_replay route .cache/ford_routeb9 --baseline 17a86842f --output .cache/ford_v4/routeb9
+```
+
+Publication time approximates the computation clock; full SubMaster health is
+not reconstructable. These routes have no selected maneuver-plan publications;
+that source is covered by integration tests. No device build, boot, installation
+or physical steering test is performed offline.

docs/ford_c1_request_release_validation.json

@@ -0,0 +1,214 @@
+{
+  "hypothesis": "model-action-c1-feedback-v4",
+  "baseline_revision": "17a86842f97f65216443a5d89648c8ace8518758",
+  "scope": "Software command delay and invariants only; no counterfactual wheel motion or proven physical tracking improvement. Hanging exits remain unresolved.",
+  "calibration_approved": false,
+  "tests": {
+    "passed": 717,
+    "subtests_passed": 9145,
+    "skipped": 178,
+    "log_sha256": "1864f8618b9d788f67e57766cf7b9ab9eda8e98a2ad0caf1c668bb9936b6eb7d",
+    "initial_regression": "4 failures on v3; same-turn command delay tests pass on v4",
+    "environment": "PARAMS_ROOT and LOG_ROOT point to dedicated temporary directories; initial sandbox path failures resolved without changing tests."
+  },
+  "feedback_stress": {
+    "cycles": 200000,
+    "mirrored_updates": 200000,
+    "can_round_trips": 200000,
+    "carryover_release_count": 165,
+    "baseline_revision": "17a86842f97f65216443a5d89648c8ace8518758",
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+    "checks": "Mirror symmetry, reset/override, amplitude, slew, correction bounds, bounded request retirement, carryover direction/confirmation, integration, PSCM limits, CAN.",
+    "scope": "Numerical software invariants only; no model of vehicle motion.",
+    "calibration_approved": false,
+    "controller_sha256": "5673630d31910fcfa5a3cc9a8d533b6b8fe9a76e2627bf1f67b52b3550ec7442"
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+    "direct_raw_float32_packing_matches_host_output": true,
+    "max_continuous_step_c0_c1": [
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+      0.05000000000000002
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+    "scope": "Zero-error numerical construction: measured equals requested curvature. No PSCM response claims.",
+    "opendbc_import_head": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+    "source_sha256": {
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+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/model_action_replay.py": "af97c665f342c66b1be2502e188c63e6f3ee106d0a0d5e80997bc3040373ff9f"
+    }
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+      },
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
+      "targeted_points": [
+        {
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+          "baseline_c0_c1": [
+            -0.34999999999999964,
+            0.010000000000000009
+          ],
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+            -0.34999999999999964,
+            0.008500000000000008
+          ]
+        }
+      ]
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+    "113": {
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+      "max_abs_offset_overflow_target_m": 0.6065444126725197,
+      "request_release_cycles": 119,
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+      "max_abs_request_release_rad": 0.009946223348379135,
+      "feedback_enabled_seconds": 243.3033761190004,
+      "pscm_limit_2_seconds": 14.003248144999816,
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+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/model_paths.npz": "93c41761eb85263f534f5371b905482cf7c948582eb1e9149966594be1d3768f",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route113/metadata.json": "1c0ca74dd48b90ab9d5444c5ca7f8aa9361700bbdf98bd5e853be50ad2895d7f",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "2e9ea03d4947c7bb3a02c864e0dbc7c9bf031af51dba5e44a8aaa137c3aac6b2",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "5673630d31910fcfa5a3cc9a8d533b6b8fe9a76e2627bf1f67b52b3550ec7442"
+      },
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed.",
+      "old_correction_zero_s": 199.2531750590001,
+      "new_correction_zero_s": 198.62974550599984,
+      "earlier_correction_zero_s": 0.6234295530002782,
+      "targeted_points": [
+        {
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+          "baseline_c0_c1": [
+            2.16,
+            0.2925
+          ],
+          "candidate_c0_c1": [
+            2.16,
+            0.319
+          ]
+        },
+        {
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+          "baseline_c0_c1": [
+            0.5800000000000001,
+            -0.0645
+          ],
+          "candidate_c0_c1": [
+            0.5800000000000001,
+            -0.0645
+          ]
+        }
+      ]
+    },
+    "b9": {
+      "baseline_revision": "17a86842f",
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+      "status_counts": {
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+        "active": 86474
+      },
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+      "request_release_seconds": 4.520361682000512,
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+      "max_abs_correction_rad": 0.18457476562660308,
+      "can_round_trips": 90774,
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/route.npz": "b07c789d8155335f5d120d0262fced6e4d5803fe767b0ff49b6413dce4140b5c",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/model_paths.npz": "6b1f87897c050273fdc05af051307a049b6fc3a93072e7cda1721195ce7c3861",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_routeb9/metadata.json": "9ce452220cab61b81883f32fc2fcaf5db6c78a674cb255a49cc77d5029580fee",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/feedback_replay.py": "cd76c6106b2e41e905b752f1638d5b3e0feaa10ec21e038268df33183a91c640",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f"
+      },
+      "timing_limit": "Controls publication time proxies the computation clock; full SubMaster checks are unavailable.",
+      "reference_limit": "Uses exact consumed model publication as reference; selected maneuver-plan messages are not reconstructed."
+    }
+  },
+  "float32_can_round_trips_excluding_integration_tests": 667497,
+  "checks": {
+    "ruff": true,
+    "controller_ty": true,
+    "settings_compilation": true,
+    "toggle_off_upstream_integration": true
+  },
+  "final_source_sha256": {
+    "openpilot/selfdrive/controls/lib/ford_model_action.py": "1a4ce5f5f63b4d2f1f6e0537c9b2ca7c463ca44b427349d71d28fb8a1138b00f",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_request_release.py": "4b4a69d67eba0ff9d5db0a50a4f868c5eb5f7c8c79d70832500554febc7d28fe",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action.py": "7b2429a5c40e5067b8edea4c11e9cdd4c6271d09f7982e30126eb42b93425a50",
+    "openpilot/selfdrive/controls/tests/test_ford_model_action_adapter.py": "5943a37f6e3865297ac543fb922a3c8b6e016c5af3eff589f518bd9615bbdb4f",
+    "openpilot/selfdrive/controls/tests/test_ford_controlsd_logging.py": "df883702a847465815feb6c4fbf88130c27e69d7e3e256c9962d99a9738ee353",
+    "tools/ford_pscm_lab/feedback_replay.py": "cd76c6106b2e41e905b752f1638d5b3e0feaa10ec21e038268df33183a91c640"
+  },
+  "source_note": "Controller comment/docstring cleanup followed feedback stress and routes 112/113. The recorded tested hashes are retained; b9 and zero-error stress record the final controller source. No executable controller change followed those runs."
+}

docs/ford_curvature_c0_v8.md

@@ -0,0 +1,99 @@
+# Desired-curvature C0 on continuous PI
+
+This local candidate changes C0's reference from the live model path's lateral
+position at 7 m to a circular arc of the selected, upstream-limited desired
+curvature. It is based on v7 (`08b3a14ad`), with the same P=0.50/I=0.25 controller.
+No new gain, state, release condition, reference delay or output limit is added.
+The candidate is on `codex/ford-curvature-c0-trial`; this evaluation does not
+publish it over the v7 onroad branch.
+
+For selected curvature k and the existing 7 m reference distance:
+
+```text
+arc C0 = (1 − cos(7 × k)) / k, or 0 when k = 0
+       ≈ 24.5 × k for small curvature
+C0 target = clip(arc C0 + 7 × clipped-away base C1, −5.11, +5.11)
+```
+
+The implementation uses the equivalent squared-sinc expression to avoid
+subtracting nearly equal floating-point numbers near zero. C0 keeps its 4 m/s
+output slew and Float32/CAN quantization. C1 keeps the existing mapping and PI
+law, ±0.5 rad bound and 0.5 rad/s slew. C2 and C3 stay zero.
+
+This is a geometric reference choice, not a model of the PSCM. The arc starts
+at zero lateral position and heading. Independent live model-path position and
+heading are omitted, while selected curvature can still include the model's
+centering decision. Valid live model geometry remains a health gate. Short valid
+paths do not shorten the synthetic 7 m arc. Both C0 and C1 use the selected
+request, including the maneuver source when selected by controlsd.
+
+## What the recorded routes show
+
+All fourteen previous routes were replayed with v7 and this C0 replacement:
+Lightning 112–117, a0, a2, a5, a9, b8, b9, ca and Raptor 02. On all 1,578,250
+control cycles, C1, P, I, activation, feedforward, overflow and feedback/PSCM
+gates match exactly. The v7 baseline also reproduces its archived commands
+exactly. C0 matches the earlier isolated geometry experiment, but C1 no longer
+has the release rules that coupled it to C0 in that experiment.
+
+Duration-weighted clean samples, grouped by requested steering-wheel angle:
+
+| Absolute requested wheel angle | v7 mean absolute C0 | Curvature C0 | Reduction |
+| --- | ---: | ---: | ---: |
+| Under 5° | 0.0136 m | 0.0072 m | 46.7% |
+| 5–30° | 0.0965 m | 0.0608 m | 37.0% |
+| 30–90° | 0.5064 m | 0.2916 m | 42.4% |
+| At least 90° | 2.6314 m | 1.5282 m | 41.9% |
+
+The clean cohort is 6,654.52 s with the existing quality/driver mask and margins,
+speed at least 2 m/s and replay feedback enabled. Only 36.20 s have a requested
+wheel angle of at least 90°. These are command magnitudes, not torque or tracking
+scores, and do not classify driver interventions as controller failures.
+
+At route 117, 128.272 s (right entry), C0 changes from −2.51 m to −1.35 m while
+C1 remains −0.427 rad. At 142.670 s (request relaxing/reversing), C0 changes from
++0.18 m to −0.02 m while C1 remains −0.0425 rad. Both comparisons are replayed
+on the same recorded vehicle motion. The new C0 follows the selected request
+more directly, but it supplies less C0 during the entry as well as the exit.
+
+## Validation and interpretation
+
+- 694 Ford/controlsd, tracked PSCM lab, Sunnylink, params, sender and safety
+  tests pass; 9,145 subtests pass and 178 platform tests skip. Historical
+  untracked offline experiment tests are outside this deployment suite.
+- The isolated two-controller replay performs 3,156,500 Float32/CAN checks.
+- Production selection/adapter replay exactly reproduces the isolated candidate
+  on every route cycle, adding 1,578,250 Float32/CAN checks.
+- A 20,000-cycle scalar geometry/PI stress with mirrored and unrelated model
+  paths adds 60,000 checks. Total: 4,794,750 CAN round trips.
+- Tests cover zero/tiny curvature, signs, circular geometry, short/malformed
+  paths, selected maneuver requests, overflow, unwind, duplicate measurements,
+  model/driver/PSCM gates, caps/slew and toggle-off upstream Ford fallback.
+- Ruff, production Ty and diff whitespace checks pass.
+
+Software C1 parity does not guarantee identical physical unwind: changing C0
+changes the PSCM's input and therefore the vehicle response and future feedback.
+Smaller C0 is not established as better or worse tracking. No device build,
+boot or drive of this candidate is claimed. Collecting the promising v7 drive's
+logs before replacing it would preserve a useful comparison.
+
+## Reproduction
+
+Use the built cereal/opendbc environment and the same local route extracts:
+
+```sh
+export PYTHONPATH=.:opendbc_repo:.cache/ford_v6/test_deps
+export PYTHONDONTWRITEBYTECODE=1
+export PARAMS_ROOT=/tmp/ford-c0-params
+export LOG_ROOT=/tmp/ford-c0-logs
+python -m tools.ford_pscm_lab.curvature_c0_v7_replay .cache/ford_route117 --output .cache/ford_curvature_c0_v7/117
+python -m tools.ford_pscm_lab.curvature_c0_validate --output .cache/ford_curvature_c0_v7/production --workers 4
+python -m tools.ford_pscm_lab.curvature_c0_production_stress --cycles 20000 --output .cache/ford_curvature_c0_v7/production_stress.json
+```
+
+Repeat the first command for each label before validating all routes. Raptor
+uses input `.cache/ford_raptor_route02` and output label `raptor02`. The first
+replay loads isolated copies of pinned v7; the second tests this checkout's
+actual selector and adapter. The validation JSON records source and extract
+hashes, settings, example points and both sets of route reports. Older v7-only
+production validation commands should run from the v7 commit.

docs/ford_curvature_c0_v8_validation.json

@@ -0,0 +1,890 @@
+{
+  "scope": "Curvature-derived C0 candidate on the continuous PI controller; fixed recorded motion, no physical tracking prediction.",
+  "baseline_revision": "08b3a14ad46260fda0f8d3a1c2cee2d272504153",
+  "branch": "codex/ford-curvature-c0-trial",
+  "deployment_at_evaluation": "local candidate; hiimisaac-dev remains v7",
+  "hypothesis": "model-action-curvature-c0-pi-v8",
+  "source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
+  "kp": 0.5,
+  "ki": 0.25,
+  "station_m": 7.0,
+  "cycles": 1578250,
+  "route_count": 14,
+  "same_c1_and_integral_on_every_recorded_cycle": true,
+  "baseline_exactly_matches_archived_v7": true,
+  "c0_commands_match_prior_geometry_experiment": true,
+  "can_round_trips": 4794750,
+  "tests": {
+    "passed": 694,
+    "skipped": 178,
+    "subtests_passed": 9145,
+    "scope": "Same Ford controls, tracked PSCM lab, car status, Sunnylink, params, Ford car and safety suite as v7; historical untracked experiments excluded."
+  },
+  "ruff": "pass",
+  "ty_production": "pass",
+  "bins": [
+    {
+      "requested_wheel_angle_degrees": "0-5",
+      "seconds": 4863.242382185041,
+      "mean_abs_c0_m": [
+        0.013572257514406704,
+        0.007239040142159917
+      ],
+      "reduction_pct": 46.662962042417725
+    },
+    {
+      "requested_wheel_angle_degrees": "5-30",
+      "seconds": 1576.952442509967,
+      "mean_abs_c0_m": [
+        0.09652124113032315,
+        0.06077627429873566
+      ],
+      "reduction_pct": 37.03326481610879
+    },
+    {
+      "requested_wheel_angle_degrees": "30-90",
+      "seconds": 178.12595563801986,
+      "mean_abs_c0_m": [
+        0.5064290157685561,
+        0.2916269430470148
+      ],
+      "reduction_pct": 42.4150406144399
+    },
+    {
+      "requested_wheel_angle_degrees": "90-inf",
+      "seconds": 36.19569558700505,
+      "mean_abs_c0_m": [
+        2.6314148997254545,
+        1.528200796263899
+      ],
+      "reduction_pct": 41.92474944094366
+    }
+  ],
+  "examples": [
+    {
+      "route": "116",
+      "time": 112.00019806100002,
+      "desired_angle": 59.83296203613281,
+      "actual_angle": 60.900001525878906,
+      "c0_left_positive": [
+        0.7599999999999998,
+        0.33999999999999986
+      ],
+      "c1_both_left_positive": 0.13550000000000006,
+      "clean": true
+    },
+    {
+      "route": "117",
+      "time": 128.2721161039999,
+      "desired_angle": -226.72189331054688,
+      "actual_angle": -185.1999969482422,
+      "c0_left_positive": [
+        -2.5100000000000002,
+        -1.35
+      ],
+      "c1_both_left_positive": -0.427,
+      "clean": true
+    },
+    {
+      "route": "116",
+      "time": 673.6933639450001,
+      "desired_angle": -152.83456420898438,
+      "actual_angle": -272.1000061035156,
+      "c0_left_positive": [
+        -2.21,
+        -0.9199999999999999
+      ],
+      "c1_both_left_positive": -0.183,
+      "clean": true
+    },
+    {
+      "route": "117",
+      "time": 142.52000677500018,
+      "desired_angle": 6.6218461990356445,
+      "actual_angle": 40.599998474121094,
+      "c0_left_positive": [
+        0.2599999999999998,
+        0.040000000000000036
+      ],
+      "c1_both_left_positive": -0.024499999999999966,
+      "clean": true
+    },
+    {
+      "route": "117",
+      "time": 142.66993146999994,
+      "desired_angle": -2.186957597732544,
+      "actual_angle": 28.5,
+      "c0_left_positive": [
+        0.17999999999999972,
+        -0.019999999999999574
+      ],
+      "c1_both_left_positive": -0.04249999999999998,
+      "clean": true
+    }
+  ],
+  "replay_reports": [
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
+      "baseline_revision": "08b3a14ad46260fda0f8d3a1c2cee2d272504153",
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
+      "baseline_revision": "08b3a14ad46260fda0f8d3a1c2cee2d272504153",
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
+      "baseline_revision": "08b3a14ad46260fda0f8d3a1c2cee2d272504153",
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+      "proportional_gain": 0.5,
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
+      "baseline_revision": "08b3a14ad46260fda0f8d3a1c2cee2d272504153",
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+      "opendbc_revision": "64aa61b9b3fd26e70a7caa915acab207ff3cd64a",
+      "proportional_gain": 0.5,
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+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
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+        "No new steering trace or physical tracking score: recorded motion stays fixed.",
+        "The baseline is v7 on every route, regardless of its recorded controller version.",
+        "C1 and integral state match exactly on fixed recorded motion; physical feedback may differ.",
+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
+      ]
+    },
+    {
+      "scope": "Circular-arc C0 experiment against the pinned continuous PI v7 controller.\n\nBoth controllers run on identical recorded motion. Replace only the encoder's\nC0 target, retaining path validity, C1 overflow, continuous PI feedback and\noutput limits. No onroad selector or production module is modified.\n",
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+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
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+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
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+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
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+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
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+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
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+        "Publication time proxies computation time; full SubMaster state is unavailable.",
+        "The synthetic arc keeps the original model-health gates for a controlled comparison."
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+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_curvature_c0_v7/raptor02/report.json": "af6b8fa4e4bfe3d5543794cdde4fbe4fd7560addf02717c2b6144c3987effafa",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_curvature_c0_v7/raptor02/commands.npz": "99ee65b866eda85e5c5d54f8896a7f952504826753eca31a01a29c7cf36c6482",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/curvature_c0_validate.py": "c91ead82b0320725276141b1bc9b84b132cd6345a144ea826ba2b7f069870932",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc"
+      }
+    }
+  ],
+  "production_stress": {
+    "cycles": 20000,
+    "kp": 0.5,
+    "ki": 0.25,
+    "controller_updates": 60000,
+    "can_round_trips": 60000,
+    "seed": 20260913,
+    "independent_c0_comparisons": 20000,
+    "checks": "Independent scalar PI/unwind-first/anti-windup arithmetic, mirror symmetry, exact C0 independence, limits, slew, resets, CAN.",
+    "source_sha256": {
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/curvature_c0_production_stress.py": "4bf031a793efe9ebc066e5b6db6897ca8e844d5e34c6faecd4701a4d8f04132a",
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc"
+    }
+  },
+  "limitations": [
+    "C1 parity applies only to fixed recorded inputs; changing C0 changes physical response and subsequent feedback.",
+    "Curvature arc omits independent live model position/heading; seven meters remains an engineering reference choice.",
+    "Smaller C0 is not proof of better or worse tracking; no candidate hardware drive has been performed."
+  ]
+}

docs/ford_direct_path.md

@@ -0,0 +1,95 @@
+# Direct model-path C0/C1 trial
+
+This trial takes priority over the untested filtered-driver change. Driver
+arbitration is restored to the last driven baseline, `18ded0380`: a raw torque
+crossing above 1 Nm, filtered driver input, or fresh PSCM driver override still
+clears feedback. The filtered-driver experiment remains available in history at
+`4f7d2b8d2` and is not included in this trial.
+
+Keep **Selected-Action Path Tracking** and **Model Geometry Reference** enabled
+in Sunnylink. The existing geometry toggle now selects direct-path mapping at
+controlsd startup. Keep **C0 one-second distance** off for fixed 7 m C0. Apply an
+offroad-to-onroad cycle after updating. Geometry off restores the original
+model-action controller; the master controller toggle off restores upstream
+Ford control. Joystick and lateral-maneuver overrides retain their priority.
+
+## Mapping
+
+The path is parameterized by accumulated arc length in the model frame. C0
+samples model lateral position at 7 m, or max(7 m, speed × 1 s) when the existing
+C0 distance setting is enabled. C1 samples model orientation at max(7 m,
+speed × 1 s). A shorter path holds its endpoint; invalid paths disable the
+experimental command. Both distances are 7 m below about 15.7 mph. These are
+engineering choices, not identified Ford reference points.
+
+C0 and C1 are independent base requests. C0 is no longer reconstructed as a
+circular arc from the curvature used for C1. C2/C3 remain zero, so this still
+does not transmit the model's entire curved path to the PSCM.
+
+For the existing request limits and feedback, heading is divided by its sample
+distance to form a heading-equivalent curvature. controlsd applies its normal
+curvature limits to that value, logs it, and uses it for desired steering angle
+and feedback. Multiplication by the same distance recovers the model heading
+when unconstrained. C0 independently uses 2 × offset / distance² to apply the
+same request-limit function, then reverses that normalization. This does not
+infer C0 from C1. These envelopes constrain base requests; they are not proof of
+physical lateral acceleration or jerk under the unknown PSCM response.
+
+P/I gains, measured-steering feedback, C1 anti-windup, C1-overflow allocation to
+C0, field bounds, driver arbitration, and CAN cadence retain the driven
+baseline behavior. There is no new C0/C1 actuator slew limiter. The independent
+C0 envelope adds one previous-reference state, reset with the controller.
+
+This changes preview semantics: direct commands use the distance stations
+above, rather than the prior modeld curvature preview (about 0.744 s at low
+speed on these drives). The raw model points do not pass through the old
+curvature reference's 0.1 s smoother. Existing request limits still apply.
+
+## Logging
+
+Controller diagnostics identify `model-path-direct-feedback-v17`, with
+`direct_path=true` only when the model path is in control. A valid maneuver
+reference uses the original curvature-to-arc mapping and logs
+`direct_path=false`. `offset_reference` records the independently limited C0
+normalization. Desired curvature and desired steering angle describe the C1
+feedback target, not an independent measure of lateral path position.
+
+modeld's geometry-reference telemetry is retained for comparison. Its
+`selectedCurvature` and published model action are not the direct controller's
+selected reference; use controlsState and the Ford controller diagnostics.
+
+## Offline results
+
+The replay compares the driven baseline against the direct-path candidate on
+identical recorded model frames and frozen vehicle measurements from full
+rlogs 15a and 15b. It covers 44,145 control cycles and 4,415 candidate CAN
+serialization checks. All commands remain finite and within field bounds;
+C2/C3 remain zero and driver/PSCM override behavior matches the baseline.
+The baseline reproduces recorded C1 to Float32 precision; C0 differs by at
+most one 0.01 m command quantum on 15b.
+
+| Metric | 15a baseline → direct | 15b baseline → direct |
+|---|---:|---:|
+| C1 field-bound time | 2.57 → 6.77 s | 6.70 → 7.54 s |
+| Low-speed C0 steps > 0.25 m | 52 → 52 | 85 → 129 |
+| Low-speed C1 steps > 0.05 rad | 36 → 46 | 32 → 57 |
+
+Low-speed counts use valid consecutive commands below 15 mph, normally 10 ms
+apart. They are descriptive command changes, not physical wheel jerk. The
+direct mapping changes requests substantially and does **not** establish a
+smoothness improvement: abrupt command changes and C1 field-bound time can
+increase. Fixed recorded measurements cannot predict the resulting wheel
+response, centering, or unwind. No on-road improvement is claimed.
+
+**593 tests pass** (547 controller/path/geometry tests and 46 settings tests).
+The tests cover independent position/heading commands, distances, endpoint
+handling, invalid input resets, request limits through reversals, feedback,
+baseline driver overrides, toggle selection, maneuver priority, publication,
+and CAN encoding. Reproduce replay with:
+
+```sh
+PYTHONPATH=.:opendbc_repo python tools/ford_pscm_lab/direct_model_path_replay.py \
+  --source .cache/ford_route15a/rlog_full --output .cache/ford_direct_path/15a
+```
+
+Detailed measurements and source hashes: `ford_direct_path_validation.json`.

docs/ford_direct_path_v9.md

@@ -0,0 +1,70 @@
+# Ford direct C0/C1 requests — v9
+
+The v8 maneuver route `84865544361f55cb/0000011c--99f4537696` showed
+commands being delayed by our extra 4 m/s C0 and 0.5 rad/s C1 slews.
+Those values were controller choices, not measurements of the PSCM's limits.
+For example, a C1 target reversal from +0.10 to -0.10 rad required at least
+0.4 seconds in our output stage alone.
+
+V9 sends the current bounded C0 and C1 requests on each update. There is no
+additional actuator ramp, zero hold, reversal mode, or initial engagement ramp.
+C0 remains the selected-curvature arc at 7 m plus base-C1 overflow. C1 remains
+base heading plus proportional and integral feedback, with P=0.50 and I=0.25.
+These are calculated commands, not a known inverse of the PSCM's response.
+
+Integral cancellation happens first. New integral accumulation fits the
+combined command's magnitude headroom, rather than the old slew headroom.
+This removes a second dependence on the old ramp. Fresh-measurement cadence,
+driver override, PSCM arbitration, stale/invalid input reset, and C2/C3=0 remain.
+
+The default-off Sunnylink `FordModelActionController` selector still applies
+to any Ford CAN FD vehicle. Toggle off restores upstream Ford control.
+Logs identify `model-action-direct-c0-c1-pi-v9`.
+
+## Remaining bounds
+
+- Selected desired curvature still passes through upstream `clip_curvature`:
+  3 m/s² lateral acceleration adjusted for roll, 5 m/s³ lateral jerk, and
+  absolute curvature 0.2 m⁻¹. These bound the reference; they are not proof of
+  a physical acceleration or jerk bound under custom C0/C1 feedback.
+- C0 remains within ±5.11 m and C1 within ±0.50 rad. The downstream packer
+  retains the actual wire ranges, preventing out-of-range values wrapping.
+- Driver, CAN, timing, service health, and fault gates remain intact.
+- Panda safety, the 100 Hz sender, and ramp-type selection are unchanged.
+
+No assumption is made that extended path mode independently enforces ISO
+limits. The absence of `LimitReached` is not evidence of unrestricted authority.
+
+## Offline validation
+
+The same-cycle reversal regression failed on v8 in both directions at 2, 10,
+and 100 ms timesteps, then passed after the change. Zero-error release reaches
+zero immediately. Full controlsd/publication/CAN tests check current-request
+output, upstream reference selection, field packing, driver and PSCM gates,
+integral cancellation and anti-windup, invalid input, and toggle-off fallback.
+
+- 358 tests and 23 subtests passed across controller and Ford sender suites.
+- 20,000 seeded randomized cases produced 60,000 controller updates and CAN
+  round trips, checking independent arithmetic, symmetry, bounds and resets.
+- Routes 11c, 119 and 11a supplied 461,340 input cycles: 922,680 baseline/v9
+  controller updates and CAN round trips. V8 and v9 activation, feedforward,
+  proportional feedback and feedback gates matched. Every active v9 output
+  matched its current bounded request within wire quantization.
+- Ruff passed for changed production/tests and the new replay/stress tools.
+
+| Route | Input cycles | Maximum C0 difference | Maximum C1 difference |
+|---|---:|---:|---:|
+| 11c maneuver suite | 54,146 | 0.09 m | 0.1605 rad |
+| 119 | 171,423 | 2.42 m | 0.4950 rad |
+| 11a | 235,771 | 3.36 m | 0.3710 rad |
+
+The maximum differences include engagement and other transitions. Removing
+slews permits abrupt changes; these are not predictions of wheel motion.
+Recorded motion, driver input and PSCM feedback stay fixed in replay.
+Publication timestamps approximate computation time; replay is not a claim of
+exact onroad command parity. Synthetic reference freshness is approximated
+from valid maneuver publications. Physical tracking and stability are unvalidated.
+
+The reproducible tools are `tools/ford_pscm_lab/direct_path_replay.py` and
+`tools/ford_pscm_lab/direct_path_production_stress.py`. Machine-readable checks
+are collected in `ford_direct_path_v9_validation.json`.

docs/ford_direct_path_v9_validation.json

@@ -0,0 +1,125 @@
+{
+  "version": "model-action-direct-c0-c1-pi-v9",
+  "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
+  "tests": {
+    "passed": 358,
+    "subtests_passed": 23
+  },
+  "stress": {
+    "cycles": 20000,
+    "kp": 0.5,
+    "ki": 0.25,
+    "controller_updates": 60000,
+    "can_round_trips": 60000,
+    "seed": 20260913,
+    "independent_c0_comparisons": 20000,
+    "checks": "Independent scalar PI/unwind-first/anti-windup arithmetic, mirror symmetry, exact C0 independence, amplitude bounds, current commands, resets, CAN.",
+    "source_sha256": {
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_production_stress.py": "ae0d0e3a32cddefc4072a58664f5afca84019067c8c5d9fa24e89dd1cbef2b99",
+      "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
+    }
+  },
+  "routes": {
+    "11c": {
+      "scope": "Compare v8 and direct C0/C1 on fixed logged inputs, without predicting motion.",
+      "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
+      "baseline_source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
+      "cycles": 54146,
+      "controller_updates": 108292,
+      "can_round_trips": 108292,
+      "status_counts": {
+        "inactive": 5066,
+        "active": 49080
+      },
+      "identical_validity_feedforward_p_and_feedback_gates": true,
+      "all_candidate_outputs_match_current_bounded_request": true,
+      "changed_c0_cycles": 73,
+      "changed_c1_cycles": 17133,
+      "max_abs_c0_change_m": 0.08999999999999986,
+      "max_abs_c1_change_rad": 0.16049999999999998,
+      "max_abs_integral_rad": 0.02639216769448115,
+      "limitations": [
+        "Recorded motion remains fixed; this cannot establish improved tracking or stability.",
+        "Publication time proxies computation time; reconstructed baseline is not exact onroad parity.",
+        "Synthetic reference freshness is approximated from valid publications; upstream selection itself is unchanged."
+      ],
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_maneuver_11c/analysis/route.npz": "1f3c37a7c7ae85ba69e9958435a9568f8244fa862f43ad1ee2a0192d1df13966",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_maneuver_11c/analysis/model_paths.npz": "0ff433da3dde1d4d7f10596cd53558ec5de9d56fbc49aec3e8afb4c9872377d5",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_replay.py": "2a1baff08152230929d56b23b8f7fb03e1ae9c2b30c5e152a2be431188fc20e7",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
+      }
+    },
+    "119": {
+      "scope": "Compare v8 and direct C0/C1 on fixed logged inputs, without predicting motion.",
+      "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
+      "baseline_source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
+      "cycles": 171423,
+      "controller_updates": 342846,
+      "can_round_trips": 342846,
+      "status_counts": {
+        "inactive": 87482,
+        "active": 83941
+      },
+      "identical_validity_feedforward_p_and_feedback_gates": true,
+      "all_candidate_outputs_match_current_bounded_request": true,
+      "changed_c0_cycles": 199,
+      "changed_c1_cycles": 16426,
+      "max_abs_c0_change_m": 2.42,
+      "max_abs_c1_change_rad": 0.495,
+      "max_abs_integral_rad": 0.05010140673563736,
+      "limitations": [
+        "Recorded motion remains fixed; this cannot establish improved tracking or stability.",
+        "Publication time proxies computation time; reconstructed baseline is not exact onroad parity.",
+        "Synthetic reference freshness is approximated from valid publications; upstream selection itself is unchanged."
+      ],
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route119/route.npz": "415a099935fef152123b7422870442d6cfe6302bab9b8983ce3b3ffc71a7702b",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route119/model_paths.npz": "dfd41383bea486ccd0a476e94e612921a44a099a0c1213ff132ab81df3aa94d7",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_replay.py": "2a1baff08152230929d56b23b8f7fb03e1ae9c2b30c5e152a2be431188fc20e7",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
+      }
+    },
+    "11a": {
+      "scope": "Compare v8 and direct C0/C1 on fixed logged inputs, without predicting motion.",
+      "baseline": "57ae29f257498f58170e2beec140c0f8103c1b43",
+      "baseline_source_sha256": "6f8c4a6f7fa54fa2e23f32f1e83ace83da5f0b6f45011941f1902a1dae778ffc",
+      "cycles": 235771,
+      "controller_updates": 471542,
+      "can_round_trips": 471542,
+      "status_counts": {
+        "inactive": 103039,
+        "active": 132732
+      },
+      "identical_validity_feedforward_p_and_feedback_gates": true,
+      "all_candidate_outputs_match_current_bounded_request": true,
+      "changed_c0_cycles": 689,
+      "changed_c1_cycles": 16106,
+      "max_abs_c0_change_m": 3.3600000000000003,
+      "max_abs_c1_change_rad": 0.371,
+      "max_abs_integral_rad": 0.05163860736233724,
+      "limitations": [
+        "Recorded motion remains fixed; this cannot establish improved tracking or stability.",
+        "Publication time proxies computation time; reconstructed baseline is not exact onroad parity.",
+        "Synthetic reference freshness is approximated from valid publications; upstream selection itself is unchanged."
+      ],
+      "source_sha256": {
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route11a/route.npz": "428c203d090731386f06bf9fdeefe608f1999c43c52ff39cab7ee86ec0ac804f",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/.cache/ford_route11a/model_paths.npz": "e2b827fd7c3dfbf66d7872a56b57eaec13c600a9a48e12dae59be81c31b0978f",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/tools/ford_pscm_lab/direct_path_replay.py": "2a1baff08152230929d56b23b8f7fb03e1ae9c2b30c5e152a2be431188fc20e7",
+        "/Users/ibpersonal/.codex/worktrees/1a1c/sunnypilot/openpilot/selfdrive/controls/lib/ford_model_action.py": "fbc2309c15289db184aa54bda697feb7cfc26a218998b5b21f063381f47aad45"
+      }
+    }
+  },
+  "limits_removed": [
+    "C0 4 m/s extra slew",
+    "C1 0.5 rad/s extra slew and associated integral slew headroom"
+  ],
+  "limits_preserved": [
+    "upstream selected-curvature acceleration/jerk/curvature bounds",
+    "C0/C1 magnitude and wire packing bounds",
+    "driver/fault/validity/freshness/PSCM feedback gates"
+  ],
+  "physical_tracking_validated": false,
+  "note": "Replay/stress script hashes identify their execution versions before formatting-only lint cleanup; production controller is unchanged after validation."
+}

docs/ford_direct_path_validation.json

@@ -0,0 +1,154 @@
+{
+  "15a": {
+    "cycles": 21867,
+    "wire_checks": 2187,
+    "baseline_recorded_error_p50_p95_p99_max": {
+      "c0": [
+        4.172324707951702e-09,
+        5.2452087118126656e-08,
+        8.583068833445395e-08,
+        1.1444091807533141e-07
+      ],
+      "c1": [
+        8.791685157660822e-10,
+        1.1682510403510094e-08,
+        1.4305114759416426e-08,
+        1.478195188475695e-08
+      ]
+    },
+    "latched_angle_match_fraction": 1.0,
+    "command_changes": {
+      "c0": [
+        0.2799999999999998,
+        1.3800000000000003,
+        1.8000000000000007,
+        2.51
+      ],
+      "c1": [
+        0.01749999999999996,
+        0.124,
+        0.2940450000000001,
+        0.45200000000000007
+      ]
+    },
+    "reference_change_p50_p95_max": [
+      0.0015834828704371431,
+      0.012526763883651669,
+      0.03905121179470369
+    ],
+    "variants": {
+      "old": {
+        "feedback_switches_active": 112,
+        "feedback_switches_low_speed": 61,
+        "low_speed_c0_steps_over_025m": 52,
+        "low_speed_c1_steps_over_005rad": 36,
+        "low_speed_step_p99": {
+          "c0": 0.4996000000000004,
+          "c1": 0.05668000000000003
+        },
+        "c0_bound_active_s": 0.0,
+        "c1_bound_active_s": 2.5702606670000137
+      },
+      "new": {
+        "feedback_switches_active": 112,
+        "feedback_switches_low_speed": 61,
+        "low_speed_c0_steps_over_025m": 52,
+        "low_speed_c1_steps_over_005rad": 46,
+        "low_speed_step_p99": {
+          "c0": 0.8499999999999996,
+          "c1": 0.08540000000000011
+        },
+        "c0_bound_active_s": 0.0,
+        "c1_bound_active_s": 6.774772933000349
+      }
+    },
+    "method": "Compare direct model-path commands against the driven geometry-curvature controller.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\nreference selection, command continuity and overrides; it does not predict a changed wheel response.\n",
+    "provenance": {
+      "baseline_commit": "18ded0380045c29520cf1f690688e48ebad043d8",
+      "baseline_controller_sha256": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca",
+      "candidate_controller_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
+      "fixed_c0_distance_m": 7.0
+    },
+    "sources_sha256": {
+      ".cache/ford_route15a/rlog_full/route.npz": "057ce69ce028b2c9c1b42ab8110f35c888a6c398ddcc4156e74afc98c83d119d",
+      ".cache/ford_route15a/rlog_full/model_paths.npz": "ef820d9df14afa308bf46f95463b636a599ff24fd08bffaff1ae671b3932c24a",
+      ".cache/ford_route15a/rlog_full/metadata.json": "bea47c7f0c0b583964ced3484fe814ec9a7a24abbfe6272e70f9dde12580a756"
+    }
+  },
+  "15b": {
+    "cycles": 22278,
+    "wire_checks": 2228,
+    "baseline_recorded_error_p50_p95_p99_max": {
+      "c0": [
+        6.70552502413102e-10,
+        3.814697269177714e-08,
+        1.0490417512443173e-07,
+        0.009999947547912669
+      ],
+      "c1": [
+        1.9371515502797365e-10,
+        5.4836273299940785e-09,
+        1.2159347528850617e-08,
+        1.478195188475695e-08
+      ]
+    },
+    "latched_angle_match_fraction": 0.9999321895978843,
+    "command_changes": {
+      "c0": [
+        0.040000000000000036,
+        1.08,
+        1.7699999999999996,
+        2.46
+      ],
+      "c1": [
+        0.003500000000000003,
+        0.12449999999999994,
+        0.22634999999999764,
+        0.406
+      ]
+    },
+    "reference_change_p50_p95_max": [
+      0.00021085212911765025,
+      0.013382994089416386,
+      0.03945627628640698
+    ],
+    "variants": {
+      "old": {
+        "feedback_switches_active": 238,
+        "feedback_switches_low_speed": 107,
+        "low_speed_c0_steps_over_025m": 85,
+        "low_speed_c1_steps_over_005rad": 32,
+        "low_speed_step_p99": {
+          "c0": 0.36999999999999944,
+          "c1": 0.03771999999999984
+        },
+        "c0_bound_active_s": 0.0,
+        "c1_bound_active_s": 6.701652654999748
+      },
+      "new": {
+        "feedback_switches_active": 238,
+        "feedback_switches_low_speed": 107,
+        "low_speed_c0_steps_over_025m": 129,
+        "low_speed_c1_steps_over_005rad": 57,
+        "low_speed_step_p99": {
+          "c0": 0.6187999999999921,
+          "c1": 0.05121999999999982
+        },
+        "c0_bound_active_s": 0.0,
+        "c1_bound_active_s": 7.542629173000023
+      }
+    },
+    "method": "Compare direct model-path commands against the driven geometry-curvature controller.\n\nInput: extract.py route.npz/model_paths.npz/metadata.json directories. This checks\nreference selection, command continuity and overrides; it does not predict a changed wheel response.\n",
+    "provenance": {
+      "baseline_commit": "18ded0380045c29520cf1f690688e48ebad043d8",
+      "baseline_controller_sha256": "8bc8554ed6743c5faf433deaa6de3f07fae27d183f62b04f49f9c3b9f1e8dcca",
+      "candidate_controller_sha256": "02b64f40a56cadefb181afbf7c3720affa3c7fe4ac18a2902dc9c546fd6b395d",
+      "fixed_c0_distance_m": 7.0
+    },
+    "sources_sha256": {
+      ".cache/ford_route15b/rlog_full/route.npz": "f95e1c16a4677fee0ab57002d714e22716bf11873c308280553312fa9d18aab0",
+      ".cache/ford_route15b/rlog_full/model_paths.npz": "a90be55943ce0009afbf38ef2035b3fff4de8ab00ea266636247bcc5a5012eae",
+      ".cache/ford_route15b/rlog_full/metadata.json": "545ef8d6740e57237f35b2ca684111fc2d774e83aa1d6c8a5a0fff1b71270e85"
+    }
+  }
+}