navigation: add experimental signal-selected Mapbox turn cues

Use a physical turn signal to select the next router-validated street without setting a destination. Track its incoming approach and time the existing model turn cue from fresh localization; slow approaches also require a sustained forecast of movement from the model's own trajectory. Keep this opt-in and preserve legacy timing when disabled. Retain existing speed, blindspot and one-cue rules; leave steering, minimum curvature handling and Tesla cooperative steering unchanged. Show map availability on the MICI navigation panel and record cue provenance. Ship a reproducibly rebuilt ARM64 Params library for the prebuilt branch, including stable buffers for filtered-key enumeration. Software validation: 167 tests, lint, compile, and 52,061-row disabled-mode equivalence. Actual CTV3 recorded-view pilots are mixed; the full saved-route sweep remains in progress. This is an experimental test build, with no physical curb-clearance claim.
modeld: restore 1.6 m/s curvature hold threshold
2026-11-04 01:43:43 +08:00 · 2026-11-03 12:11:07 -05:00 · 2026-11-03 08:02:15 -05:00 · 2026-11-03 08:02:07 -05:00 · 2026-11-02 17:05:15 -05:00 · 2026-11-02 16:28:31 -05:00
1014 changed files with 38154 additions and 26522 deletions
@@ -0,0 +1 @@
+openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text
@@ -0,0 +1,5 @@
+[lfs]
+	url = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+	pushurl = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+
+	locksverify = false
@@ -1,4 +1,14 @@
-Version 0.11.2 (2026-08-12)
+Version 0.11.3 (2026-XX-XX)
+========================
+* Autospeed
+  * On supported cars, openpilot will intelligently decide what speed to drive based on the scene, including:
+    * stopping at red lights, and going at green lights
+    * slowing down for curves
+    * adjusting speed based on surrounding traffic
+  * This behavior was previously available with openpilot's "Experimental mode", but is now out of beta and always enabled
+  * With openpilot deciding which speed to drive, the car's cruise speed is treated as a maximum speed openpilot will not exceed
+
+Version 0.11.2 (2026-10-14)
 =======================
 * New driving model
  * Big model with 880M parameters
@@ -150,61 +150,61 @@
        "output": "/data/openpilot/openpilot/cereal/messaging/socketmaster.o"
    },
    {
-        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
        "output": "/data/openpilot/panda/board/stm32h7/board/obj/panda_h7startup_stm32h7x5xx.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/crypto/rsa.c",
        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7rsa.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/panda_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/crypto/sha.c",
        "output": "/data/openpilot/panda/board/crypto/board/obj/panda_h7sha.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/bootstub.c",
        "output": "/data/openpilot/panda/board/board/obj/panda_h7bootstub.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/panda_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/main.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/main.c",
        "output": "/data/openpilot/panda/board/board/obj/panda_h7main.o"
    },
    {
-        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
+        "command": "arm-none-eabi-gcc -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -o panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o -c panda/board/stm32h7/startup_stm32h7x5xx.s",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/stm32h7/startup_stm32h7x5xx.s",
        "output": "/data/openpilot/panda/board/stm32h7/board/obj/body_h7startup_stm32h7x5xx.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7rsa.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/rsa.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/crypto/rsa.c",
        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7rsa.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
+        "command": "arm-none-eabi-gcc -o panda/board/crypto/board/obj/body_h7sha.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/crypto/sha.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/crypto/sha.c",
        "output": "/data/openpilot/panda/board/crypto/board/obj/body_h7sha.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
+        "command": "arm-none-eabi-gcc -o panda/board/board/obj/body_h7bootstub.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -DBOOTSTUB -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/bootstub.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/bootstub.c",
        "output": "/data/openpilot/panda/board/board/obj/body_h7bootstub.o"
    },
    {
-        "command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCC90A31EU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
+        "command": "arm-none-eabi-gcc -o panda/board/body/board/obj/body_h7main.o -c -mcpu=cortex-m7 -mhard-float -DSTM32H7 -DSTM32H725xx -Iboard/stm32h7/inc -mfpu=fpv5-d16 -DPANDA_BODY -DALLOW_DEBUG -DHEALTH_PACKET_VERSION=0xCA8F9EAFU -DCAN_PACKET_VERSION_HASH=0x75ABF276U -Wall -Wextra -Wstrict-prototypes -Werror -mlittle-endian -mthumb -nostdlib -fno-builtin -std=gnu11 -fmax-errors=1 -Tpanda/board/stm32h7/stm32h7x5_flash.ld -fsingle-precision-constant -Os -g -Ipanda -Ipanda/board/stm32h7/inc -Iopendbc_repo panda/board/body/main.c",
        "directory": "/data/openpilot",
        "file": "/data/openpilot/panda/board/body/main.c",
        "output": "/data/openpilot/panda/board/body/board/obj/body_h7main.o"
@@ -4,10 +4,11 @@

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

-# 345 Supported Cars
+# 351 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|ADX 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=Acura ADX 2025-26">Buy Here</a></sub></details>|||
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
 |Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
@@ -16,12 +17,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>12</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>|||
@@ -33,8 +34,8 @@ 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>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>|||
+|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/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>|||
@@ -86,7 +87,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 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 Hatchback 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 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>|||
@@ -94,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>1,5</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|CR-V Hybrid 2023-27|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 2023-27">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>|||
@@ -111,7 +112,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 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 Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-25|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 Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Honda|Pilot 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2026">Buy Here</a></sub></details>|||
+|Honda|Prelude 2026|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 Prelude 2026">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-26|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 Ridgeline 2017-26">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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 Azera Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 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 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 Azera Hybrid 2020">Buy Here</a></sub></details>|||
@@ -163,6 +166,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|Ceed Plug-in Hybrid 2021|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 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 Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -188,7 +192,7 @@ 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)|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|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos 2021">Buy Here</a></sub></details>|||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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>||
@@ -197,6 +201,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Sportage Plug-in Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Plug-in Hybrid 2023">Buy Here</a></sub></details>|||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
@@ -225,51 +230,52 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>12</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>12</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|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>|||
+|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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[<sup>6</sup>](#footnotes)|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[<sup>6</sup>](#footnotes)|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>7</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>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 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>7</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>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 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>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 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/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/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>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>|||
+|Ram|3500 2019-24|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 3500 2019-24">Buy Here</a></sub></details>|||
+|Rivian|R1S 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 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 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 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 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 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 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 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>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>8</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>8</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>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>8</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>8</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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<sup>10</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 HW2.5) 2019">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</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>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</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>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>10</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>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>10</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>|||
@@ -282,8 +288,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</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>12</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>|||
@@ -315,44 +321,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>12</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>12</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen|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>|||
+|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</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>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/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>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/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>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>18</sup>](#footnotes)|||
+|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 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 />
@@ -360,18 +366,19 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>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 />
+<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, 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>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</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>13</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>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>17</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>18</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/).
@@ -56,6 +56,8 @@ function launch {
          mv "$DIR" /data/safe_staging/old_openpilot
          mv "${STAGING_ROOT}/finalized" "$DIR"
          cd "$DIR"
+          # releases before the openpilot/ move can't swap AGNOS on newer AGNOS, use ours
+          [ ! -L system/hardware/tici/agnos.json ] && /data/safe_staging/old_openpilot/openpilot/common/hardware/comma/agnos.py --verify system/hardware/tici/agnos.json && sudo reboot

          echo "Restarting launch script ${LAUNCHER_LOCATION}"
          unset AGNOS_VERSION
@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.7"
+  export AGNOS_VERSION="19.9"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -23,6 +23,10 @@ body:
  - changed-files:
    - any-glob-to-any-file: 'opendbc/car/body/**'

+byd:
+  - changed-files:
+    - any-glob-to-any-file: 'opendbc/car/byd/**'
+
 chrysler:
  - changed-files:
    - any-glob-to-any-file: 'opendbc/car/chrysler/**'
@@ -1,10 +1,10 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

-# Support Information for 402 Known Cars
+# Support Information for 406 Known Cars

 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
-|Acura|ADX 2025-26|All|[Community](#community)|
+|Acura|ADX 2025-26|All|[Upstream](#upstream)|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|[Upstream](#upstream)|
 |Acura|ILX 2019|All|[Upstream](#upstream)|
 |Acura|Integra 2023-25|All|[Community](#community)|
@@ -34,6 +34,7 @@
 |Audi|Q5 2017-24|All|[Not compatible](#flexray)|
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|BYD|Atto 3 2022-25|All|[Dashcam mode](#dashcam)|
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|[Upstream](#upstream)|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
@@ -101,7 +102,7 @@
 |Honda|Civic 2022-26|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2017-18|Honda Sensing|[Upstream](#upstream)|
 |Honda|Civic Hatchback 2019-21|All|[Upstream](#upstream)|
-|Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
+|Honda|Civic Hatchback 2022-26|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback Hybrid 2025-26|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
 |Honda|Civic Hybrid 2025-26|All|[Upstream](#upstream)|
@@ -110,7 +111,7 @@
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|CR-V 2023-26|All|[Upstream](#upstream)|
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
-|Honda|CR-V Hybrid 2023-26|All|[Upstream](#upstream)|
+|Honda|CR-V Hybrid 2023-27|All|[Upstream](#upstream)|
 |Honda|e 2020|All|[Upstream](#upstream)|
 |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
@@ -127,10 +128,10 @@
 |Honda|Passport 2026|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-25|All|[Upstream](#upstream)|
-|Honda|Pilot 2026|All|[Community](#community)|
+|Honda|Pilot 2026|All|[Upstream](#upstream)|
+|Honda|Prelude 2026|All|[Upstream](#upstream)|
 |Honda|Prologue 2024-26|All|[Not compatible](#can-bus-security)|
-|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
-|Honda|Ridgeline 2026|All|[Community](#community)|
+|Honda|Ridgeline 2017-26|Honda Sensing|[Upstream](#upstream)|
 |Hyundai|Azera 2022|All|[Upstream](#upstream)|
 |Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
 |Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
@@ -184,6 +185,7 @@
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Ceed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
@@ -219,6 +221,7 @@
 |Kia|Sorento Plug-in Hybrid 2022-23|All|[Upstream](#upstream)|
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Sportage Plug-in Hybrid 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Stinger 2022-23|All|[Upstream](#upstream)|
 |Kia|Telluride 2020-22|All|[Upstream](#upstream)|
@@ -301,6 +304,7 @@
 |Škoda|Octavia Scout 2017-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Scala 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Tesla|Model 3 (with HW2.5) 2019|All|[Upstream](#upstream)|
 |Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)|
 |Tesla|Model 3 (with HW4) 2024-25|All|[Upstream](#upstream)|
 |Tesla|Model X (with HW4) 2024|All|[Dashcam mode](#dashcam)|
@@ -16,7 +16,11 @@ from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
 from opendbc.car.volkswagen.mqbcan import volkswagen_meb_alt_crc_checksum, volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
+from opendbc.car.byd.bydcan import byd_checksum
 from opendbc.car.psa.psacan import psa_checksum
+from opendbc.car.rivian.riviancan import rivian_checksum
+from opendbc.car.ford.fordcan import FORD_CHECKSUM_FIELDS, ford_checksum
+from opendbc.car.mg.mgcan import mg_checksum


 class SignalType:
@@ -34,6 +38,10 @@ class SignalType:
  TESLA_CHECKSUM = 11
  PSA_CHECKSUM = 12
  VOLKSWAGEN_MLB_CHECKSUM = 13
+  BYD_CHECKSUM = 14
+  RIVIAN_CHECKSUM = 15
+  FORD_CHECKSUM = 16
+  MG_CHECKSUM = 17


@dataclass
@@ -49,6 +57,21 @@ class Signal:
  is_little_endian: bool
  type: int = SignalType.DEFAULT
  calc_checksum: 'Callable[[int, Signal, bytearray], int] | None' = None
+  checksum_fields: tuple['Signal', ...] = ()
+
+  def get_raw_value(self, dat: bytes | bytearray) -> int:
+    ret = 0
+    i = self.msb // 8
+    bits = self.size
+    while 0 <= i < len(dat) and bits > 0:
+      lsb = self.lsb if (self.lsb // 8) == i else i * 8
+      msb = self.msb if (self.msb // 8) == i else (i + 1) * 8 - 1
+      size = msb - lsb + 1
+      d = (dat[i] >> (lsb - (i * 8))) & ((1 << size) - 1)
+      ret |= d << (bits - size)
+      bits -= size
+      i = i - 1 if self.is_little_endian else i + 1
+    return ret


@dataclass
@@ -147,7 +170,7 @@ class DBC:
          msb = start_bit

        sig = Signal(sig_name, start_bit, msb, lsb, size, is_signed, factor, offset_val, is_little_endian)
-        set_signal_type(sig, checksum_state, self.name, line_num)
+        set_signal_type(sig, checksum_state, self.name, line_num, address)
        signals_temp[address][sig_name] = sig
      elif line.startswith("VAL_ "):
        m = VAL_RE.search(line)
@@ -162,6 +185,11 @@ class DBC:
        self.vals.append(Val(sgname, val_addr, val_def))
    for addr, sigs in signals_temp.items():
      self.msgs[addr].sigs = sigs
+      if checksum_state and checksum_state.checksum_fields and addr in checksum_state.checksum_fields:
+        fields = tuple(sigs[name] for name in checksum_state.checksum_fields[addr])
+        for sig in sigs.values():
+          if sig.calc_checksum:
+            sig.checksum_fields = fields


 # ***** checksum functions *****
@@ -174,11 +202,18 @@ def tesla_setup_signal(sig: Signal, dbc_name: str, line_num: int) -> None:
    sig.calc_checksum = tesla_checksum


+def ford_setup_signal(sig: Signal, dbc_name: str, line_num: int) -> None:
+  if sig.name in ("VehVActlBrk_No_Cnt", "VehVActlEng_No_Cnt", "VehRollYaw_No_Cnt"):
+    sig.type = SignalType.COUNTER
+
+
@dataclass
 class ChecksumState:
  checksum_type: int
  calc_checksum: Callable[[int, Signal, bytearray], int] | None
  setup_signal: Callable[[Signal, str, int], None] | None = None
+  checksum_pattern: str = r"^CHECKSUM$"
+  checksum_fields: dict[int, tuple[str, ...]] | None = None


 def get_checksum_state(dbc_name: str) -> ChecksumState | None:
@@ -208,15 +243,26 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
    return ChecksumState(SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
  elif dbc_name.startswith("psa_"):
    return ChecksumState(SignalType.PSA_CHECKSUM, psa_checksum)
+  elif dbc_name.startswith("byd_"):
+    return ChecksumState(SignalType.BYD_CHECKSUM, byd_checksum)
+  elif dbc_name == "ford_lincoln_base_pt":
+    # Other _Cs fields are optional or use model-specific checksum algorithms.
+    return ChecksumState(SignalType.FORD_CHECKSUM, ford_checksum, ford_setup_signal, checksum_pattern=r"_Cs$",
+                         checksum_fields=FORD_CHECKSUM_FIELDS)
+  elif dbc_name == "mg":
+    return ChecksumState(SignalType.MG_CHECKSUM, mg_checksum, checksum_pattern=r"Chksm|^ChLKARespToqPVHSC2$")
+  elif dbc_name == "rivian_primary_actuator":
+    return ChecksumState(SignalType.RIVIAN_CHECKSUM, rivian_checksum, checksum_pattern=r"_Checksum$")
  return None


-def set_signal_type(sig: Signal, chk: ChecksumState | None, dbc_name: str, line_num: int) -> None:
+def set_signal_type(sig: Signal, chk: ChecksumState | None, dbc_name: str, line_num: int, address: int) -> None:
  sig.calc_checksum = None
  if chk:
    if chk.setup_signal:
      chk.setup_signal(sig, dbc_name, line_num)
-    if sig.name == "CHECKSUM":
+    if (re.search(chk.checksum_pattern, sig.name) and
+        (chk.checksum_fields is None or address in chk.checksum_fields)):
      sig.type = chk.checksum_type
      sig.calc_checksum = chk.calc_checksum
    elif sig.name == "COUNTER":
@@ -11,21 +11,6 @@ MAX_BAD_COUNTER = 5
 CAN_INVALID_CNT = 5


-def get_raw_value(dat: bytes | bytearray, sig: Signal) -> int:
-  ret = 0
-  i = sig.msb // 8
-  bits = sig.size
-  while 0 <= i < len(dat) and bits > 0:
-    lsb = sig.lsb if (sig.lsb // 8) == i else i * 8
-    msb = sig.msb if (sig.msb // 8) == i else (i + 1) * 8 - 1
-    size = msb - lsb + 1
-    d = (dat[i] >> (lsb - (i * 8))) & ((1 << size) - 1)
-    ret |= d << (bits - size)
-    bits -= size
-    i = i - 1 if sig.is_little_endian else i + 1
-  return ret
-
-
@dataclass
 class MessageState:
  address: int
@@ -59,7 +44,7 @@ class MessageState:
      self.first_seen_nanos = nanos

    for i, sig in enumerate(self.signals):
-      tmp = get_raw_value(dat, sig)
+      tmp = sig.get_raw_value(dat)
      if sig.is_signed:
        tmp -= ((tmp >> (sig.size - 1)) & 0x1) * (1 << sig.size)

@@ -10,9 +10,6 @@ from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs

 DT_CTRL = 0.01  # car state and control loop timestep (s)

-# kg of standard extra cargo to count for drive, gas, etc...
-STD_CARGO_KG = 136.
-
 ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2

 ButtonType = structs.CarState.ButtonEvent.Type
@@ -47,7 +44,7 @@ def gen_empty_fingerprint():

 # these params were derived for the Civic and used to calculate params for other cars
 class VehicleDynamicsParams:
-  MASS = 1326. + STD_CARGO_KG
+  MASS = 1462.  # kg, reference Civic curb mass (1326) plus cargo (136)
  WHEELBASE = 2.70
  CENTER_TO_FRONT = WHEELBASE * 0.4
  CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
@@ -57,19 +54,19 @@ class VehicleDynamicsParams:


 # TODO: get actual value, for now starting with reasonable value for
-# civic and scaling by mass and wheelbase
-def scale_rot_inertia(mass, wheelbase):
-  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
+# civic and scaling by wheelbase
+def scale_rot_inertia_per_mass(wheelbase):
+  return VehicleDynamicsParams.ROTATIONAL_INERTIA * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)


 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-# mass and CG position, so all cars will have approximately similar dyn behaviors
-def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
+# CG position, so all cars will have approximately similar dyn behaviors
+def scale_tire_stiffness_per_mass(wheelbase, center_to_front, tire_stiffness_factor):
  center_to_rear = wheelbase - center_to_front
-  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) / VehicleDynamicsParams.MASS * \
                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)

-  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) / VehicleDynamicsParams.MASS * \
                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)

  return tire_stiffness_front, tire_stiffness_rear
@@ -147,7 +144,6 @@ class CanSignalRateCalculator:

@dataclass(frozen=True, kw_only=True)
 class CarSpecs:
-  mass: float  # kg, curb weight
  wheelbase: float  # meters
  steerRatio: float
  centerToFrontRatio: float = 0.5
@@ -213,7 +209,7 @@ class PlatformConfig(PlatformConfigBase):
@dataclass
 class ExtraPlatformConfig(PlatformConfigBase):
  car_docs: list[ExtraCarDocs]
-  specs: CarSpecs = CarSpecs(mass=0., wheelbase=0., steerRatio=0.)
+  specs: CarSpecs = CarSpecs(wheelbase=0., steerRatio=0.)
  dbc_dict: DbcDict = field(default_factory=lambda: dict())


@@ -22,7 +22,7 @@ class CarControllerParams:
 class CAR(Platforms):
  COMMA_BODY = PlatformConfig(
    [CarDocs("comma body", package="All", video="https://youtu.be/VT-i3yRsX2s?t=2736")],
-    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
+    CarSpecs(wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
    {Bus.main: 'comma_body'},
  )

@@ -0,0 +1,46 @@
+def byd_checksum(address: int, sig, d: bytearray) -> int:
+  return (~sum(d[:7])) & 0xFF
+
+
+def create_steering_control(packer, apply_angle: float, lat_active: bool, counter: int):
+  # Stock saturates the rate limits at ±299 when engaged, 0 when disengaged
+  rate_limit = 299 if lat_active else 0
+  values = {
+    "STEER_REQ": 1 if lat_active else 0,
+    "STEER_REQ_ACTIVE_LOW": 0 if lat_active else 1,
+    "STEER_ANGLE": apply_angle,
+    "ANGLE_RATE_LIMIT_UPPER": rate_limit,
+    "ANGLE_RATE_LIMIT_LOWER": -rate_limit,
+    "E2E_ALIVE_1": 1,
+    "E2E_ALIVE_2": 1,
+    "SET_ME_FF": 0xFF,
+    "SET_ME_F": 0xF,
+    "COUNTER": counter,
+  }
+  return packer.make_can_msg("STEERING_MODULE_ADAS", 0, values)
+
+
+def create_buttons(packer, cancel: bool):
+  values = {
+    "SET_ME_1_1": 1,
+    "SET_ME_1_2": 1,
+    "ACC_ON_BTN": 1 if cancel else 0,
+  }
+  return packer.make_can_msg("PCM_BUTTONS", 0, values)
+
+
+def create_lkas_hud(packer, lat_active: bool, counter: int, stock_lkas_hud: dict, hud_control):
+  values = {**stock_lkas_hud, "COUNTER": counter, "HANDS_ON_WHEEL_REQ": 0}
+  if lat_active:
+    values["LKS_MODE"] = 2 # green lane line icon
+    values["LKAS_STATE"] = 2 # green steering wheel icon
+    # LANE_STATE: 0=Grey, 1=Green, 2=Orange
+    values["LEFT_LANE_STATE"] = 1 if hud_control.leftLaneVisible else 0
+    values["RIGHT_LANE_STATE"] = 1 if hud_control.rightLaneVisible else 0
+
+  if hud_control.leftLaneDepart:
+    values["LEFT_LANE_STATE"] = 2
+  if hud_control.rightLaneDepart:
+    values["RIGHT_LANE_STATE"] = 2
+
+  return packer.make_can_msg("LKAS_HUD_ADAS", 0, values)
@@ -0,0 +1,44 @@
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
+from opendbc.car.lateral import apply_steer_angle_limits_vm
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.byd import bydcan
+from opendbc.car.byd.values import CarControllerParams
+from opendbc.car.vehicle_model import VehicleModel
+
+
+def get_safety_CP():
+  from opendbc.car.byd.interface import CarInterface
+  return CarInterface.get_non_essential_params("BYD_ATTO_3")
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP, CP_SP=None):
+    super().__init__(dbc_names, CP, CP_SP)
+    self.packer = CANPacker(dbc_names[Bus.pt])
+    self.apply_angle_last = 0.0
+
+    # Vehicle model used for lateral limiting
+    self.VM = VehicleModel(get_safety_CP())
+
+  def update(self, CC, CC_SP, CS, now_nanos):
+    can_sends = []
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+
+    if self.frame % 2:
+      self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+                                                          CS.out.steeringAngleDeg, CC.latActive, CarControllerParams, self.VM)
+
+      cntr = (self.frame // 2) % 16
+      can_sends.append(bydcan.create_steering_control(self.packer, self.apply_angle_last, CC.latActive, cntr))
+      can_sends.append(bydcan.create_lkas_hud(self.packer, CC.latActive, cntr, CS.lkas_hud, hud_control))
+
+    if CC.cruiseControl.cancel and self.frame % 10 == 0:
+      can_sends.append(bydcan.create_buttons(self.packer, cancel=True))
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = float(self.apply_angle_last)
+
+    self.frame += 1
+    return new_actuators, can_sends
@@ -0,0 +1,92 @@
+import copy
+
+from opendbc.car import Bus, structs
+from opendbc.can.parser import CANParser
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.byd.values import DBC, CarControllerParams as CCP
+from opendbc.car.interfaces import CarStateBase
+
+GearShifter = structs.CarState.GearShifter
+
+# BYD gear enum from DRIVE_STATE.GEAR
+GEAR_MAP = {
+  1: GearShifter.park,
+  2: GearShifter.reverse,
+  3: GearShifter.neutral,
+  4: GearShifter.drive,
+}
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP, CP_SP=None):
+    super().__init__(CP, CP_SP)
+    self.lkas_hud = {}
+
+  def update(self, can_parsers) -> structs.CarState:
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+    ret = structs.CarState()
+
+    # speed
+    speed_kph = cp.vl["WHEELSPEED_CLEAN"]["WHEELSPEED_CLEAN"]
+    ret.vEgoRaw = speed_kph * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = speed_kph < 0.1
+    ret.vEgoCluster = ret.vEgo
+
+    # steering wheel
+    ret.steeringAngleDeg = cp.vl["STEER_MODULE_2"]["STEER_ANGLE_2"]
+    ret.steeringTorque = cp.vl["STEERING_TORQUE"]["MAIN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["STEER_MODULE_2"]["DRIVER_EPS_TORQUE"]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorqueEps) > CCP.STEER_DRIVER_OVERRIDE, 5)
+    ret.steeringDisengage = abs(ret.steeringTorqueEps) > CCP.STEER_DRIVER_DISENGAGE
+
+    # LKAS_STATE follows the BYD TJA_STATE_* enum: 0=Off, 1=Passive, 2/3=Active, 4=Fault.
+    # LKS_PREPARED on the EPS is also 1 at route start before any engagement, so it can't be
+    # used directly as a fault flag - the camera-side fault state is the reliable indicator.
+    ret.steerFaultTemporary = int(cp_cam.vl["LKAS_HUD_ADAS"]["LKAS_STATE"]) == 4
+
+    # gas / brake
+    ret.gasPressed = cp.vl["DRIVE_STATE"]["RAW_THROTTLE"] > 0
+    ret.brakePressed = bool(cp.vl["DRIVE_STATE"]["BRAKE_PRESSED"])
+
+    # gear
+    ret.gearShifter = GEAR_MAP.get(int(cp.vl["DRIVE_STATE"]["GEAR"]), GearShifter.unknown)
+
+    # blinkers
+    ret.leftBlinker = bool(cp.vl["STALKS"]["LEFT_BLINKER"])
+    ret.rightBlinker = bool(cp.vl["STALKS"]["RIGHT_BLINKER"])
+
+    # blind spot monitor
+    ret.leftBlindspot = cp.vl["BSD_RADAR"]["LEFT_APPROACH"] != 0
+    ret.rightBlindspot = cp.vl["BSD_RADAR"]["RIGHT_APPROACH"] != 0
+
+    # doors / belt
+    ret.doorOpen = any((
+      cp.vl["METER_CLUSTER"]["FRONT_LEFT_DOOR"],
+      cp.vl["METER_CLUSTER"]["FRONT_RIGHT_DOOR"],
+      cp.vl["METER_CLUSTER"]["BACK_LEFT_DOOR"],
+      cp.vl["METER_CLUSTER"]["BACK_RIGHT_DOOR"],
+    ))
+    ret.seatbeltUnlatched = not bool(cp.vl["METER_CLUSTER"]["SEATBELT_DRIVER"])
+
+    # cruise state: ACC messages come from camera bus on Atto 3
+    # ACC_STATE: 0=OFF, 2=ACC_ON (available), 3=ACC_ACTIVE (enabled), 5=FORCE_ACCEL, 7=ERROR
+    ret.cruiseState.speed = cp_cam.vl["ACC_HUD_ADAS"]["SET_SPEED"] * CV.KPH_TO_MS
+    acc_state = int(cp_cam.vl["ACC_HUD_ADAS"]["ACC_STATE"])
+    ret.cruiseState.available = acc_state in (2, 3, 5)
+    ret.cruiseState.enabled = acc_state in (3, 5)
+    ret.cruiseState.standstill = bool(cp_cam.vl["ACC_CMD"]["STANDSTILL_STATE"])
+
+    # forward stock LKAS HUD
+    self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD_ADAS"])
+
+    ret_sp = structs.CarStateSP()
+    return ret, ret_sp
+
+  @staticmethod
+  def get_can_parsers(CP, CP_SP=None):
+    return {
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+    }
@@ -0,0 +1 @@
+FW_VERSIONS = {}
@@ -0,0 +1,26 @@
+from opendbc.car import get_safety_config, structs
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.byd.carcontroller import CarController
+from opendbc.car.byd.carstate import CarState
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "byd"
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
+
+    ret.dashcamOnly = True
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    ret.steerActuatorDelay = 0.2
+    ret.steerLimitTimer = 0.4
+
+    ret.radarUnavailable = True
+    ret.alphaLongitudinalAvailable = False
+
+    return ret
@@ -0,0 +1,60 @@
+from dataclasses import dataclass, field
+
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.lateral import AngleSteeringLimitsVM, ISO_LATERAL_ACCEL
+from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig
+
+
+# Add extra tolerance for average banked road since safety doesn't have the roll
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
+
+
+class CarControllerParams:
+  STEER_STEP = 2  # Angle command is sent at 50 Hz
+
+  # On a fault STEERING_TORQUE.LKS_PREPARED goes from 0 to 1.
+  # STEERING_TORQUE.MAIN_TORQUE is saturated at -300 for around 900ms,
+  # while the wheel sits 15-26 deg past the commanded TARGET_ANGLE.
+  ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
+    390,  # deg
+    # Vehicle model angle limits
+    # Add extra tolerance for average banked road since safety doesn't have the roll
+    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^2
+    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^3
+
+    # limit angle rate to both prevent a fault and for low speed comfort
+    MAX_ANGLE_RATE=5,  # deg/20ms frame
+  )
+
+  STEER_DRIVER_OVERRIDE = 10   # EPS torque threshold for soft override
+  STEER_DRIVER_DISENGAGE = 30  # EPS torque threshold for hard disengage
+
+
+@dataclass
+class BydCarDocs(CarDocs):
+  package: str = "All"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
+
+
+@dataclass
+class BydPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'byd_atto3',
+  })
+
+
+class CAR(Platforms):
+  BYD_ATTO_3 = BydPlatformConfig(
+    [BydCarDocs("BYD Atto 3 2022-25")],
+    CarSpecs(wheelbase=2.72, steerRatio=14.8),
+  )
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[],
+  fw_version_regex=b"",
+)
+
+
+DBC = CAR.create_dbc_map()
@@ -469,7 +469,6 @@ struct CarParams {
  notCar @66 :Bool;  # flag for non-car robotics platforms

  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
-  enableBsm @56 :Bool;       # blind spot monitoring
  flags @64 :UInt32;         # flags for car specific quirks
  alphaLongitudinalAvailable @71 :Bool;

@@ -484,20 +483,17 @@ struct CarParams {
  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically

  # things about the car in the manual
-  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
  wheelbase @18 :Float32;       # [m] distance from rear axle to front axle
  centerToFront @19 :Float32;   # [m] distance from center of mass to front axle
  steerRatio @20 :Float32;      # [] ratio of steering wheel angle to front wheel angle
-  steerRatioRear @21 :Float32;  # [] ratio of steering wheel angle to rear wheel angle (usually 0)

-  # things we can derive
-  rotationalInertia @22 :Float32;    # [kg*m2] body rotational inertia
+  # mass-normalized vehicle dynamics parameters
+  rotationalInertiaPerMass @22 :Float32;  # [m^2] rotational inertia per unit mass
  tireStiffnessFactor @72 :Float32;  # scaling factor used in calculating tireStiffness[Front,Rear]
-  tireStiffnessFront @23 :Float32;   # [N/rad] front tire coeff of stiff
-  tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
+  tireStiffnessFrontPerMass @23 :Float32;  # [N/(rad*kg)] front tire stiffness per unit mass
+  tireStiffnessRearPerMass @24 :Float32;   # [N/(rad*kg)] rear tire stiffness per unit mass

  longitudinalTuning @25 :LongitudinalPIDTuning;
-  lateralParams @48 :LateralParams;
  lateralTuning :union {
    pid @26 :LateralPIDTuning;
    indiDEPRECATED @27 :LateralINDITuningDEPRECATED;
@@ -726,6 +722,9 @@ struct CarParams {
  }

  deprecated :group {
+    mass @17 :Float32;
+    steerRatioRear @21 :Float32;
+    lateralParams @48 :LateralParams;
    enableGasInterceptor @2 :Bool;
    enableCamera @4 :Bool;
    enableApgs @6 :Bool;
@@ -751,6 +750,7 @@ struct CarParams {
    stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
    radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
    enableDsu @5 :Bool;        # driving support unit
+    enableBsm @56 :Bool;       # blind spot monitoring
    vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
    startAccel @32 :Float32; # Required acceleration to get car moving
    startingState @70 :Bool; # Does this car make use of special starting state
@@ -40,12 +40,12 @@ class CarController(CarControllerBase, MadsCarController, CarControllerExt, Inte
      # ACC cancellation
      if CC.cruiseControl.cancel:
        self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.cruise_btns, CS.button_counter + 1, das_bus, cancel=True))

      # ACC resume from standstill
      elif CC.cruiseControl.resume:
        self.last_button_frame = self.frame
-        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.cruise_btns, CS.button_counter + 1, das_bus, resume=True))

    # HUD alerts
    if self.frame % 25 == 0:
@@ -1,6 +1,6 @@
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
-from opendbc.car.chrysler.values import CUSW_CARS, DBC, STEER_THRESHOLD, RAM_CARS
+from opendbc.car.chrysler.values import CUSW_CARS, DBC, STEER_THRESHOLD, RAM_CARS, ChryslerFlags
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase

@@ -40,7 +40,7 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
    ret_sp = structs.CarStateSP()

    prev_distance_button = self.distance_button
-    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+    self.distance_button = cp.vl[self.cruise_btns]["ACC_Distance_Dec"]

    # lock info
    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -96,12 +96,12 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4

    # blindspot sensors
-    if self.CP.enableBsm:
+    if self.CP.flags & ChryslerFlags.HAS_BSM:
      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1

    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
-    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl[self.cruise_btns]["COUNTER"]

    MadsCarState.update_mads(self, ret, can_parsers)
    CarStateExt.update(self, ret, ret_sp, can_parsers)
@@ -154,7 +154,7 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
    ret.steerFaultPermanent = bool(cp.vl["EPS_STATUS"]["LKAS_FAULT"])

-    if self.CP.enableBsm:
+    if self.CP.flags & ChryslerFlags.HAS_BSM:
      ret.leftBlindspot = bool(cp.vl["BSM_LEFT"]["LEFT_DETECTED"])
      ret.rightBlindspot = bool(cp.vl["BSM_RIGHT"]["RIGHT_DETECTED"])

@@ -66,7 +66,7 @@ def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
  return packer.make_can_msg("LKAS_COMMAND", 0, values)


-def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False, accel=False, decel=False):
+def create_cruise_buttons(packer, cruise_msg, frame, bus, cancel=False, resume=False, accel=False, decel=False):
  values = {
    "ACC_Cancel": cancel,
    "ACC_Resume": resume,
@@ -74,32 +74,16 @@ def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False, accel=
    "ACC_Decel": decel,
    "COUNTER": frame % 0x10,
  }
-  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
+  return packer.make_can_msg(cruise_msg, bus, values)


 def chrysler_checksum(address: int, sig, d: bytearray) -> int:
-  checksum = 0xFF
-  for j in range(len(d) - 1):
-    curr = d[j]
-    shift = 0x80
-    for _ in range(8):
-      bit_sum = curr & shift
-      temp_chk = checksum & 0x80
-      if bit_sum:
-        bit_sum = 0x1C
-        if temp_chk:
-          bit_sum = 1
-        checksum = (checksum << 1) & 0xFF
-        temp_chk = checksum | 1
-        bit_sum ^= temp_chk
-      else:
-        if temp_chk:
-          bit_sum = 0x1D
-        checksum = (checksum << 1) & 0xFF
-        bit_sum ^= checksum
-      checksum = bit_sum & 0xFF
-      shift >>= 1
-  return (~checksum) & 0xFF
+  # standard CRC-8 SAE J1850 (poly 0x1D, init 0xFF, final XOR 0xFF)
+  crc = 0xFF
+  for i in range(len(d) - 1):
+    crc ^= d[i]
+    crc = CRC8J1850[crc]
+  return crc ^ 0xFF


 def fca_giorgio_checksum(address: int, sig, d: bytearray) -> int:
@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
-from opendbc.car import get_safety_config, structs
+from opendbc.car import get_safety_config, scale_tire_stiffness_per_mass, structs
 from opendbc.car.chrysler.carcontroller import CarController
 from opendbc.car.chrysler.carstate import CarState
 from opendbc.car.chrysler.radar_interface import RadarInterface
 from opendbc.car.chrysler.values import CAR, CUSW_CARS, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.sunnypilot.car.chrysler.values_ext import ChryslerFlagsSP
+from opendbc.sunnypilot.car.chrysler.values_ext import ChryslerFlagsSP, ChryslerSafetyFlagsSP


 class CarInterface(CarInterfaceBase):
@@ -83,7 +83,8 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.

    ret.centerToFront = ret.wheelbase * 0.44
-    ret.enableBsm = (0x62cc033 if candidate in CUSW_CARS else 0x2d0) in fingerprint[0]
+    if (0x62cc033 if candidate in CUSW_CARS else 0x2d0) in fingerprint[0]:
+      ret.flags |= ChryslerFlags.HAS_BSM.value

    return ret

@@ -99,10 +100,14 @@ class CarInterface(CarInterfaceBase):

    if candidate == CAR.RAM_HD_5TH_GEN:
      stock_cp.dashcamOnly = False
+
+      if 0x23A not in fingerprint[0]:
+        ret.flags |= ChryslerFlagsSP.RAM_HD_ALT_BUTTONS.value
+        ret.safetyParam |= ChryslerSafetyFlagsSP.RAM_HD_ALT_BUTTONS
      # https://github.com/commaai/openpilot/issues/25389
-      stock_cp.tireStiffnessFactor = 1.0
-      stock_cp.tireStiffnessFront = 65155.
-      stock_cp.tireStiffnessRear = 80926.
+      stock_cp.tireStiffnessFactor = 0.15
+      stock_cp.tireStiffnessFrontPerMass, stock_cp.tireStiffnessRearPerMass = \
+        scale_tire_stiffness_per_mass(stock_cp.wheelbase, stock_cp.centerToFront, stock_cp.tireStiffnessFactor)
      stock_cp.wheelbase = 3.79
      stock_cp.steerRatio = 19.

@@ -17,6 +17,7 @@ class ChryslerSafetyFlags(IntFlag):
 class ChryslerFlags(IntFlag):
  # Detected flags
  HIGHER_MIN_STEERING_SPEED = 1
+  HAS_BSM = 2  # blind spot monitoring


@dataclass
@@ -42,7 +43,7 @@ class CAR(Platforms):
  # Chrysler
  CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
+    ChryslerCarSpecs(wheelbase=3.089, steerRatio=16.2),
  )
  CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-25")],
@@ -69,12 +70,12 @@ class CAR(Platforms):
  # Jeep
  JEEP_CHEROKEE_5TH_GEN = ChryslerPlatformConfig(
    [ChryslerCarDocs("Jeep Cherokee 2019-23")],
-    ChryslerCarSpecs(mass=1747., wheelbase=2.70, steerRatio=17.0, minSteerSpeed=18.5),
+    ChryslerCarSpecs(wheelbase=2.70, steerRatio=17.0, minSteerSpeed=18.5),
    {Bus.pt: 'chrysler_cusw'},
  )
  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
-    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
+    ChryslerCarSpecs(wheelbase=2.71, steerRatio=16.7),
  )

  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
@@ -85,15 +86,15 @@ class CAR(Platforms):
  # Ram
  RAM_1500_5TH_GEN = ChryslerPlatformConfig(
    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
-    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
+    ChryslerCarSpecs(wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
    {Bus.pt: 'chrysler_ram_dt_generated'},
  )
  RAM_HD_5TH_GEN = ChryslerPlatformConfig(
    [
      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
-      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 3500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
    ],
-    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
+    ChryslerCarSpecs(wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
    {Bus.pt: 'chrysler_ram_hd_generated'},
  )

@@ -246,6 +246,8 @@ class CarDocs:

  # all the parts needed for the supported car
  car_parts: CarParts = field(default_factory=CarParts)
+  # Mazda requires comma power
+  requires_comma_power: bool = False

  merged: bool = True
  support_type: SupportType = SupportType.UPSTREAM
@@ -365,7 +367,7 @@ class CarDocs:

      # experimental mode
      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='highlight'>Experimental mode</a>"
-      if CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable:
+      if CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable and CP.autoResumeSng:
        sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."

      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
@@ -37,7 +37,6 @@ class CAR(Platforms):

  EXTRA_HONDA = ExtraPlatformConfig(
    [
-      CommunityCarDocs("Acura ADX 2025-26"),
      CommunityCarDocs("Acura Integra 2023-25"),
      CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
      CommunityCarDocs("Acura MDX 2017-20"),
@@ -51,9 +50,7 @@ class CAR(Platforms):
      CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
      CommunityCarDocs("Honda Accord Hybrid 2017"),
      CommunityCarDocs("Honda Clarity 2018-21"),
-      CommunityCarDocs("Honda Pilot 2026"),
      GMSecurityCarDocs("Honda Prologue 2024-26"),
-      CommunityCarDocs("Honda Ridgeline 2026"),
    ],
  )

@@ -100,7 +100,7 @@ class CarState(CarStateBase, MadsCarState):
    ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2

    # blindspot sensors
-    if self.CP.enableBsm:
+    if self.CP.flags & FordFlags.HAS_BSM:
      cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
      ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
      ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
@@ -18,19 +18,6 @@ class CanBus(CanBusBase):
    return self.offset + 2


-def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
-  curvature = (dat[2] << 3) | ((dat[3]) >> 5)
-  curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
-  path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
-  path_offset = ((dat[4] & 0x3) << 8) | dat[5]
-
-  checksum = mode + counter
-  for sig_val in (curvature, curvature_rate, path_angle, path_offset):
-    checksum += sig_val + (sig_val >> 8)
-
-  return 0xFF - (checksum & 0xFF)
-
-
 def create_lka_msg(packer, CAN: CanBus):
  """
  Creates an empty CAN message for the Ford LKA Command.
@@ -105,13 +92,8 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path
    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
    "LatCtlPath_No_Cnt": counter,               # [0|15]
-    "LatCtlPath_No_Cs": 0,                      # [0|255]
  }

-  # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
-  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
-
  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)


@@ -338,3 +320,26 @@ def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume
    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # LCA/TJA toggle button
  })
  return packer.make_can_msg("Steering_Data_FD1", bus, values)
+
+
+FORD_CHECKSUM_FIELDS = {
+  0x7d: ("BrkTot_Tq_RqArb", "BrkTotTqRqArb_No_Cnt"),
+  0x91: ("VehRol_W_Actl", "VehYaw_W_Actl", "VehRollYaw_No_Cnt", "VehRolWActl_D_Qf", "VehYawWActl_D_Qf"),
+  0x92: ("VehLat2_A_Actl", "VehLong2_A_Actl", "VehVert2_A_Actl",
+         "VehLatAActl_D_Qf", "VehLongAActl_D_Qf", "VehVertAActl_D_Qf", "VehLatLongVert_No_Cnt"),
+  0x202: ("Veh_V_ActlEng", "VehVActlEng_No_Cnt", "VehVActlEng_D_Qf"),
+  0x214: ("PrplWhlTot_Tq_RqMn", "PrplWhlTqRqMn_No_Cnt"),
+  0x3d6: ("LatCtl_D2_Rq", "LatCtlPath_No_Cnt", "LatCtlCurv_No_Actl", "LatCtlCrv_NoRate2_Actl", "LatCtlPath_An_Actl", "LatCtlPathOffst_L_Actl"),
+  0x414: ("StePinOffst_An_Est", "StePinOffst_No_Cnt", "StePinOffst_D_Stat"),
+  0x415: ("Veh_V_ActlBrk", "VehVActlBrk_No_Cnt", "VehVActlBrk_D_Qf"),
+  0x450: ("DrvEngageLevel_D_Stat", "DrvEngLvlConfid_D_Stat", "DrvEngageLevel_No_Cnt"),
+  0x4b0: ("BrkHold_D_Stat", "BrkTot_Tq_RqDrv", "BrkTotTqRqDrv_No_Cnt"),
+}
+
+
+def ford_checksum(address: int, sig, d: bytearray) -> int:
+  checksum = 0
+  for field in sig.checksum_fields:
+    value = field.get_raw_value(d)
+    checksum += value + (value >> 8)
+  return ~checksum & 0xFF
@@ -90,7 +90,8 @@ class CarInterface(CarInterfaceBase):

    # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
    # TODO: detect bsm in car_fw?
-    ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
+    if 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]:
+      ret.flags |= FordFlags.HAS_BSM.value

    # LCA can steer down to zero
    ret.minSteerSpeed = 0.
@@ -45,6 +45,9 @@ class FordSafetyFlags(IntFlag):


 class FordFlags(IntFlag):
+  # Detected flags
+  HAS_BSM = 2  # blind spot monitoring
+
  # Static flags
  CANFD = 1

@@ -119,14 +122,14 @@ class FordF150LightningPlatform(FordCANFDPlatformConfig):
 class CAR(Platforms):
  FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
    [FordCarDocs("Ford Bronco Sport 2021-24")],
-    CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
+    CarSpecs(wheelbase=2.67, steerRatio=17.7),
  )
  FORD_ESCAPE_MK4 = FordPlatformConfig(
    [
      FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
      FordCarDocs("Ford Kuga 2020-23", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
    ],
-    CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
+    CarSpecs(wheelbase=2.71, steerRatio=16.7),
  )
  FORD_ESCAPE_MK4_5 = FordCANFDPlatformConfig(
    [
@@ -134,45 +137,45 @@ class CAR(Platforms):
      FordCarDocs("Ford Kuga Hybrid 2024", "All"),
      FordCarDocs("Ford Kuga Plug-in Hybrid 2024", "All"),
    ],
-    CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
+    CarSpecs(wheelbase=2.71, steerRatio=16.7),
  )
  FORD_EXPLORER_MK6 = FordPlatformConfig(
    [
      FordCarDocs("Ford Explorer 2020-24", hybrid=True),  # Hybrid: Limited and Platinum only
      FordCarDocs("Lincoln Aviator 2020-24", "Co-Pilot360 Plus", plug_in_hybrid=True),  # Hybrid: Grand Touring only
    ],
-    CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
+    CarSpecs(wheelbase=3.025, steerRatio=16.8),
  )
  FORD_EXPEDITION_MK4 = FordCANFDPlatformConfig(
    [FordCarDocs("Ford Expedition 2022-24", "Co-Pilot360 Assist 2.0", hybrid=False)],
-    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
+    CarSpecs(wheelbase=3.69, steerRatio=17.0),
  )
  FORD_F_150_MK14 = FordCANFDPlatformConfig(
    [FordCarDocs("Ford F-150 2021-23", "Co-Pilot360 Assist 2.0", hybrid=True)],
-    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
+    CarSpecs(wheelbase=3.69, steerRatio=17.0),
  )
  FORD_F_150_LIGHTNING_MK1 = FordF150LightningPlatform(
    [FordCarDocs("Ford F-150 Lightning 2022-23", "Co-Pilot360 Assist 2.0")],
-    CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
+    CarSpecs(wheelbase=3.70, steerRatio=16.9),
  )
  FORD_FOCUS_MK4 = FordPlatformConfig(
    [FordCarDocs("Ford Focus 2018-22", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
-    CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
+    CarSpecs(wheelbase=2.7, steerRatio=15.0),
  )
  FORD_MAVERICK_MK1 = FordPlatformConfig(
    [
      FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
      FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
    ],
-    CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
+    CarSpecs(wheelbase=3.076, steerRatio=17.0),
  )
  FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
    [FordCarDocs("Ford Mustang Mach-E 2021-24", "All", setup_video="https://www.youtube.com/watch?v=AR4_eTF3b_A")],
-    CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
+    CarSpecs(wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
  )
  FORD_RANGER_MK2 = FordCANFDPlatformConfig(
    [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering", setup_video="https://www.youtube.com/watch?v=2oJlXCKYOy0")],
-    CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
+    CarSpecs(wheelbase=3.27, steerRatio=17.0),
  )


@@ -3,7 +3,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
+from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS, GMFlags

 from opendbc.sunnypilot.car.gm.carstate_ext import CarStateExt
 from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP
@@ -146,7 +146,7 @@ class CarState(CarStateBase, CarStateExt):
      if self.CP.carFingerprint not in SDGM_CAR:
        ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0

-    if self.CP.enableBsm:
+    if self.CP.flags & GMFlags.HAS_BSM:
      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1

@@ -7,7 +7,7 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.carcontroller import CarController
 from opendbc.car.gm.carstate import CarState
 from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
-from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
+from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMFlags, GMSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType

 from opendbc.sunnypilot.car.gm.interface_ext import CarInterfaceExt
@@ -103,7 +103,8 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):
    ret.brand = "gm"
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
    ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+    if 0x142 in fingerprint[CanBus.POWERTRAIN]:
+      ret.flags |= GMFlags.HAS_BSM.value

    if candidate in EV_CAR:
      ret.transmissionType = TransmissionType.direct
@@ -67,6 +67,11 @@ class GMSafetyFlags(IntFlag):
  EV = 4


+class GMFlags(IntFlag):
+  # Detected flags
+  HAS_BSM = 1  # blind spot monitoring
+
+
 class Footnote(Enum):
  SETUP = CarFootnote(
    "See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/gm\" target=\"_blank\">GM</a>.",
@@ -132,39 +137,39 @@ class GMNonSccPlatformConfig(GMPlatformConfig):
 class CAR(Platforms):
  HOLDEN_ASTRA = GMASCMPlatformConfig(
    [GMCarDocs("Holden Astra 2017")],
-    GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
  )
  CHEVROLET_VOLT = GMASCMPlatformConfig(
    [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
-    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
+    GMCarSpecs(wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
  )
  CADILLAC_ATS = GMASCMPlatformConfig(
    [GMCarDocs("Cadillac ATS Premium Performance 2018")],
-    GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
+    GMCarSpecs(wheelbase=2.78, steerRatio=15.3),
  )
  CHEVROLET_MALIBU = GMASCMPlatformConfig(
    [GMCarDocs("Chevrolet Malibu Premier 2017")],
-    GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
  )
  GMC_ACADIA = GMASCMPlatformConfig(
    [GMCarDocs("GMC Acadia 2018", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
-    GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
  )
  BUICK_LACROSSE = GMASCMPlatformConfig(
    [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
-    GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
  )
  BUICK_REGAL = GMASCMPlatformConfig(
    [GMCarDocs("Buick Regal Essence 2018")],
-    GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
  )
  CADILLAC_ESCALADE = GMASCMPlatformConfig(
    [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
-    GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
+    GMCarSpecs(wheelbase=2.95, steerRatio=17.3),
  )
  CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
    [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
-    GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
  )
  CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
    [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
@@ -175,38 +180,38 @@ class CAR(Platforms):
      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim, without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
    ],
-    GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
+    GMCarSpecs(wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
  )
  CHEVROLET_SILVERADO = GMPlatformConfig(
    [
      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video="https://youtu.be/5HbNoBLzRwE"),
    ],
-    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
  )
  CHEVROLET_EQUINOX = GMPlatformConfig(
    [GMCarDocs("Chevrolet Equinox 2019-22")],
-    GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
  )
  CHEVROLET_TRAILBLAZER = GMPlatformConfig(
    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
-    GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
+    GMCarSpecs(wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
  )
  CADILLAC_XT4 = GMSDGMPlatformConfig(
    [GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
-    GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
  )
  CHEVROLET_VOLT_2019 = GMSDGMPlatformConfig(
    [GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
-    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
+    GMCarSpecs(wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
  )
  CHEVROLET_TRAVERSE = GMSDGMPlatformConfig(
    [GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
-    GMCarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
+    GMCarSpecs(wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
  )
  GMC_YUKON = GMPlatformConfig(
    [GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
-    GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
+    GMCarSpecs(wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
  )

  # port extensions
@@ -237,11 +242,11 @@ class CAR(Platforms):
  )
  CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMNonSccPlatformConfig(
    [GMNonAccCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
-    CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
+    CarSpecs(wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
  )
  CADILLAC_CT6_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
    [GMNonAccCarDocs("Cadillac CT6 Non-ACC 2017-18")],
-    CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
+    CarSpecs(wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
  )
  CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
    [GMNonAccCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
@@ -249,11 +254,11 @@ class CAR(Platforms):
  )
  CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMNonSccPlatformConfig(
    [GMNonAccCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
-    CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
+    CarSpecs(wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
  )
  CADILLAC_XT5_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
    [GMNonAccCarDocs("Cadillac XT5 Non-ACC 2018")],
-    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+    CarSpecs(wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
  )


@@ -9,6 +9,7 @@ from opendbc.car.interfaces import CarControllerBase
 from opendbc.sunnypilot.car.honda.mads import MadsCarController
 from opendbc.sunnypilot.car.honda.gas_interceptor import GasInterceptorCarController
 from opendbc.sunnypilot.car.honda.icbm import IntelligentCruiseButtonManagementInterface
+from opendbc.sunnypilot.car.honda.eps_mod import EpsModCarController

 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -91,12 +92,14 @@ def process_hud_alert(hud_alert):
  return alert_fcw, alert_steer_required


-class CarController(CarControllerBase, MadsCarController, GasInterceptorCarController, IntelligentCruiseButtonManagementInterface):
+class CarController(CarControllerBase, MadsCarController, GasInterceptorCarController, IntelligentCruiseButtonManagementInterface,
+                    EpsModCarController):
  def __init__(self, dbc_names, CP, CP_SP):
    CarControllerBase.__init__(self, dbc_names, CP, CP_SP)
    MadsCarController.__init__(self)
    GasInterceptorCarController.__init__(self, CP, CP_SP)
    IntelligentCruiseButtonManagementInterface.__init__(self, CP, CP_SP)
+    EpsModCarController.__init__(self, CP, CP_SP)
    self.packer = CANPacker(dbc_names[Bus.pt])
    self.params = CarControllerParams(CP)
    self.CAN = hondacan.CanBus(CP)
@@ -146,8 +149,9 @@ class CarController(CarControllerBase, MadsCarController, GasInterceptorCarContr
    # **** process the car messages ****

    # steer torque is converted back to CAN reference (positive when steering right)
-    apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
-                                 self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
+    apply_torque = int(np.clip(-limited_torque, -1.0, 1.0) * self.params.STEER_MAX)
+    if self.eps_mod_lookup is not None:
+      apply_torque = EpsModCarController.get_apply_torque(self, limited_torque)

    # Send CAN commands
    can_sends = []
@@ -56,7 +56,7 @@ class CarState(CarStateBase, CarStateExt):
  def update(self, can_parsers) -> tuple[structs.CarState, structs.CarStateSP]:
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]
-    if self.CP.enableBsm:
+    if self.CP.flags & HondaFlags.HAS_BSM:
      cp_body = can_parsers[Bus.body]

    ret = structs.CarState()
@@ -222,7 +222,7 @@ class CarState(CarStateBase, CarStateExt):
    if self.CP.flags & HondaFlags.BOSCH_RADARLESS:
      self.lkas_hud = cp_cam.vl["LKAS_HUD"]

-    if self.CP.enableBsm:
+    if self.CP.flags & HondaFlags.HAS_BSM:
      # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
      # more info here: https://github.com/commaai/openpilot/pull/1867
      ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
@@ -242,7 +242,7 @@ class CarState(CarStateBase, CarStateExt):
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
    }
-    if CP.enableBsm:
+    if CP.flags & HondaFlags.HAS_BSM:
      parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)

    return parsers
@@ -123,6 +123,7 @@ FW_VERSIONS = {
      b'36802-TWA-A070\x00\x00',
      b'36802-TWA-A080\x00\x00',
      b'36802-TWA-A210\x00\x00',
+      b'36802-TWA-A220\x00\x00',
      b'36802-TWA-A330\x00\x00',
      b'36802-TWB-H060\x00\x00',
    ],
@@ -404,6 +405,7 @@ FW_VERSIONS = {
      b'36802-TLA-A050\x00\x00',
      b'36802-TLA-A060\x00\x00',
      b'36802-TLA-A070\x00\x00',
+      b'36802-TLA-A080\x00\x00',
      b'36802-TMC-Q040\x00\x00',
      b'36802-TMC-Q070\x00\x00',
      b'36802-TNY-A030\x00\x00',
@@ -697,6 +699,7 @@ FW_VERSIONS = {
  },
  CAR.HONDA_PILOT: {
    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-T6Z-A610\x00\x00',
      b'54008-TG7-A520\x00\x00',
      b'54008-TG7-A530\x00\x00',
    ],
@@ -716,6 +719,7 @@ FW_VERSIONS = {
      b'28101-5EZ-A500\x00\x00',
      b'28101-5EZ-A600\x00\x00',
      b'28101-5EZ-A700\x00\x00',
+      b'28101-5EZ-A800\x00\x00',
      b'28103-5EY-A110\x00\x00',
      b'28103-5EZ-A010\x00\x00',
    ],
@@ -732,6 +736,7 @@ FW_VERSIONS = {
      b'39990-TG7-A070\x00\x00',
      b'39990-TGS-A230\x00\x00',
      b'39990-TGS-A320\x00\x00',
+      b'39990-TGS-A410\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-TG7-A310\x00\x00',
@@ -753,6 +758,7 @@ FW_VERSIONS = {
      b'36161-TGS-A130\x00\x00',
      b'36161-TGS-A220\x00\x00',
      b'36161-TGS-A320\x00\x00',
+      b'36161-TGS-A610\x00\x00',
      b'36161-TGT-A030\x00\x00',
      b'36161-TGT-A130\x00\x00',
    ],
@@ -777,6 +783,7 @@ FW_VERSIONS = {
      b'57114-TG8-A630\x00\x00',
      b'57114-TG8-A730\x00\x00',
      b'57114-TGS-A530\x00\x00',
+      b'57114-TGS-A710\x00\x00',
      b'57114-TGT-A530\x00\x00',
    ],
  },
@@ -842,33 +849,12 @@ FW_VERSIONS = {
  },
  # mid-model refresh
  CAR.ACURA_RDX_3G_MMR: {
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TJB-A120\x00\x00',
-    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TJB-A540\x00\x00',
    ],
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TJB-A530\x00\x00',
    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TJB-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28102-5YK-A800\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TJB-A120\x00\x00',
-    ],
-    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
-      b'46114-TJB-A120\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TJB-A220\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TJB-A070\x00\x00',
-    ],
  },
  CAR.HONDA_RIDGELINE: {
    (Ecu.eps, 0x18da30f1, None): [
@@ -879,6 +865,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T6Z-A020\x00\x00',
+      b'36161-T6Z-A220\x00\x00',
      b'36161-T6Z-A310\x00\x00',
      b'36161-T6Z-A420\x00\x00',
      b'36161-T6Z-A520\x00\x00',
@@ -892,6 +879,7 @@ FW_VERSIONS = {
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T6Z-A020\x00\x00',
+      b'77959-T6Z-A030\x00\x00',
    ],
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-T6Z-A120\x00\x00',
@@ -956,6 +944,7 @@ FW_VERSIONS = {
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-3M0-M110\x00\x00',
      b'38897-3M0-M210\x00\x00',
+      b'38897-3M0-T610\x00\x00',
      b'38897-3M0-Z010\x00\x00',
      b'38897-3W1-A010\x00\x00',
      b'38897-3W1-A620\x00\x00',
@@ -972,8 +961,10 @@ FW_VERSIONS = {
      b'8S102-3M1-T050\x00\x00',
      b'8S102-3M3-T050\x00\x00',
      b'8S102-3M6-P030\x00\x00',
+      b'8S102-3M6-PA10\x00\x00',
      b'8S102-3M6-PA20\x00\x00',
      b'8S102-3W0-A060\x00\x00',
+      b'8S102-3W0-A230\x00\x00',
      b'8S102-3W0-AB10\x00\x00',
      b'8S102-3W0-AB20\x00\x00',
      b'8S102-3W0-A240\x00\x00',
@@ -989,10 +980,12 @@ FW_VERSIONS = {
      b'28101-6EH-A110\x00\x00',
      b'28101-6EH-A520\x00\x00',
      b'28101-6JC-M310\x00\x00',
+      b'28101-6JH-M010\x00\x00',
      b'28101-6JH-M110\x00\x00',
    ],
    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
      b'39494-3L4-P030\x00\x00',
+      b'39494-T20-A010\x00\x00',
      b'46114-3W0-A020\x00\x00',
      b'46114-3W0-A050\x00\x00',
      b'46114-3W0-A110\x00\x00',
@@ -1048,7 +1041,9 @@ FW_VERSIONS = {
  CAR.HONDA_CIVIC_2022: {
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-T24-T120\x00\x00',
+      b'39990-T24-T520\x00\x00',
      b'39990-T38-A040\x00\x00',
+      b'39990-T38-A140\x00\x00',
      b'39990-T39-A130\x00\x00',
      b'39990-T43-J020\x00\x00',
      b'39990-T43-J030\x00\x00',
@@ -1064,12 +1059,15 @@ FW_VERSIONS = {
      b'38897-T20-A510\x00\x00',
      b'38897-T21-A010\x00\x00',
      b'38897-T22-A110\x00\x00',
+      b'38897-T22-A520\x00\x00',
      b'38897-T24-Z120\x00\x00',
      b'38897-T47-AA20\x00\x00',
      b'38897-T50-E310\x00\x00',
      b'38897-T50-EA10\x00\x00',
      b'38897-T60-A110\x00\x00',
      b'38897-T61-A320\x00\x00',
+      b'38897-T61-Z110\x00\x00',
+      b'38897-T64-A220\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T20-A970\x00\x00',
@@ -1080,8 +1078,11 @@ FW_VERSIONS = {
      b'77959-T47-A950\x00\x00',
      b'77959-T50-G010\x00\x00',
      b'77959-T50-G930\x00\x00',
+      b'77959-T54-Z120\x00\x00',
+      b'77959-T56-A920\x00\x00',
      b'77959-T60-A920\x00\x00',
      b'77959-T61-A920\x00\x00',
+      b'77959-T64-A930\x00\x00',
      b'77959-T65-A920\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
@@ -1090,11 +1091,15 @@ FW_VERSIONS = {
      b'36161-T20-A080\x00\x00',
      b'36161-T24-T070\x00\x00',
      b'36161-T38-A060\x00\x00',
+      b'8S102-T38-AA10\x00\x00',
      b'36161-T47-A050\x00\x00',
      b'36161-T47-A060\x00\x00',
      b'36161-T47-A070\x00\x00',
      b'8S102-T20-AA10\x00\x00',
      b'8S102-T20-AA20\x00\x00',
+      b'8S102-T29-T020\x00\x00',
+      b'8S102-T38-A040\x00\x00',
+      b'8S102-T38-A050\x00\x00',
      b'8S102-T43-J540\x00\x00',
      b'8S102-T47-AA10\x00\x00',
      b'8S102-T47-AA20\x00\x00',
@@ -1112,6 +1117,9 @@ FW_VERSIONS = {
      b'57114-T43-JA30\x00\x00',
      b'57114-T43-JB30\x00\x00',
      b'57114-T50-JC20\x00\x00',
+      b'57114-T54-TJ20\x00\x00',
+      b'57114-T56-AG30\x00\x00',
+      b'57114-T56-AH30\x00\x00',
      b'57114-T60-AA20\x00\x00',
      b'57114-T61-AJ30\x00\x00',
    ],
@@ -1121,6 +1129,7 @@ FW_VERSIONS = {
      b'28101-65H-A020\x00\x00',
      b'28101-65H-A120\x00\x00',
      b'28101-65J-N010\x00\x00',
+      b'28101-6J4-A110\x00\x00',
    ],
  },
  CAR.HONDA_PILOT_4G: {
@@ -1133,6 +1142,14 @@ FW_VERSIONS = {
      b'8S302-T90-A040\x00\x00',
    ],
  },
+  CAR.HONDA_PILOT_4G_MMR: {
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'8S102-T90-A120\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S302-T90-A120\x00\x00',
+    ],
+  },
  CAR.HONDA_ACCORD_11G: {
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'8S302-30A-A040\x00\x00',
@@ -1148,6 +1165,7 @@ FW_VERSIONS = {
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'8S302-3A0-A060\x00\x00',
      b'8S302-3A0-A220\x00\x00',
+      b'8S302-3A0-A230\x00\x00',
      b'8S302-3C0-Q050\x00\x00',
      b'8S302-3D4-A050\x00\x00',
      b'8S302-3D4-A060\x00\x00',
@@ -1195,13 +1213,35 @@ FW_VERSIONS = {
      b'8S102-3BM-A020\x00\x00',
    ],
  },
+  CAR.HONDA_PRELUDE_6G: {
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-36W-J020\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-36W-G010\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-36W-G430\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S102-36W-J040\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-36W-J020\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-36W-A410\x00\x00',
+    ],
+  },
  CAR.ACURA_TLX_2G: {
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TGV-A060\x00\x00',
+      b'36802-TGZ-A020\x00\x00',
    ],
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TGV-A030\x00\x00',
      b'36161-TGV-A040\x00\x00',
+      b'36161-TGZ-A020\x00\x00',
    ],
  },
  CAR.ACURA_TLX_2G_MMR: {
@@ -1212,6 +1252,30 @@ FW_VERSIONS = {
      b'8S102-TGV-A030\x00\x00',
    ],
  },
+  CAR.ACURA_ADX: {
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'8S102-3BH-A020\x00\x00',
+      b'8S102-3BH-A030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-3BH-A320\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28101-6VM-A020\x00\x00',
+    ],
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-3BH-A020\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-3BH-A020\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-3BH-A020\x00\x00',
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-3BH-A830\x00\x00',
+    ],
+  },
 }

 FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)
@@ -61,8 +61,8 @@ class CarInterface(CarInterfaceBase):

      ret.pcmCruise = True

-    if candidate == CAR.HONDA_CRV_5G:
-      ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
+    if candidate == CAR.HONDA_CRV_5G and 0x12f8bfa7 in fingerprint[CAN.radar]:
+      ret.flags |= HondaFlags.HAS_BSM.value

    # Detect Bosch cars with new HUD msgs
    if any(0x33DA in f for f in fingerprint.values()):
@@ -80,7 +80,6 @@ class CarInterface(CarInterfaceBase):
      # Traditional autos, direct-drive EVs and eCVTs, gearshift position in GEARBOX_AUTO
      ret.transmissionType = TransmissionType.automatic

-    ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
    ret.steerActuatorDelay = 0.1
@@ -100,53 +99,42 @@ class CarInterface(CarInterfaceBase):
        ret.dashcamOnly = True

    if candidate == CAR.HONDA_CIVIC:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      if candidate == CAR.HONDA_CIVIC_BOSCH:
          CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]

-    elif candidate == CAR.HONDA_CIVIC_2022:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+    elif candidate in (CAR.HONDA_CIVIC_2022, CAR.HONDA_PRELUDE_6G):
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]

    elif candidate == CAR.HONDA_ACCORD:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.ACURA_ILX:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_5G:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_HYBRID:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_FIT:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate == CAR.HONDA_FREED:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      if candidate == CAR.HONDA_HRV:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
        ret.wheelSpeedFactor = 1.025
@@ -154,42 +142,30 @@ class CarInterface(CarInterfaceBase):
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning

    elif candidate == CAR.ACURA_RDX:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate == CAR.ACURA_RDX_3G:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]

    elif candidate == CAR.HONDA_ODYSSEY:
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end

    elif candidate == CAR.HONDA_ODYSSEY_TWN:
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end

    elif candidate == CAR.HONDA_PILOT:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate == CAR.HONDA_RIDGELINE:
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate in (CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate in (CAR.HONDA_E, CAR.HONDA_E_ADVANCE):
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning

    elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
-      # Stock camera sends up to 2560 during LKA operation and up to 3840 during RDM operation
-      # Steer motor torque does rise a little above 2560, but not linearly, RDM also applies one-sided brake drag
-      #ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 3072], [0, 2560, 3840]]
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
      ret.steerActuatorDelay = 0.15
      CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000]
@@ -197,18 +173,12 @@ class CarInterface(CarInterfaceBase):
        # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
        ret.minSteerSpeed = 70. * CV.KPH_TO_MS

-    elif candidate in (CAR.ACURA_TLX_2G_MMR, CAR.ACURA_MDX_4G):
-      ret.steerActuatorDelay = 0.15
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
    # TODO-SP: remove when https://github.com/commaai/opendbc/pull/2687 is merged
    elif candidate == CAR.HONDA_CLARITY:
      pass

    else:
      ret.steerActuatorDelay = 0.15
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    if candidate == CAR.ACURA_RDX_3G_MMR:
@@ -216,7 +186,7 @@ class CarInterface(CarInterfaceBase):
      ret.dashcamOnly = is_release  # TODO: release from dashcam when there's enough driving data for torqued/paramsd to converge

    # These cars use alternate user brake msg (0x1BE)
-    if 0x1BE in fingerprint[CAN.pt] and (candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, CAR.ACURA_MDX_4G) or
+    if 0x1BE in fingerprint[CAN.pt] and (candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, CAR.ACURA_MDX_4G, CAR.ACURA_ADX) or
                                          ret.flags & HondaFlags.BOSCH_CANFD):
      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value

@@ -266,23 +236,14 @@ class CarInterface(CarInterfaceBase):

    if candidate == CAR.HONDA_CIVIC:
      if ret.flags & HondaFlagsSP.EPS_MODIFIED:
-        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
-        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
-        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
-        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
-        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
-        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
-        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.1]]

    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
      if ret.flags & HondaFlagsSP.EPS_MODIFIED:
-        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS

    elif candidate == CAR.HONDA_CIVIC_2022:
      if ret.flags & HondaFlagsSP.EPS_MODIFIED:
-        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS

    elif candidate == CAR.HONDA_ACCORD:
@@ -291,10 +252,6 @@ class CarInterface(CarInterfaceBase):

    elif candidate == CAR.HONDA_CRV_5G:
      if ret.flags & HondaFlagsSP.EPS_MODIFIED:
-        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
-        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
-        # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
-        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.21], [0.07]]

    elif candidate == CAR.HONDA_CLARITY:
@@ -304,13 +261,10 @@ class CarInterface(CarInterfaceBase):
        for fw in car_fw:
          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
            stock_cp.lateralTuning.pid.kf = 0.00004
-            stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 5760, 15360], [0, 2560, 3840]]
            stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
          elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
-            stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 5760, 10240], [0, 2560, 3840]]
            stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.1]]
      else:
-        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560], [0, 2560]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.8], [0.24]]

    if candidate in HONDA_BOSCH:
@@ -41,13 +41,24 @@ class CarControllerParams:
  STEER_GLOBAL_MIN_SPEED = 3 * CV.MPH_TO_MS

  def __init__(self, CP):
-    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
-    # mirror of list (assuming first item is zero) for interp of signed request
-    # values and verify that both arrays begin at zero
-    assert CP.lateralParams.torqueBP[0] == 0
-    assert CP.lateralParams.torqueV[0] == 0
-    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
-    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
+    if CP.carFingerprint in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU, CAR.ACURA_RDX):
+      self.STEER_MAX = 1000  # TODO: determine if there is a dead zone at the top end
+    elif CP.carFingerprint in (CAR.ACURA_ILX, CAR.HONDA_CRV_5G, CAR.ACURA_RDX_3G, CAR.ACURA_TLX_2G_MMR, CAR.ACURA_MDX_4G,
+                               CAR.ACURA_ADX):
+      self.STEER_MAX = 3840  # TODO: determine if there is a dead zone at the top end (ACURA_ILX)
+    elif CP.carFingerprint in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022, CAR.HONDA_ACCORD,
+                               CAR.HONDA_CRV_HYBRID, CAR.HONDA_FIT, CAR.HONDA_FREED, CAR.HONDA_HRV, CAR.HONDA_HRV_3G,
+                               CAR.HONDA_ODYSSEY, CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE, CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G,
+                               CAR.HONDA_E, CAR.HONDA_E_ADVANCE, CAR.HONDA_PRELUDE_6G):
+      # TODO: determine if there is a dead zone at the top end (except HONDA_FREED, HONDA_HRV, HONDA_HRV_3G)
+      self.STEER_MAX = 4096
+    elif CP.carFingerprint == CAR.HONDA_ODYSSEY_TWN:
+      self.STEER_MAX = 32767  # TODO: determine if there is a dead zone at the top end
+    elif CP.carFingerprint == CAR.HONDA_PILOT_4G_MMR:
+      self.STEER_MAX = 3628
+    else:
+      # Odyssey MMR uses up to 2560 for LKA; higher RDM commands are nonlinear and also apply brake drag.
+      self.STEER_MAX = 2560


 class HondaSafetyFlags(IntFlag):
@@ -76,7 +87,7 @@ class HondaFlags(IntFlag):

  HAS_ALL_DOOR_STATES = 256  # Some Hondas have all door states, others only driver door
  BOSCH_ALT_RADAR = 512
-  # 1024 is available
+  HAS_BSM = 1024  # blind spot monitoring
  HYBRID = 2048
  BOSCH_TJA_CONTROL = 4096

@@ -167,7 +178,7 @@ class CAR(Platforms):
    [
      HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
    ],
-    CarSpecs(mass=890., wheelbase=2.520, steerRatio=18.64),
+    CarSpecs(wheelbase=2.520, steerRatio=18.64),
    {Bus.pt: 'acura_rdx_2020_can_generated'},
  )
  HONDA_ACCORD = HondaBoschPlatformConfig(
@@ -177,7 +188,7 @@ class CAR(Platforms):
      HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
    ],
    # steerRatio: 11.82 is spec end-to-end
-    CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
+    CarSpecs(wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
  )
  HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
@@ -185,7 +196,7 @@ class CAR(Platforms):
      HondaCarDocs("Honda Accord 2023-25", "All"),
      HondaCarDocs("Honda Accord Hybrid 2023-26", "All"),
  ],
-    CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
+    CarSpecs(wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
  )
  HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
    [
@@ -194,7 +205,7 @@ class CAR(Platforms):
      HondaCarDocs("Honda Civic Hatchback 2017-18", min_steer_speed=12. * CV.MPH_TO_MS),
      HondaCarDocs("Honda Civic Hatchback 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
    ],
-    CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
+    CarSpecs(wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
  )
  HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
@@ -206,7 +217,7 @@ class CAR(Platforms):
    [
      HondaCarDocs("Honda Civic 2022-26", "All", video="https://youtu.be/ytiOT5lcp6Q"),
      HondaCarDocs("Honda Civic Hybrid 2025-26", "All"),
-      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-26", "All", video="https://youtu.be/ytiOT5lcp6Q"),
      HondaCarDocs("Honda Civic Hatchback Hybrid (Europe only) 2023", "All"),
      # TODO: Confirm 2024
      HondaCarDocs("Honda Civic Hatchback Hybrid 2025-26", "All"),
@@ -218,97 +229,114 @@ class CAR(Platforms):
  HONDA_CRV_5G = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=15. * CV.MPH_TO_MS)],
    # steerRatio: 12.3 is spec end-to-end
-    CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    CarSpecs(wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
    flags=HondaFlags.BOSCH_ALT_BRAKE,
  )
  HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
    [
      HondaCarDocs("Honda CR-V 2023-26", "All"),
-      HondaCarDocs("Honda CR-V Hybrid 2023-26", "All"),
+      HondaCarDocs("Honda CR-V Hybrid 2023-27", "All"),
    ],
-    CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
+    CarSpecs(wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
  )
  HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
-    # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
-    CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
+    # steerRatio: 12.3 is spec end-to-end
+    CarSpecs(wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
  )
  HONDA_HRV_3G = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda HR-V 2023-27", "All")],
-    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
    {Bus.pt: 'honda_bosch_radarless_generated'},
    flags=HondaFlags.BOSCH_RADARLESS,
  )
  HONDA_CITY_7G = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda City (Brazil only) 2023-25", "All")],
-    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.6, steerRatio=19.0, centerToFrontRatio=0.41, minSteerSpeed=23. * CV.KPH_TO_MS),
+    CarSpecs(wheelbase=2.6, steerRatio=19.0, centerToFrontRatio=0.41, minSteerSpeed=23. * CV.KPH_TO_MS),
    {Bus.pt: 'honda_bosch_radarless_generated'},
    flags=HondaFlags.BOSCH_RADARLESS,
  )
  ACURA_RDX_3G = HondaBoschPlatformConfig(
    [HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
+    CarSpecs(wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
    {Bus.pt: 'acura_rdx_2020_can_generated'},
    flags=HondaFlags.BOSCH_ALT_BRAKE,
  )
  ACURA_RDX_3G_MMR = HondaBoschPlatformConfig(
    [HondaCarDocs("Acura RDX 2022-24", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
-    CarSpecs(mass=4079 * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.2),
+    CarSpecs(wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.2),
    {Bus.pt: 'acura_rdx_2020_can_generated'},
    flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
  )
  HONDA_INSIGHT = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
+    CarSpecs(wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
    {Bus.pt: 'honda_insight_ex_2019_can_generated'},
  )
  HONDA_E = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
+    CarSpecs(wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
    {Bus.pt: 'acura_rdx_2020_can_generated'},
  )
  HONDA_E_ADVANCE = HondaBoschPlatformConfig(
    [],  # don't show in docs, base trim already in docs
-    CarSpecs(mass=1527, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
+    CarSpecs(wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
    {Bus.pt: 'honda_e_advance_2020_can_generated'}, # 8 bit LKAS_HUD in Advance trim
  )
  HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
    [HondaCarDocs("Honda Pilot 2023-25", "All")],
-    CarSpecs(mass=4660 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=17.5),
+    CarSpecs(wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=17.5),
+  )
+  # Mid-Model Refresh has more powerful EPS
+  HONDA_PILOT_4G_MMR = HondaBoschCANFDPlatformConfig(
+    [HondaCarDocs("Honda Pilot 2026", "All")],
+    CarSpecs(wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=19.2),
  )
  HONDA_PASSPORT_4G = HondaBoschCANFDPlatformConfig(
    [HondaCarDocs("Honda Passport 2026", "All")],
-    CarSpecs(mass=4620 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=18.5),
+    CarSpecs(wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=18.5),
+  )
+  HONDA_PRELUDE_6G = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Prelude 2026", "All")],
+    CarSpecs(wheelbase=2.605, steerRatio=13.65, centerToFrontRatio=0.37),
+    {Bus.pt: 'honda_bosch_radarless_generated'},
+    flags=HondaFlags.BOSCH_RADARLESS,
  )
  ACURA_MDX_4G = HondaBoschPlatformConfig(
    [HondaCarDocs("Acura MDX 2022-24", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
-    CarSpecs(mass=4788 * CV.LB_TO_KG, wheelbase=2.89, steerRatio=15.8, centerToFrontRatio=0.428),  # as spec
+    CarSpecs(wheelbase=2.89, steerRatio=15.8, centerToFrontRatio=0.428),  # as spec
    {Bus.pt: 'honda_common_canfd_generated'}, # not CANFD car but shares same dbc
    flags=HondaFlags.BOSCH_ALT_RADAR,
  )
  # mid-model refresh
  ACURA_MDX_4G_MMR = HondaBoschCANFDPlatformConfig(
    [HondaCarDocs("Acura MDX 2025-26", "All except Type S")],
-    CarSpecs(mass=4544 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
+    CarSpecs(wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
  )
  HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
    [HondaCarDocs("Honda Odyssey 2021-26", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
-    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41),
+    CarSpecs(wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41),
    {Bus.pt: 'acura_rdx_2020_can_generated'},
    flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
  )
  ACURA_TLX_2G = HondaBoschPlatformConfig(
    [HondaCarDocs("Acura TLX 2021-22", "All")],
-    CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.87, steerRatio=14.0, centerToFrontRatio=0.43),
+    CarSpecs(wheelbase=2.87, steerRatio=14.0, centerToFrontRatio=0.43),
    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
    flags=HondaFlags.BOSCH_ALT_RADAR,
  )
  # mid-model refresh
  ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
    [HondaCarDocs("Acura TLX 2025", "All")],
-    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
+    CarSpecs(wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
+  )
+  ACURA_ADX = HondaBoschPlatformConfig(
+    [HondaCarDocs("Acura ADX 2025-26", "All")],
+    CarSpecs(wheelbase=2.65, steerRatio=17.6, centerToFrontRatio=0.43),
+    {Bus.pt: 'honda_bosch_radarless_generated'},
+    flags=HondaFlags.BOSCH_RADARLESS
  )

  # Nidec Cars
@@ -317,13 +345,13 @@ class CAR(Platforms):
      HondaCarDocs("Acura ILX 2016-18", "Technology Plus Package or AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
      HondaCarDocs("Acura ILX 2019", "All", min_steer_speed=25. * CV.MPH_TO_MS),
    ],
-    CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
+    CarSpecs(wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72),  # 15.3 is spec end-to-end
    radar_dbc_dict('acura_ilx_2016_can_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
  )
  HONDA_CRV = HondaNidecPlatformConfig(
    [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
+    CarSpecs(wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444),  # as spec
    radar_dbc_dict('honda_crv_touring_2016_can_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
  )
@@ -335,13 +363,13 @@ class CAR(Platforms):
  )
  HONDA_FIT = HondaNidecPlatformConfig(
    [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
+    CarSpecs(wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
    radar_dbc_dict('acura_ilx_2016_can_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
  HONDA_FREED = HondaNidecPlatformConfig(
    [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
+    CarSpecs(wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),  # mostly copied from FIT
    radar_dbc_dict('acura_ilx_2016_can_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
@@ -353,7 +381,7 @@ class CAR(Platforms):
  )
  HONDA_ODYSSEY = HondaNidecPlatformConfig(
    [HondaCarDocs("Honda Odyssey 2018-20")],
-    CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
+    CarSpecs(wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
    radar_dbc_dict('honda_odyssey_exl_2018_generated'),
    flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
  )
@@ -362,13 +390,13 @@ class CAR(Platforms):
      HondaCarDocs("Honda Odyssey (Taiwan) 2018-19"),
      HondaCarDocs("Honda Odyssey (Singapore) 2021")
    ],
-    CarSpecs(mass=1865, wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
+    CarSpecs(wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
    radar_dbc_dict('honda_odyssey_twn_2018_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
  )
  ACURA_RDX = HondaNidecPlatformConfig(
    [HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
+    CarSpecs(wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444),  # as spec
    radar_dbc_dict('acura_rdx_2018_can_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
  )
@@ -382,14 +410,14 @@ class CAR(Platforms):
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
  )
  HONDA_RIDGELINE = HondaNidecPlatformConfig(
-    [HondaCarDocs("Honda Ridgeline 2017-25", min_steer_speed=12. * CV.MPH_TO_MS)],
-    CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
+    [HondaCarDocs("Honda Ridgeline 2017-26", min_steer_speed=12. * CV.MPH_TO_MS)],
+    CarSpecs(wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444),  # as spec
    radar_dbc_dict('acura_ilx_2016_can_generated'),
    flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
  )
  HONDA_CIVIC = HondaNidecPlatformConfig(
    [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video="https://youtu.be/-IkImTe1NYE")],
-    CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
+    CarSpecs(wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38),  # 10.93 is end-to-end spec
    radar_dbc_dict('honda_civic_touring_2016_can_generated'),
    flags=HondaFlags.HAS_ALL_DOOR_STATES
  )
@@ -397,7 +425,7 @@ class CAR(Platforms):
  # port extensions
  HONDA_CLARITY = HondaNidecPlatformConfig(
    [HondaCarDocs("Honda Clarity 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
-    CarSpecs(mass=1838, wheelbase=2.75, centerToFrontRatio=0.4, steerRatio=16.5),
+    CarSpecs(wheelbase=2.75, centerToFrontRatio=0.4, steerRatio=16.5),
    radar_dbc_dict('honda_clarity_hybrid_2018_can_generated'),
    flags=HondaFlags.HAS_ALL_DOOR_STATES,
  )
@@ -417,6 +445,7 @@ STEER_THRESHOLD = {
  CAR.HONDA_CRV_EU: 400,
  CAR.HONDA_ACCORD_11G: 600,
  CAR.HONDA_PILOT_4G: 600,
+  CAR.HONDA_PILOT_4G_MMR: 600,
  CAR.HONDA_PASSPORT_4G: 600,
  CAR.ACURA_MDX_4G_MMR: 600,
  CAR.HONDA_CRV_6G: 600,
@@ -180,7 +180,7 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
      ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
      ret.stockAeb = aeb_warning and aeb_braking

-    if self.CP.enableBsm:
+    if self.CP.flags & HyundaiFlags.HAS_BSM:
      ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
      ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0

@@ -262,7 +262,7 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                      cp.vl["BLINKERS"][right_blinker_sig])
-    if self.CP.enableBsm:
+    if self.CP.flags & HyundaiFlags.HAS_BSM:
      ret.leftBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_LtIndSta"])
      ret.rightBlindspot = bool(cp.vl["ADAS_CMD_50_50ms"]["BCW_RtIndSta"])

@@ -377,6 +377,7 @@ FW_VERSIONS = {
      b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
    ],
    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CK  MDPS R 1.00 1.02 56310-XX000 4C2VR102',
      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5220 4C2VL104',
      b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
@@ -386,6 +387,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
+      b'\xf1\x00CK  MFC  AT EUR RHD 1.00 1.02 95740-J5000 170607',
      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.04 95740-J5000 180504',
      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
      b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.04 95740-J5000 180504',
@@ -545,6 +547,7 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00RG3 MFC  AT USA LHD 1.00 1.01 99211-T1200 230607',
+      b'\xf1\x00RG3 MFC  AT USA LHD 1.00 1.01 99211-T1210 230607',
    ],
  },
  CAR.GENESIS_G90: {
@@ -588,6 +591,18 @@ FW_VERSIONS = {
      b'\xf1\x00CD ESC \x0b 101 \x10\x03 58910-J7AC0',
    ],
  },
+  CAR.KIA_CEED_PHEV: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CDph SCC F-CUP      1.00 1.01 99110-CR100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00CDe MDPS C 1.00 1.01 56310-XX000 4CDHC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CD2 LKAS AT EUR LHD 1.00 1.01 99211-CR010 621',
+      b'\xf1\x00CDP LKAS AT EUR LHD 1.00 1.01 99211-CR000 q31',
+    ],
+  },
  CAR.KIA_FORTE: {
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
@@ -926,6 +941,7 @@ FW_VERSIONS = {
      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
      b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA050\x00 4CNDC107',
+      b'\xf1\x00CN7 MDPS C 1.00 1.07 56310AA040\x00 4CNDC107',
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
@@ -937,6 +953,7 @@ FW_VERSIONS = {
      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.09 99210-AA000 221108',
+      b'\xf1\x00CN7 MFC  AT EUR LHD 1.00 1.09 99210-AA000 221108',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
@@ -1121,7 +1138,9 @@ FW_VERSIONS = {
  CAR.KIA_SPORTAGE_5TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1070 690',
      b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1070 690',
      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1040 663',
      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
      b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
@@ -42,7 +42,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                           CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
                           CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                           CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
-                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, CAR.KIA_CEED_PHEV,
                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022,
                           CAR.KIA_CEED_PHEV_2022_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC, CAR.HYUNDAI_ELANTRA_2022_NON_SCC,
                           CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC, CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC):
@@ -46,7 +46,8 @@ class CarInterface(CarInterfaceBase):
        # this needs to be figured out for cars without an ADAS ECU
        ret.alphaLongitudinalAvailable = False

-      ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]
+      if 0x1ba in fingerprint[CAN.ECAN]:
+        ret.flags |= HyundaiFlags.HAS_BSM.value

      # Check if the car is hybrid. Only HEV/PHEV cars have 0xFA on E-CAN.
      if 0xFA in fingerprint[CAN.ECAN]:
@@ -89,7 +90,8 @@ class CarInterface(CarInterfaceBase):
    else:
      # Shared configuration for non CAN-FD cars
      ret.alphaLongitudinalAvailable = not (ret.flags & (HyundaiFlags.LEGACY | HyundaiFlags.UNSUPPORTED_LONGITUDINAL))
-      ret.enableBsm = 0x58b in fingerprint[0]
+      if 0x58b in fingerprint[0]:
+        ret.flags |= HyundaiFlags.HAS_BSM.value

      # Send LFA message on cars with HDA
      if 0x485 in fingerprint[2]:
@@ -27,6 +27,7 @@ NO_DATES_PLATFORMS = {
  CAR.HYUNDAI_ELANTRA,
  CAR.HYUNDAI_ELANTRA_GT_I30,
  CAR.KIA_CEED,
+  CAR.KIA_CEED_PHEV,
  CAR.KIA_FORTE,
  CAR.KIA_OPTIMA_G4,
  CAR.KIA_OPTIMA_G4_FL,
@@ -149,6 +149,8 @@ class HyundaiFlags(IntFlag):

  ALT_LIMITS_2 = 2 ** 26

+  HAS_BSM = 2 ** 27  # blind spot monitoring
+

@dataclass
 class HyundaiCarDocs(CarDocs):
@@ -197,14 +199,14 @@ class CAR(Platforms):
  # Hyundai
  HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
+    CarSpecs(wheelbase=2.885, steerRatio=14.5),
  )
  HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
-    CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
+    CarSpecs(wheelbase=2.885, steerRatio=14.5),
    flags=HyundaiFlags.HYBRID,
  )
  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
@@ -214,7 +216,7 @@ class CAR(Platforms):
      HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
    ],
    # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
-    CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
@@ -227,13 +229,13 @@ class CAR(Platforms):
  )
  HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Elantra 2021-23", video="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
+    CarSpecs(wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video="https://youtu.be/_EdYQtV52-c",
                    car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
+    CarSpecs(wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  HYUNDAI_GENESIS = HyundaiPlatformConfig(
@@ -242,79 +244,79 @@ class CAR(Platforms):
      HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
      HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
    ],
-    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
+    CarSpecs(wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
  )
  HYUNDAI_IONIQ = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
  HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV,
  )
  HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID,
  )
  HYUNDAI_KONA = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
-    CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
-    CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
  )
  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
-    CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
-    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
-    CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_NEXO_1ST_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Nexo 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.79, steerRatio=14.19),  # https://www.hyundainews.com/assets/documents/original/42768-2021NEXOProductGuideSpecs.pdf
+    CarSpecs(wheelbase=2.79, steerRatio=14.19),  # https://www.hyundainews.com/assets/documents/original/42768-2021NEXOProductGuideSpecs.pdf
    flags=HyundaiFlags.FCEV,
  )
  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video="https://youtu.be/bjDR0YjM__s",
                    car_parts=CarParts.common([CarHarness.hyundai_d]))],
-    CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
+    CarSpecs(wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
@@ -336,24 +338,24 @@ class CAR(Platforms):
  HYUNDAI_SONATA = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
+    CarSpecs(wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
-    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
+    CarSpecs(wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
  )
  HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
+    CarSpecs(wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
  )
  HYUNDAI_TUCSON = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
    ],
-    CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.TCU_GEARS,
  )
  HYUNDAI_PALISADE = HyundaiPlatformConfig(
@@ -361,12 +363,12 @@ class CAR(Platforms):
      HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
      HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
-    CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
+    CarSpecs(wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_VELOSTER = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
-    CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
  )
  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
@@ -380,7 +382,7 @@ class CAR(Platforms):
      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
-    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
+    CarSpecs(wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
@@ -398,16 +400,16 @@ class CAR(Platforms):
      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    CarSpecs(wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
  )
  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
-    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
+    CarSpecs(wheelbase=3, steerRatio=14.2),
  )
  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
+    CarSpecs(wheelbase=3.055, steerRatio=17),  # steerRatio: from learner
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )

@@ -417,11 +419,11 @@ class CAR(Platforms):
      HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
      HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
-    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
+    CarSpecs(wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
  KIA_K5_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
+    CarSpecs(wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
@@ -431,12 +433,12 @@ class CAR(Platforms):
  )
  KIA_K7_2017 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K7 2017", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1648, wheelbase=2.86, steerRatio=16.8),
+    CarSpecs(wheelbase=2.86, steerRatio=16.8),
  )
  KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
-    # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
-    CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
+    # steerRatio: guesstimate from K5 platform
+    CarSpecs(wheelbase=2.895, steerRatio=13.27)
  )
  KIA_NIRO_EV = HyundaiPlatformConfig(
    [
@@ -445,7 +447,7 @@ class CAR(Platforms):
      HyundaiCarDocs("Kia Niro EV 2021", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Kia Niro EV 2022", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
-    CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
+    CarSpecs(wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
  )
  KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
@@ -488,37 +490,38 @@ class CAR(Platforms):
  KIA_OPTIMA_G4 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
                    car_parts=CarParts.common([CarHarness.hyundai_b]))],  # TODO: may support 2016, 2018
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
  KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
  )
  # TODO: may support adjacent years. may have a non-zero minimum steering speed
  KIA_OPTIMA_H = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
  KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
-    flags=HyundaiFlags.HYBRID,
+    CarSpecs(wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
  )
  KIA_SELTOS = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
+    CarSpecs(wheelbase=2.63, steerRatio=14.56),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+      HyundaiCarDocs("Kia Sportage Plug-in Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
+    CarSpecs(wheelbase=2.756, steerRatio=13.6),
  )
  KIA_SORENTO = HyundaiPlatformConfig(
    [
@@ -526,12 +529,12 @@ class CAR(Platforms):
                     car_parts=CarParts.common([CarHarness.hyundai_e])),
      HyundaiCarDocs("Kia Sorento 2019", video="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
-    CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
+    CarSpecs(wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
  )
  KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
-    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
+    CarSpecs(wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
@@ -539,13 +542,13 @@ class CAR(Platforms):
      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
    ],
-    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
+    CarSpecs(wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
  KIA_STINGER = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Stinger 2018-20", video="https://www.youtube.com/watch?v=MJ94qoofYw0",
                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
+    CarSpecs(wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
  )
  KIA_STINGER_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
@@ -553,16 +556,21 @@ class CAR(Platforms):
  )
  KIA_CEED = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Ceed 2019-21", car_parts=CarParts.common([CarHarness.hyundai_e]))],
-    CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY,
  )
+  KIA_CEED_PHEV = HyundaiPlatformConfig(
+    [HyundaiCarDocs("Kia Ceed Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_b]))],
+    CarSpecs(wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
+    flags=HyundaiFlags.LEGACY | HyundaiFlags.HYBRID,
+  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
    ],
-    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    CarSpecs(wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
@@ -570,7 +578,7 @@ class CAR(Platforms):
      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
    ],
-    CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
+    CarSpecs(wheelbase=3.09, steerRatio=14.23),
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )

@@ -580,12 +588,12 @@ class CAR(Platforms):
      HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
-    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=17.6),
+    CarSpecs(wheelbase=2.9, steerRatio=17.6),
    flags=HyundaiFlags.EV,
  )
  GENESIS_G70 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
-    CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
+    CarSpecs(wheelbase=2.84, steerRatio=13.56),
    flags=HyundaiFlags.LEGACY,
  )
  GENESIS_G70_2020 = HyundaiPlatformConfig(
@@ -604,7 +612,7 @@ class CAR(Platforms):
      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
    ],
-    CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
+    CarSpecs(wheelbase=2.87, steerRatio=14.6),
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
  GENESIS_GV70_ELECTRIFIED_1ST_GEN = HyundaiCanFDPlatformConfig(
@@ -612,32 +620,32 @@ class CAR(Platforms):
      HyundaiCarDocs("Genesis GV70 Electrified (Australia Only) 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
      HyundaiCarDocs("Genesis GV70 Electrified (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
-    CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
+    CarSpecs(wheelbase=2.87, steerRatio=17.1),
    flags=HyundaiFlags.EV,
  )
  GENESIS_G80 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
-    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
+    CarSpecs(wheelbase=3.01, steerRatio=16.5),
    flags=HyundaiFlags.LEGACY,
  )
  GENESIS_G80_2ND_GEN_FL = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Genesis G80 (2.5T Advanced Trim, with HDA II) 2024", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
-    CarSpecs(mass=2060, wheelbase=3.00, steerRatio=14.0),
+    CarSpecs(wheelbase=3.00, steerRatio=14.0),
  )
  GENESIS_G90 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
+    CarSpecs(wheelbase=3.15, steerRatio=12.069),
  )
  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
-    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
+    CarSpecs(wheelbase=2.95, steerRatio=14.14),
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )

  # port extensions
  HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
    [HyundaiNonSccCarDocs("Hyundai Bayon Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_n]))],
-    CarSpecs(mass=1150, wheelbase=2.58, steerRatio=13.27 * 1.15),
+    CarSpecs(wheelbase=2.58, steerRatio=13.27 * 1.15),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_ELANTRA_2022_NON_SCC = HyundaiNonSccPlatformConfig(
@@ -655,9 +663,14 @@ class CAR(Platforms):
    HYUNDAI_KONA_EV.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
+  HYUNDAI_VENUE_2021_NON_SCC = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Hyundai Venue Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_f]))],
+    CarSpecs(wheelbase=2.52, steerRatio=14.4),
+    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.TCU_GEARS,
+  )
  KIA_CEED_PHEV_2022_NON_SCC = HyundaiNonSccPlatformConfig(
    [HyundaiNonSccCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_i]))],
-    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
+    CarSpecs(wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID,
  )
  KIA_FORTE_2019_NON_SCC = HyundaiNonSccPlatformConfig(
@@ -8,7 +8,7 @@ from typing import Any
 from collections.abc import Callable
 from functools import cache

-from opendbc.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from opendbc.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia_per_mass, scale_tire_stiffness_per_mass
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
 from opendbc.car.common.basedir import BASEDIR
@@ -142,7 +142,6 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):
    ret = CarInterfaceBase.get_std_params(candidate)

    platform = PLATFORMS[candidate]
-    ret.mass = platform.config.specs.mass
    ret.wheelbase = platform.config.specs.wheelbase
    ret.steerRatio = platform.config.specs.steerRatio
    ret.centerToFront = ret.wheelbase * platform.config.specs.centerToFrontRatio
@@ -153,13 +152,10 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):

    ret = cls._get_params(ret, candidate, fingerprint, car_fw, alpha_long, is_release, docs)

-    # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
-    if not ret.notCar:
-      ret.mass = ret.mass + STD_CARGO_KG
-
    # Set params dependent on values set by the car interface
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
+    ret.rotationalInertiaPerMass = scale_rot_inertia_per_mass(ret.wheelbase)
+    ret.tireStiffnessFrontPerMass, ret.tireStiffnessRearPerMass = scale_tire_stiffness_per_mass(ret.wheelbase, ret.centerToFront,
+                                                                                              ret.tireStiffnessFactor)

    return ret

@@ -243,7 +239,6 @@ class CarInterfaceBase(ABC, CarInterfaceBaseSP):

    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
-    ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
    ret.openpilotLongitudinalControl = False
    ret.stopAccel = -2.0
    ret.longitudinalTuning.kiBP = [0.]
@@ -224,6 +224,7 @@ FW_VERSIONS = {
    ],
    (Ecu.engine, 0x7e0, None): [
      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX4C-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PX4F-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -240,12 +241,14 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x706, None): [
      b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYH3-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
  CAR.MAZDA_CX9_2021: {
@@ -1,10 +1,9 @@
 from dataclasses import dataclass, field
-from enum import IntFlag
+from enum import Enum, IntFlag

 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
-from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
-from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
+from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

 Ecu = CarParams.Ecu
@@ -29,6 +28,14 @@ class CarControllerParams:
 class MazdaCarDocs(CarDocs):
  package: str = "All"
  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
+  footnotes: list[Enum] = field(default_factory=lambda: [Footnote.COMMA_POWER_REQUIRED])
+  requires_comma_power: bool = True
+
+
+class Footnote(Enum):
+  COMMA_POWER_REQUIRED = CarFootnote(
+    "Mazda vehicles <b>require</b> comma power installation.",
+    Column.MAKE, setup_note=True)


@dataclass(frozen=True, kw_only=True)
@@ -51,19 +58,19 @@ class MazdaPlatformConfig(PlatformConfig):
 class CAR(Platforms):
  MAZDA_CX5 = MazdaPlatformConfig(
    [MazdaCarDocs("Mazda CX-5 2017-21")],
-    MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
+    MazdaCarSpecs(wheelbase=2.7, steerRatio=15.5)
  )
  MAZDA_CX9 = MazdaPlatformConfig(
    [MazdaCarDocs("Mazda CX-9 2016-20")],
-    MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
+    MazdaCarSpecs(wheelbase=3.1, steerRatio=17.6)
  )
  MAZDA_3 = MazdaPlatformConfig(
    [MazdaCarDocs("Mazda 3 2017-18")],
-    MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
+    MazdaCarSpecs(wheelbase=2.7, steerRatio=14.0)
  )
  MAZDA_6 = MazdaPlatformConfig(
    [MazdaCarDocs("Mazda 6 2017-20")],
-    MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
+    MazdaCarSpecs(wheelbase=2.83, steerRatio=15.5)
  )
  MAZDA_CX9_2021 = MazdaPlatformConfig(
    [MazdaCarDocs("Mazda CX-9 2021-23", video="https://youtu.be/dA3duO4a0O4")],
@@ -1,3 +1,6 @@
+from opendbc.car.crc import CRC8J1850
+
+
 def calc_checksum(values):
  lka_req_toq = values['LKAReqToqHSC2'] + 0x400
  lka_req_toq_sts = values['LKAReqToqStsHSC2']
@@ -26,3 +29,17 @@ def create_lka_steering(packer, counter, apply_torque, active):

  values["LKAReqToqPVHSC2"] = calc_checksum(values)
  return packer.make_can_msg("FVCM_HSC2_FrP03", 0, values)
+
+
+def mg_checksum(address: int, sig, d: bytearray) -> int:
+  if address == 0x1EC:
+    torque = ((d[0] & 0x7) << 8) | d[1]
+    valid = (d[0] >> 3) & 1
+    status = (d[6] >> 4) & 0x7
+    counter = d[0] >> 4
+    return -((torque << 1) + (status << 12) + valid + counter) & 0x7FFF
+
+  crc = 0xFF
+  for byte in d[:-1]:
+    crc = CRC8J1850[crc ^ byte]
+  return crc ^ 0xFF
@@ -17,7 +17,7 @@ class MgPlatformConfig(PlatformConfig):


 class CAR(Platforms):
-  MG_5_EV = MgPlatformConfig([MgCarDocs("MG 5 EV 2021")], CarSpecs(mass=1640., wheelbase=2.66, steerRatio=15.8))
+  MG_5_EV = MgPlatformConfig([MgCarDocs("MG 5 EV 2021")], CarSpecs(wheelbase=2.66, steerRatio=15.8))


 FW_QUERY_CONFIG = FwQueryConfig(
@@ -4,6 +4,6 @@ from opendbc.car import CarSpecs, PlatformConfig, Platforms
 class CAR(Platforms):
  MOCK = PlatformConfig(
    [],
-    CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13),
+    CarSpecs(wheelbase=2.7, steerRatio=13),
    {}
  )
@@ -5,15 +5,17 @@ from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.nissan import nissancan
 from opendbc.car.nissan.values import CAR, CarControllerParams
-from opendbc.sunnypilot.car.nissan.nissancan_ext import create_cruise_throttle_msg
 from opendbc.car.common.filter_simple import FirstOrderFilter

+from opendbc.sunnypilot.car.nissan.icbm import IntelligentCruiseButtonManagementInterface
+
 VisualAlert = structs.CarControl.HUDControl.VisualAlert


-class CarController(CarControllerBase):
+class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterface):
  def __init__(self, dbc_names, CP, CP_SP):
-    super().__init__(dbc_names, CP, CP_SP)
+    CarControllerBase.__init__(self, dbc_names, CP, CP_SP)
+    IntelligentCruiseButtonManagementInterface.__init__(self, CP, CP_SP)
    self.car_fingerprint = CP.carFingerprint

    self.angle_filter = FirstOrderFilter(0.0, 0.1, DT_CTRL)
@@ -60,8 +62,7 @@ class CarController(CarControllerBase):
      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))

    if self.CP.carFingerprint != CAR.NISSAN_ALTIMA and self.frame % 2 == 0:
-      button = "CANCEL_BUTTON" if pcm_cancel_cmd else None
-      can_sends.append(create_cruise_throttle_msg(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame, button))
+      can_sends.extend(IntelligentCruiseButtonManagementInterface.update(self, CS, CC_SP, self.packer, self.frame, self.last_button_frame, pcm_cancel_cmd))

    can_sends.append(nissancan.create_steering_control(
      self.packer, self.apply_angle_last, self.frame, CC.latActive, lkas_max_torque))
@@ -37,4 +37,6 @@ class CarInterface(CarInterfaceBase):
    if candidate in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
      ret.safetyParam |= NissanSafetyFlagsSP.LEAF

+    ret.intelligentCruiseButtonManagementAvailable = candidate != CAR.NISSAN_ALTIMA
+
    return ret
@@ -58,27 +58,27 @@ class NissanPlatformConfig(PlatformConfig):
 class CAR(Platforms):
  NISSAN_XTRAIL = NissanPlatformConfig(
    [NissanCarDocs("Nissan X-Trail 2017")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705)
+    NissanCarSpecs(wheelbase=2.705)
  )
  NISSAN_LEAF = NissanPlatformConfig(
    [NissanCarDocs("Nissan Leaf 2018-23", video="https://youtu.be/vaMbtAh_0cY")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705),
+    NissanCarSpecs(wheelbase=2.705),
    {Bus.pt: 'nissan_leaf_2018_generated'},
  )
  # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
  # Currently the only known difference between them is the inverted seatbelt signal.
  NISSAN_LEAF_IC = NissanPlatformConfig(
    [NissanCarDocs("Nissan Leaf IC 2018-23", video="https://youtu.be/vaMbtAh_0cY")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705),
+    NissanCarSpecs(wheelbase=2.705),
    {Bus.pt: 'nissan_leaf_2018_generated'},
  )
  NISSAN_ROGUE = NissanPlatformConfig(
    [NissanCarDocs("Nissan Rogue 2018-20")],
-    NissanCarSpecs(mass=1610, wheelbase=2.705)
+    NissanCarSpecs(wheelbase=2.705)
  )
  NISSAN_ALTIMA = NissanPlatformConfig(
    [NissanCarDocs("Nissan Altima 2019-24", car_parts=CarParts.common([CarHarness.nissan_b]))],
-    NissanCarSpecs(mass=1492, wheelbase=2.824)
+    NissanCarSpecs(wheelbase=2.824)
  )


@@ -36,7 +36,7 @@ class PSAPlatformConfig(PlatformConfig):
 class CAR(Platforms):
  PSA_PEUGEOT_208 = PSAPlatformConfig(
    [PSACarDocs("Peugeot 208 2019-25")],
-    CarSpecs(mass=1530, wheelbase=2.54, steerRatio=17.6),
+    CarSpecs(wheelbase=2.54, steerRatio=17.6),
  )


@@ -1,7 +1,7 @@
 import copy
 from opendbc.can import CANParser
 from opendbc.car import Bus, structs
-from opendbc.car.interfaces import CarStateBase
+from opendbc.car.interfaces import CarStateBase, V_CRUISE_MAX
 from opendbc.car.rivian.values import DBC, GEAR_MAP, RivianFlags
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.sunnypilot.car.rivian.carstate_ext import CarStateExt
@@ -13,7 +13,7 @@ class CarState(CarStateBase, CarStateExt):
  def __init__(self, CP, CP_SP):
    CarStateBase.__init__(self, CP, CP_SP)
    CarStateExt.__init__(self, CP, CP_SP)
-    self.last_speed = 30
+    self.last_speed = V_CRUISE_MAX

    self.acm_lka_hba_cmd: dict | None = None
    self.sccm_wheel_touch: dict | None = None
@@ -48,11 +48,9 @@ class CarState(CarStateBase, CarStateExt):
    ret.steerFaultTemporary = cp.vl["EPAS_AdasStatus"]["EPAS_EacErrorCode"] != 0

    # Cruise state
-    speed = min(int(cp_adas.vl["ACM_tsrCmd"]["ACM_tsrSpdDisClsMain"]), 85)
-    self.last_speed = speed if speed != 0 else self.last_speed
    ret.cruiseState.enabled = cp_cam.vl["ACM_Status"]["ACM_FeatureStatus"] == 1
    # TODO: find cruise set speed on CAN
-    ret.cruiseState.speed = self.last_speed * CV.MPH_TO_MS  # detected speed limit
+    ret.cruiseState.speed = self.last_speed * CV.KPH_TO_MS
    if not self.CP.openpilotLongitudinalControl:
      ret.cruiseState.speed = -1
    ret.cruiseState.available = True  # cp.vl["VDM_AdasSts"]["VDM_AdasInterfaceStatus"] == 1
@@ -29,9 +29,9 @@ class CarInterface(CarInterfaceBase):
    ret.steerControlType = structs.CarParams.SteerControlType.torque
    ret.radarUnavailable = True

-    # TODO: pending finding/handling missing set speed
-    ret.alphaLongitudinalAvailable = False
-    if alpha_long:
+    # TODO is GEN2 the same?
+    ret.alphaLongitudinalAvailable = docs or not (ret.flags & RivianFlags.GEN2)
+    if alpha_long and ret.alphaLongitudinalAvailable:
      ret.openpilotLongitudinalControl = True
      ret.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value

@@ -46,7 +46,6 @@ class CarInterface(CarInterfaceBase):
    if 0x131a in fingerprint[1]:
      ret.flags |= RivianFlagsSP.LONGITUDINAL_HARNESS_UPGRADE.value
      stock_cp.radarUnavailable = False
-      stock_cp.enableBsm = True
      stock_cp.alphaLongitudinalAvailable = True

    if alpha_long and stock_cp.alphaLongitudinalAvailable:
@@ -1,14 +1,4 @@
-def checksum(data, poly, xor_output):
-  crc = 0
-  for byte in data:
-    crc ^= byte
-    for _ in range(8):
-      if crc & 0x80:
-        crc = (crc << 1) ^ poly
-      else:
-        crc <<= 1
-      crc &= 0xFF
-  return crc ^ xor_output
+from opendbc.car.crc import CRC8J1850


 def create_lka_steering(packer, frame, acm_lka_hba_cmd, apply_torque, enabled, active, mads):
@@ -38,8 +28,6 @@ def create_lka_steering(packer, frame, acm_lka_hba_cmd, apply_torque, enabled, a
    #"ACM_lkaHandsoffDisplayWarning": 1,  # TODO: we can send this when openpilot wants you to pay attention
  }

-  data = packer.make_can_msg("ACM_lkaHbaCmd", 0, values)[1]
-  values["ACM_lkaHbaCmd_Checksum"] = checksum(data[1:], 0x1D, 0x63)
  return packer.make_can_msg("ACM_lkaHbaCmd", 0, values)


@@ -58,8 +46,6 @@ def create_wheel_touch(packer, sccm_wheel_touch, enabled):
    values["SCCM_WheelTouch_HandsOn"] = 1
    values["SCCM_WheelTouch_CapacitiveValue"] = 100  # only need to send this value, but both are set for consistency

-  data = packer.make_can_msg("SCCM_WheelTouch", 2, values)[1]
-  values["SCCM_WheelTouch_Checksum"] = checksum(data[1:], 0x1D, 0x97)
  return packer.make_can_msg("SCCM_WheelTouch", 2, values)


@@ -72,14 +58,11 @@ def create_longitudinal(packer, frame, accel, enabled):
    "ACM_VehicleHoldRequest": 0,
  }

-  data = packer.make_can_msg("ACM_longitudinalRequest", 0, values)[1]
-  values["ACM_longitudinalRequest_Checksum"] = checksum(data[1:], 0x1D, 0x12)
  return packer.make_can_msg("ACM_longitudinalRequest", 0, values)


 def create_adas_status(packer, vdm_adas_status, interface_status):
  values = {s: vdm_adas_status[s] for s in (
-    "VDM_AdasStatus_Checksum",
    "VDM_AdasStatus_Counter",
    "VDM_AdasDecelLimit",
    "VDM_AdasDriverAccelPriorityStatus",
@@ -95,6 +78,12 @@ def create_adas_status(packer, vdm_adas_status, interface_status):
  if interface_status is not None:
    values["VDM_AdasInterfaceStatus"] = interface_status

-  data = packer.make_can_msg("VDM_AdasSts", 2, values)[1]
-  values["VDM_AdasStatus_Checksum"] = checksum(data[1:], 0x1D, 0xD1)
  return packer.make_can_msg("VDM_AdasSts", 2, values)
+
+
+def rivian_checksum(address: int, sig, d: bytearray) -> int:
+  # CRC-8 with the little-endian CAN address prepended to the payload.
+  crc = 0
+  for byte in address.to_bytes(2, "little") + d[1:]:
+    crc = CRC8J1850[crc ^ byte]
+  return crc
@@ -57,7 +57,7 @@ class CAR(Platforms):
                    car_parts=CarParts.common([CarHarness.rivian_a])),
      RivianCarDocs("Rivian R1T 2025", car_parts=CarParts.common([CarHarness.rivian_b])),
    ],
-    CarSpecs(mass=3206., wheelbase=3.08, steerRatio=15.2),
+    CarSpecs(wheelbase=3.08, steerRatio=15.2),
    wmis={WMI.RIVIAN_TRUCK, WMI.RIVIAN_MPV},
    lines={ModelLine.R1T, ModelLine.R1S},
    years={ModelYear.N_2022, ModelYear.P_2023, ModelYear.R_2024, ModelYear.S_2025},
@@ -58,7 +58,7 @@ class CarState(CarStateBase, MadsCarState, SnGCarState):
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
                                                                      cp.vl["Dashlights"]["RIGHT_BLINKER"])

-    if self.CP.enableBsm:
+    if self.CP.flags & SubaruFlags.HAS_BSM:
      ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
      ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)

@@ -516,6 +516,7 @@ FW_VERSIONS = {
      b'\xe2"`q\x07',
      b'\xe2"`t\x07',
      b'\xe2,\xa0p\x07',
+      b'\xe2,\xa0@\x07',
      b'\xe3,\xa0@\x07',
    ],
    (Ecu.transmission, 0x7e1, None): [
@@ -26,10 +26,12 @@ class CarInterface(CarInterfaceBase):
      ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value

    if ret.flags & SubaruFlags.PREGLOBAL:
-      ret.enableBsm = 0x25c in fingerprint[0]
+      if 0x25c in fingerprint[0]:
+        ret.flags |= SubaruFlags.HAS_BSM.value
      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaruPreglobal)]
    else:
-      ret.enableBsm = 0x228 in fingerprint[0]
+      if 0x228 in fingerprint[0]:
+        ret.flags |= SubaruFlags.HAS_BSM.value
      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.subaru)]
      if ret.flags & SubaruFlags.GLOBAL_GEN2:
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.GEN2.value
@@ -62,6 +62,7 @@ class SubaruFlags(IntFlag):
  # Detected flags
  SEND_INFOTAINMENT = 1
  DISABLE_EYESIGHT = 2
+  HAS_BSM = 128  # blind spot monitoring

  # Static flags
  GLOBAL_GEN2 = 4
@@ -126,11 +127,11 @@ class CAR(Platforms):
  # Global platform
  SUBARU_ASCENT = SubaruPlatformConfig(
    [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
-    CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
+    CarSpecs(wheelbase=2.89, steerRatio=13.5),
  )
  SUBARU_OUTBACK = SubaruGen2PlatformConfig(
    [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+    CarSpecs(wheelbase=2.67, steerRatio=17),
  )
  SUBARU_LEGACY = SubaruGen2PlatformConfig(
    [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
@@ -142,7 +143,7 @@ class CAR(Platforms):
      SubaruCarDocs("Subaru Crosstrek 2018-19", video="https://youtu.be/Agww7oE1k-s?t=26"),
      SubaruCarDocs("Subaru XV 2018-19", video="https://youtu.be/Agww7oE1k-s?t=26"),
    ],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
+    CarSpecs(wheelbase=2.67, steerRatio=15),
  )
  SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
    [
@@ -150,18 +151,18 @@ class CAR(Platforms):
      SubaruCarDocs("Subaru Crosstrek 2020-23"),
      SubaruCarDocs("Subaru XV 2020-21"),
    ],
-    CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17),
+    CarSpecs(wheelbase=2.67, steerRatio=17),
    flags=SubaruFlags.STEER_RATE_LIMITED,
  )
  # TODO: is there an XV and Impreza too?
  SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig(
    [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
-    CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
+    CarSpecs(wheelbase=2.67, steerRatio=17),
    flags=SubaruFlags.HYBRID,
  )
  SUBARU_FORESTER = SubaruPlatformConfig(
    [SubaruCarDocs("Subaru Forester 2019-21", "All")],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
+    CarSpecs(wheelbase=2.67, steerRatio=17),
    flags=SubaruFlags.STEER_RATE_LIMITED,
  )
  SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
@@ -172,13 +173,13 @@ class CAR(Platforms):
  # Pre-global
  SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig(
    [SubaruCarDocs("Subaru Forester 2017-18")],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
+    CarSpecs(wheelbase=2.67, steerRatio=20),
    {Bus.pt: 'subaru_forester_2017_generated'},
    flags=SubaruFlags.PREGLOBAL,
  )
  SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig(
    [SubaruCarDocs("Subaru Legacy 2015-18")],
-    CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
+    CarSpecs(wheelbase=2.67, steerRatio=12.5),
    {Bus.pt: 'subaru_outback_2015_generated'},
    flags=SubaruFlags.PREGLOBAL,
  )
@@ -1,10 +1,8 @@
 import copy
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
-from opendbc.car.carlog import carlog
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.teslacan import get_steer_ctrl_type
 from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, TeslaFlags

 from opendbc.sunnypilot.car.tesla.carstate_ext import CarStateExt
@@ -22,8 +20,6 @@ class CarState(CarStateBase, CarStateExt):
    self.autopark = False
    self.autopark_prev = False
    self.cruise_enabled_prev = False
-    self.fsd14_error_logged = False
-    self.suspected_fsd14 = False

    self.hands_on_level = 0
    self.das_control = None
@@ -112,30 +108,13 @@ class CarState(CarStateBase, CarStateExt):
    ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1

    # LKAS
-    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
-    # FSD switched from using ANGLE_CONTROL to LANE_KEEP_ASSIST to likely keep the old steering override disengage logic.
-    # LKAS switched from LANE_KEEP_ASSIST to ANGLE_CONTROL to likely allow overriding LKAS events smoothly
-    lkas_ctrl_type = get_steer_ctrl_type(self.CP.flags, 2)
-    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2  # LANE_KEEP_ASSIST

    # Stock Autosteer should be off (includes FSD)
    # TODO: find for TESLA_MODEL_X and HW2.5 vehicles
    if not (self.CP.flags & TeslaFlags.MISSING_DAS_SETTINGS):
      ret.invalidLkasSetting = cp_ap_party.vl["DAS_settings"]["DAS_autosteerEnabled"] != 0

-      # Because we don't have FSD 14 detection outside of a set of FW, we should check if this FW is accidentally missing from FSD_14_FW
-      # 1. If in Autosteer or FSD, already caught by invalidLkasSetting
-      # 2. If in TACC and DAS ever sends ANGLE_CONTROL (1), we can infer it's trying to do LKAS on FSD 14+
-      angle_control = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 1  # ANGLE_CONTROL
-      if not ret.invalidLkasSetting and angle_control and not self.CP.flags & TeslaFlags.FSD_14:
-        self.suspected_fsd14 = True
-
-      if self.suspected_fsd14:
-        ret.invalidLkasSetting = True
-        if not self.fsd14_error_logged:
-          carlog.error("FSD 14 detected, but FW not in FSD_14_FW set")
-          self.fsd14_error_logged = True
-
    # Buttons # ToDo: add Gap adjust button

    # Messages needed by carcontroller
@@ -13,6 +13,7 @@ FW_VERSIONS = {
      b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
      b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
      b'TeM3_E014p10_0.0.0 (24),E014.20.2',
+      b'TeM3_E014p10_0.0.0 (24),EL014.20.2',
      b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
      b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
      b'TeMYG4_Legacy3Y_0.0.0 (2),E4015.02.0',
@@ -26,12 +27,18 @@ FW_VERSIONS = {
      b'TeMYG4_Main_0.0.0 (78),E4HP015.05.0',
      b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
      b'TeMYG4_Main_0.0.0 (78),E4H015.05.0',
+      b'TeMYG4_Main_0.0.0 (78),E4015.06.0',
+      b'TeMYG4_Main_0.0.0 (87),E4L015.09.3',
+      b'TeMYG4_Main_0.0.0 (87),E4H015.08.3',
+      b'TeMYG4_Main_0.0.0 (92),E4H015.09.2',
+      b'TeMYG4_Main_0.0.0 (92),E4L015.10.2',
    ],
  },
  CAR.TESLA_MODEL_Y: {
    (Ecu.eps, 0x730, None): [
      b'TeM3_E014p10_0.0.0 (16),Y002.18.00',
      b'TeM3_E014p10_0.0.0 (16),YP002.18.00',
+      b'TeM3_E014p10_0.0.0 (24),Y002.21.2',
      b'TeM3_E014p10_0.0.0 (24),YP002.21.2',
      b'TeM3_ES014p11_0.0.0 (16),YS002.17',
      b'TeM3_ES014p11_0.0.0 (25),YS002.19.0',
@@ -45,8 +52,10 @@ FW_VERSIONS = {
      b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
      b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
      b'TeMYG4_Main_0.0.0 (78),Y4003.06.0',
+      b'TeMYG4_Main_0.0.0 (78),Y4OC003.08.1',
      b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
      b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
+      b'TeMYG4_Main_0.0.0 (87),Y4003.09.3',
    ],
  },
  CAR.TESLA_MODEL_X: {
@@ -2,7 +2,7 @@ from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
-from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, FSD_14_FW, Ecu
+from opendbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC
 from opendbc.car.tesla.radar_interface import RadarInterface, RADAR_START_ADDR

 from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP, TeslaSafetyFlagsSP
@@ -41,12 +41,16 @@ class CarInterface(CarInterfaceBase):
      ret.openpilotLongitudinalControl = True
      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value

-    fsd_14 = any(fw.ecu == Ecu.eps and fw.fwVersion in FSD_14_FW.get(candidate, []) for fw in car_fw)
-    if fsd_14:
-      ret.flags |= TeslaFlags.FSD_14.value
-      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.FSD_14.value
+    # Tesla expanded DAS_steeringControl->DAS_steeringControlType to 3 bits: first in the FSD 14 builds for HW4 around 10-26-2025,
+    # then in the other HW4 builds around 03-02-2026, and for HW3 and HW2.5 with 2026.8.6 around 04-03-2026.
+    # The values were pushed to the right by 1 bit and kept the same definitions, plus 4 = FSD was added.
+    # These messages are only sent by the 3-bit firmware:
+    # - HW3/HW4: DAS_redundantBrakingControl (0x489)
+    # - HW2.5/HW3/HW4: DI_autonomyHealth (0x054)
+    das_steering_3_bit = 0x489 in fingerprint[CANBUS.autopilot_party] or 0x054 in fingerprint[CANBUS.party]

-    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X,)  # dashcam only, pending find invalidLkasSetting signal
+    ret.dashcamOnly = (candidate in (CAR.TESLA_MODEL_X,) or  # dashcam only, pending find invalidLkasSetting signal
+                       (not das_steering_3_bit and not docs))  # the car's software needs to be updated

    return ret

@@ -54,8 +58,6 @@ class CarInterface(CarInterfaceBase):
  def _get_params_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candidate, fingerprint: dict[int, dict[int, int]],
                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_sp: bool, docs: bool) -> structs.CarParamsSP:

-    stock_cp.enableBsm = True
-
    if candidate == CAR.TESLA_MODEL_X:
      stock_cp.dashcamOnly = False

@@ -3,7 +3,6 @@ from opendbc.car.tesla.values import CANBUS, CarControllerParams, TeslaFlags


 def get_steer_ctrl_type(flags: int, ctrl_type: int) -> int:
-  # Returns the flipped signal value for DAS_steeringControlType on FSD 14
  if flags & TeslaFlags.FSD_14:
    return {1: 2, 2: 1}.get(ctrl_type, ctrl_type)
  else:
@@ -6,7 +6,7 @@ from opendbc.car.structs import CarParams
 from opendbc.car.tesla.interface import CarInterface
 from opendbc.car.tesla.fingerprints import FW_VERSIONS
 from opendbc.car.tesla.radar_interface import RADAR_START_ADDR
-from opendbc.car.tesla.values import CAR, FSD_14_FW
+from opendbc.car.tesla.values import CAR

 Ecu = CarParams.Ecu

@@ -47,15 +47,6 @@ PLATFORM_TO_CAR = {
  b'X': CAR.TESLA_MODEL_X,
 }

-# Hypothesized FSD 14 profile, in terms of variant_code bookends (given software_major >= 4):
-#   M3: variant_code starts with '4H',  ends with '015'
-#   MY: variant_code starts with '4',   ends with '003'
-# Older series (M3 '014', MY '002') are never FSD 14.
-FSD_14_FW_RULE = {
-  CAR.TESLA_MODEL_3: (b'4H', b'015'),
-  CAR.TESLA_MODEL_Y: (b'4',  b'003'),
-}
-

 class TestTeslaFingerprint(unittest.TestCase):
  def test_fw_platform_code(self):
@@ -67,24 +58,6 @@ class TestTeslaFingerprint(unittest.TestCase):
        assert m is not None, f"Unparsable FW: {fw}"
        assert PLATFORM_TO_CAR[m['platform']] == car_model, f"Platform letter {m['platform']!r} != {car_model.value}: {fw}"

-  def test_fsd_14_fw(self):
-    for car_model, ecus in FW_VERSIONS.items():
-      if car_model not in FSD_14_FW_RULE:
-        continue
-
-      variant_prefix, variant_suffix = FSD_14_FW_RULE[car_model]
-      for fw in ecus.get((Ecu.eps, 0x730, None), []):
-        m = FW_RE.match(fw)
-        assert m is not None, f"Unparsable FW: {fw}"
-
-        is_fsd_14 = fw in FSD_14_FW.get(car_model, [])
-        expected = (
-          m['variant_code'].startswith(variant_prefix)
-          and m['variant_code'].endswith(variant_suffix)
-          and int(m['software_major']) >= 4
-        )
-        assert is_fsd_14 == expected, f"{fw}"
-
  def test_radar_detection(self):
    # Test radar availability detection for cars with radar DBC defined
    for radar in (True, False):
@@ -11,7 +11,7 @@ Ecu = CarParams.Ecu

 class Footnote(Enum):
  HW_TYPE = CarFootnote(
-    "Model years 2023 and 2024 can have either hardware type, depending on build date and factory. " +
+    "Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, 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. </br></br>" +
    "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.",
@@ -49,11 +49,11 @@ class TeslaPlatformConfig(PlatformConfig):
 class CAR(Platforms):
  TESLA_MODEL_3 = TeslaPlatformConfig(
    [
-      # TODO: do we support 2017? It's HW3
+      TeslaCarDocsHW3("Tesla Model 3 (with HW2.5) 2019"),
      TeslaCarDocsHW3("Tesla Model 3 (with HW3) 2019-23"),
      TeslaCarDocsHW4("Tesla Model 3 (with HW4) 2024-25"),
    ],
-    CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0),
+    CarSpecs(wheelbase=2.875, steerRatio=12.0),
    {Bus.party: 'tesla_model3_party', Bus.radar: 'tesla_radar_continental_generated', Bus.adas: 'tesla_model3_vehicle'},
  )
  TESLA_MODEL_Y = TeslaPlatformConfig(
@@ -61,12 +61,12 @@ class CAR(Platforms):
      TeslaCarDocsHW3("Tesla Model Y (with HW3) 2020-24"),
      TeslaCarDocsHW4("Tesla Model Y (with HW4) 2023-25"),
    ],
-    CarSpecs(mass=2072., wheelbase=2.890, steerRatio=12.0),
+    CarSpecs(wheelbase=2.890, steerRatio=12.0),
    {Bus.party: 'tesla_model3_party', Bus.radar: 'tesla_radar_continental_generated', Bus.adas: 'tesla_model3_vehicle'},
  )
  TESLA_MODEL_X = TeslaPlatformConfig(
    [TeslaCarHW4ModelSXDocs("Tesla Model X (with HW4) 2024")],
-    CarSpecs(mass=2495., wheelbase=2.960, steerRatio=12.0),
+    CarSpecs(wheelbase=2.960, steerRatio=12.0),
  )


@@ -132,12 +132,19 @@ class TeslaSafetyFlags(IntFlag):
  LONG_CONTROL = 1
  FSD_14 = 2

+  # deprecated flags
+  DAS_STEERING_3_BIT_DEPRECATED = 2
+

 class TeslaFlags(IntFlag):
  LONG_CONTROL = 1
  FSD_14 = 2
  MISSING_DAS_SETTINGS = 4

+  # deprecated flags
+  # old 2-bit FW is now dashcammed
+  DAS_STEERING_3_BIT_DEPRECATED = 2
+

 DBC = CAR.create_dbc_map()

@@ -15,6 +15,7 @@ from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.values import Platform
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 from opendbc.car.body.values import CAR as COMMA
+from opendbc.car.byd.values import CAR as BYD
 from opendbc.car.psa.values import CAR as PSA
 from opendbc.car.mg.values import CAR as MG

@@ -35,6 +36,9 @@ non_tested_cars = [
  TOYOTA.TOYOTA_COROLLA,
  TOYOTA.TOYOTA_RAV4H,

+  # These are on the 2-bit DAS_steeringControlType firmware, which is dashcam only, need new routes
+  TESLA.TESLA_MODEL_X,
+
  # port extensions
  HYUNDAI.HYUNDAI_KONA_EV_NON_SCC,
  HYUNDAI.HYUNDAI_BAYON_1ST_GEN_NON_SCC,
@@ -144,6 +148,7 @@ routes = [
  CarTestRoute("f44aa96ace22f34a/2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
  CarTestRoute("1f032f5173c8ad99/00000006--573b3fcaf5", HONDA.HONDA_CIVIC_2022),  # Civic Type R with manual transmission
  CarTestRoute("b1c832ad56b6bc9d/00000010--debfcf5867", HONDA.HONDA_CIVIC_2022),  # 2025 Civic Hatch Hybrid with new eCVT transmission
+  CarTestRoute("49d0fc1df3e7320b/00000002--d2df953add", HONDA.HONDA_PRELUDE_6G),  # EU-market e:HEV
  CarTestRoute("f9c43864cf057d05/2024-01-15--23-01-20", HONDA.HONDA_PILOT_4G),  # TODO: Replace with a newer route
  CarTestRoute("f39cf149898833ff/0000002b--54f3fae045", HONDA.HONDA_ACCORD_11G),
  CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G),  # Brazilian model
@@ -153,6 +158,8 @@ routes = [
  CarTestRoute("ad9840558640c31d/0000001a--d6cd4871c2", HONDA.ACURA_MDX_4G_MMR),  # 2025 MDX
  CarTestRoute("ad9840558640c31d/000001f2--026c4f6275", HONDA.ACURA_TLX_2G_MMR),
  CarTestRoute("619b464263ab23f2/00000025--ece505fdfc", HONDA.ACURA_MDX_4G),
+  CarTestRoute("f2d6180c6007adc2/00000041--75a01c0fb1", HONDA.ACURA_ADX),
+  CarTestRoute("023b97f3d8c08c33/00000007--18cc650bdd", HONDA.HONDA_PILOT_4G_MMR),

  CarTestRoute("87d7f06ade479c2e/2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
  CarTestRoute("66189dd8ec7b50e6/2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
@@ -173,6 +180,7 @@ routes = [
  CarTestRoute("de59124955b921d8/2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
  CarTestRoute("409c9409979a8abc/2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
  CarTestRoute("e0e98335f3ebc58f/2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
+  CarTestRoute("26064e18b24ae44c/00000000--4eb95fc137", HYUNDAI.KIA_CEED_PHEV),
  CarTestRoute("7653b2bce7bcfdaa/2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
  CarTestRoute("018654717bc93d7d/2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
  CarTestRoute("f9716670b2481438/2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
@@ -365,13 +373,13 @@ routes = [

  CarTestRoute("6a7075a4fdd765ee/0000004e--1f612006dd", PSA.PSA_PEUGEOT_208),

+  CarTestRoute("148fa33c79475c93/00000002--bb5e1aa449", BYD.BYD_ATTO_3),
+
  CarTestRoute("bc095dc92e101734/000000db--ee9fe46e57", RIVIAN.RIVIAN_R1),
  CarTestRoute("c70d59e4150956fc/0000006e--48bfbfda01", RIVIAN.RIVIAN_R1), # GEN2

-  CarTestRoute("7dc058789994da80/00000112--adb970f6a8", TESLA.TESLA_MODEL_3),
-  CarTestRoute("c8a98e58647765ad/00000002--84e4746136", TESLA.TESLA_MODEL_Y),
-  CarTestRoute("2c912ca5de3b1ee9/0000025d--6eb6bcbca4", TESLA.TESLA_MODEL_Y, segment=4),
-  CarTestRoute("bdda168c0c35fad7/00000001--5c5a36ec06", TESLA.TESLA_MODEL_X), # openpilot longitudinal
+  CarTestRoute("79d0f04c82980004/00000003--fb0b5d9cfc", TESLA.TESLA_MODEL_3), # HW4 2025
+  CarTestRoute("aebd8f1d4ea16066/000002d8--5850d3ea5c", TESLA.TESLA_MODEL_Y), # openpilot longitudinal

  CarTestRoute("5d61e2f6e1f247f3/00000054--d3dfb01b34", MG.MG_5_EV),

@@ -380,5 +388,7 @@ routes = [
  CarTestRoute("bec2dcfde6a64235/2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),

  # port extensions
+  CarTestRoute("be7ad2b087973544/0000002b--ec261cc821", HYUNDAI.HYUNDAI_VENUE_2021_NON_SCC),
  CarTestRoute("dc7bf18c8af12e37/00000006--ea06255cd0", HYUNDAI.KIA_CEED_PHEV_2022_NON_SCC),
+  CarTestRoute("8bae07514ce06ad4/00000008--9f43d90441", CHRYSLER.RAM_HD_5TH_GEN),  # 2024 Ram HD with alt cruise buttons
 ]
@@ -46,7 +46,7 @@ def _make_car_test(car_name):
    car_params = car_interface.CP.as_reader()
    car_params_sp = car_interface.CP_SP

-    assert car_params.mass > 1
+    assert car_params.rotationalInertiaPerMass > 0
    assert car_params.wheelbase > 0
    # centerToFront is center of gravity to front wheels, assert a reasonable range
    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
@@ -275,6 +275,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
    brand_ref_times = {
      'gm': 1.0,
      'body': 0.1,
+      'byd': 0.0,
      'chrysler': 0.3,
      'ford': 1.5,
      'honda': 0.45,
@@ -203,7 +203,7 @@ class TestCarModelBase(unittest.TestCase):
    if self.CP.dashcamOnly:
      self.skipTest("no need to check carParams for dashcamOnly")

-    self.assertGreater(self.CP.mass, 1)
+    self.assertGreater(self.CP.rotationalInertiaPerMass, 0)
    if self.CP.steerControlType not in (SteerControlType.angle, SteerControlType.curvature):
      tuning = self.CP.lateralTuning.which()
      if tuning == "pid":
@@ -267,7 +267,7 @@ class TestCarModelBase(unittest.TestCase):
          self.safety.safety_rx_hook(packet)
      self.safety.set_relay_malfunction(relay_malfunction)

-      self.safety.safety_tick_current_safety_config()
+      self.safety.safety_tick()
      if t > 1e6:
        self.assertTrue(self.safety.safety_config_valid())

@@ -289,7 +289,7 @@ class TestCarModelBase(unittest.TestCase):

    self.assertFalse(failed_addrs, f"panda safety RX check failed: {failed_addrs}")
    self.safety.set_timer(int(t + 2e6))
-    self.safety.safety_tick_current_safety_config()
+    self.safety.safety_tick()
    self.assertFalse(self.safety.safety_config_valid())

  def test_panda_safety_tx_cases(self):
@@ -10,6 +10,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # PSA angle based controllers
 "PSA_PEUGEOT_208" = [nan, 2.0, nan]

+# BYD angle based controllers
+"BYD_ATTO_3" = [nan, 2.0, nan]
+
 # New subarus angle based controllers
 "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
 "SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
@@ -105,6 +108,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "JEEP_CHEROKEE_5TH_GEN" = [1.5, 1.5, 0.15]
 "ACURA_MDX_4G" = [1.4, 1.4, 0.17]
 "ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
+"ACURA_ADX" = [1.5, 1.5, 0.22]
+"HONDA_PILOT_4G_MMR" = [2.0, 2.0, 0.13]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
@@ -23,6 +23,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_OPTIMA_H_G4_FL" = "HYUNDAI_SONATA"
 "KIA_FORTE" = "HYUNDAI_SONATA"
 "KIA_CEED" = "HYUNDAI_SONATA"
+"KIA_CEED_PHEV" = "HYUNDAI_SONATA"
 "KIA_SELTOS" = "HYUNDAI_SONATA"
 "KIA_NIRO_PHEV" = "KIA_NIRO_EV"
 "KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV"
@@ -52,6 +53,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
 "HONDA_E_ADVANCE" = "HONDA_CIVIC_BOSCH"
 "HONDA_ODYSSEY_TWN" = "HONDA_ODYSSEY"
+"HONDA_PRELUDE_6G" = "HONDA_CIVIC_2022"

 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"
@@ -97,6 +99,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_ELANTRA_2022_NON_SCC" = "HYUNDAI_ELANTRA_2021"
 "GENESIS_G70_2021_NON_SCC" = "HYUNDAI_SONATA"
 "HYUNDAI_BAYON_1ST_GEN_NON_SCC" = "HYUNDAI_SONATA"
+"HYUNDAI_VENUE_2021_NON_SCC" = "HYUNDAI_KONA_EV"
 "CHEVROLET_BOLT_NON_ACC_2ND_GEN" = "CHEVROLET_BOLT_EUV"
 "CHEVROLET_BOLT_NON_ACC" = "CHEVROLET_BOLT_EUV"
 "CHEVROLET_BOLT_NON_ACC_1ST_GEN" = "CHEVROLET_BOLT_EUV"
@@ -13,7 +13,7 @@ from opendbc.car.toyota.values import CAR, NO_STOP_TIMER_CAR, TSS2_CAR, \
 from opendbc.can import CANPacker

 from opendbc.sunnypilot.car.toyota.gas_interceptor import GasInterceptorCarController
-from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP
+from opendbc.sunnypilot.car.toyota.values import ToyotaFlagsSP, TSS2_SMOOTH_KI

 Ecu = structs.CarParams.Ecu
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -37,7 +37,7 @@ MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
 MAX_USER_TORQUE = 500


-def get_long_tune(CP, params):
+def get_long_tune(CP, params, CP_SP):
  if CP.flags & ToyotaFlags.TSS2:
    kiBP = [2., 5.]
    kiV = [0.5, 0.25]
@@ -45,6 +45,9 @@ def get_long_tune(CP, params):
    kiBP = [0., 5., 35.]
    kiV = [3.6, 2.4, 1.5]

+  if CP_SP.flags & ToyotaFlagsSP.TSS2_SMOOTH:
+    kiBP, kiV = TSS2_SMOOTH_KI
+
  return PIDController(0.0, (kiBP, kiV), k_f=1.0,
                       pos_limit=params.ACCEL_MAX, neg_limit=params.ACCEL_MIN,
                       rate=1 / (DT_CTRL * 3))
@@ -65,7 +68,7 @@ class CarController(CarControllerBase, GasInterceptorCarController):
    self.distance_button = 0

    # *** start long control state ***
-    self.long_pid = get_long_tune(self.CP, self.params)
+    self.long_pid = get_long_tune(self.CP, self.params, self.CP_SP)
    self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3)
    self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
    self.pitch_hp = HighPassFilter(0.0, 0.25, 1.5, DT_CTRL)
@@ -178,7 +178,7 @@ class CarState(CarStateBase, CarStateExt):
    ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
    ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0

-    if self.CP.enableBsm:
+    if self.CP.flags & ToyotaFlags.HAS_BSM:
      ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
      ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)

@@ -1307,14 +1307,17 @@ FW_VERSIONS = {
    (Ecu.engine, 0x700, None): [
      b'\x01896630841000\x00\x00\x00\x00',
      b'\x01896630857101\x00\x00\x00\x00',
+      b'\x01896630862000\x00\x00\x00\x00',
      b'\x01896630864000\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x7b0, None): [
      b'\x01F15260815100\x00\x00\x00\x00',
      b'\x01F15260815300\x00\x00\x00\x00',
+      b'\x01F15260823000\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
      b'\x018965B4509100\x00\x00\x00\x00',
+      b'\x018965B4514000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301500\x00\x00\x00\x00',
@@ -1323,6 +1326,7 @@ FW_VERSIONS = {
      b'\x028646F0802200\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
      b'\x028646F0802300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
      b'\x028646F0802400\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F0802500\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
    ],
  },
  CAR.LEXUS_CTH: {
@@ -83,7 +83,8 @@ class CarInterface(CarInterfaceBase):

    # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
    # Detect flipped signals and enable for C-HR and others
-    ret.enableBsm = 0x3F6 in fingerprint[0] and bool(ret.flags & ToyotaFlags.TSS2)
+    if 0x3F6 in fingerprint[0] and ret.flags & ToyotaFlags.TSS2:
+      ret.flags |= ToyotaFlags.HAS_BSM.value

    # No radar dbc for cars without DSU which are not TSS 2.0
    # TODO: make an adas dbc file for dsu-less models
@@ -146,7 +147,6 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.TOYOTA_PRIUS:
      if ret.flags & ToyotaFlagsSP.ZSS:
        stock_cp.steerRatio = 15.0
-        stock_cp.mass = 3370.

        # reuse logic from _get_params
        # Only give steer angle deadzone to for bad angle sensor prius
@@ -61,6 +61,7 @@ class ToyotaSafetyFlags(IntFlag):
 class ToyotaFlags(IntFlag):
  # Detected flags
  HYBRID = 1
+  HAS_BSM = 2  # blind spot monitoring
  DISABLE_RADAR = 4

  # Static flags
@@ -131,14 +132,14 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota Alphard 2019-20"),
      ToyotaCarDocs("Toyota Alphard Hybrid 2021"),
    ],
-    CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
  )
  TOYOTA_AVALON = PlatformConfig(
    [
      ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"),
      ToyotaCarDocs("Toyota Avalon 2017-18"),
    ],
-    CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
+    CarSpecs(wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  )
  TOYOTA_AVALON_2019 = PlatformConfig(
@@ -161,8 +162,8 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota Camry 2018-20", video="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
      ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
    ],
-    CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
-    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+    CarSpecs(wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
+    {Bus.pt: 'toyota_nodsu_pt_generated'},
    flags=ToyotaFlags.NO_DSU,
  )
  TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
@@ -177,8 +178,8 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota C-HR 2017-20"),
      ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"),
    ],
-    CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
-    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+    CarSpecs(wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
+    {Bus.pt: 'toyota_nodsu_pt_generated'},
    flags=ToyotaFlags.NO_DSU,
  )
  TOYOTA_CHR_TSS2 = ToyotaTSS2PlatformConfig(
@@ -191,7 +192,7 @@ class CAR(Platforms):
  )
  TOYOTA_COROLLA = PlatformConfig(
    [ToyotaCarDocs("Toyota Corolla 2017-19")],
-    CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  )
  # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
@@ -206,14 +207,14 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
      ToyotaCarDocs("Lexus UX Hybrid 2019-24"),
    ],
-    CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
  )
  TOYOTA_HIGHLANDER = PlatformConfig(
    [
      ToyotaCarDocs("Toyota Highlander 2017-19", video="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
      ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"),
    ],
-    CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
+    CarSpecs(wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
    flags=ToyotaFlags.NO_STOP_TIMER,
  )
@@ -230,12 +231,12 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota Prius 2017-20", video="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
      ToyotaCarDocs("Toyota Prius Prime 2017-20", video="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
    ],
-    CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
+    CarSpecs(wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  )
  TOYOTA_PRIUS_V = PlatformConfig(
    [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
+    CarSpecs(wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
    flags=ToyotaFlags.NO_STOP_TIMER,
  )
@@ -244,14 +245,14 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota Prius 2021-22", video="https://www.youtube.com/watch?v=J58TvCpUd4U"),
      ToyotaCarDocs("Toyota Prius Prime 2021-22", video="https://www.youtube.com/watch?v=J58TvCpUd4U"),
    ],
-    CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
+    CarSpecs(wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
  )
  TOYOTA_RAV4 = PlatformConfig(
    [
      ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"),
      ToyotaCarDocs("Toyota RAV4 2017-18")
    ],
-    CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
+    CarSpecs(wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  )
  TOYOTA_RAV4H = PlatformConfig(
@@ -269,7 +270,7 @@ class CAR(Platforms):
      ToyotaCarDocs("Toyota RAV4 2019-21", video="https://www.youtube.com/watch?v=wJxjDd42gGA"),
      ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"),
    ],
-    CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
+    CarSpecs(wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
  )
  TOYOTA_RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
    [
@@ -289,32 +290,32 @@ class CAR(Platforms):
  )
  TOYOTA_RAV4_PRIME = ToyotaSecOCPlatformConfig(
    [ToyotaSecOcCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
+    CarSpecs(wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
  )
  TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
    [ToyotaSecOcCarDocs("Toyota Yaris (Non-US only) 2020, 2023", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
+    CarSpecs(wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
    flags=ToyotaFlags.RADAR_ACC,
  )
  TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
    [ToyotaCarDocs("Toyota Mirai 2021")],
-    CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
+    CarSpecs(wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
  )
  TOYOTA_SIENNA = PlatformConfig(
    [ToyotaCarDocs("Toyota Sienna 2018-20", video="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
    flags=ToyotaFlags.NO_STOP_TIMER,
  )
  TOYOTA_SIENNA_4TH_GEN = ToyotaSecOCPlatformConfig(
    [ToyotaSecOcCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
-    CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
  )

  # Lexus
  LEXUS_CTH = PlatformConfig(
    [ToyotaCarDocs("Lexus CT Hybrid 2017-18", "Lexus Safety System+")],
-    CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
+    CarSpecs(wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  )
  LEXUS_ES = PlatformConfig(
@@ -322,7 +323,7 @@ class CAR(Platforms):
      ToyotaCarDocs("Lexus ES 2017-18"),
      ToyotaCarDocs("Lexus ES Hybrid 2017-18"),
    ],
-    CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
  )
  LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
@@ -334,7 +335,7 @@ class CAR(Platforms):
  )
  LEXUS_IS = PlatformConfig(
    [ToyotaCarDocs("Lexus IS 2017-19")],
-    CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
    flags=ToyotaFlags.UNSUPPORTED_DSU,
  )
@@ -347,7 +348,7 @@ class CAR(Platforms):
      ToyotaCarDocs("Lexus NX 2018-19"),
      ToyotaCarDocs("Lexus NX Hybrid 2018-19"),
    ],
-    CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  )
  LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
@@ -359,7 +360,7 @@ class CAR(Platforms):
  )
  LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
    [ToyotaCarDocs("Lexus LC 2024-25")],
-    CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
  )
  LEXUS_RC = PlatformConfig(
    [ToyotaCarDocs("Lexus RC 2018-20")],
@@ -371,7 +372,7 @@ class CAR(Platforms):
    [
      ToyotaCarDocs("Lexus RC 2023"),
    ],
-    CarSpecs(mass=3986. * CV.LB_TO_KG, wheelbase=2.73, steerRatio=13.9, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.73, steerRatio=13.9, tireStiffnessFactor=0.444),
  )
  LEXUS_RX = PlatformConfig(
    [
@@ -381,7 +382,7 @@ class CAR(Platforms):
      ToyotaCarDocs("Lexus RX Hybrid 2016", "Lexus Safety System+"),
      ToyotaCarDocs("Lexus RX Hybrid 2017-19"),
    ],
-    CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
+    CarSpecs(wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
    dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
  )
  LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
@@ -393,13 +394,13 @@ class CAR(Platforms):
  )
  LEXUS_GS_F = PlatformConfig(
    [ToyotaCarDocs("Lexus GS F 2016")],
-    CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
    dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
    flags=ToyotaFlags.UNSUPPORTED_DSU,
  )
  LEXUS_LS = PlatformConfig(
    [ToyotaCarDocs("Lexus LS 2018", "All except Lexus Safety System+ A")],
-    CarSpecs(mass=4905. * CV.LB_TO_KG, wheelbase=3.125, steerRatio=15.0, tireStiffnessFactor=0.444),
+    CarSpecs(wheelbase=3.125, steerRatio=15.0, tireStiffnessFactor=0.444),
    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
  )

@@ -1,5 +1,6 @@
 from typing import get_args
 from opendbc.car.body.values import CAR as BODY
+from opendbc.car.byd.values import CAR as BYD
 from opendbc.car.chrysler.values import CAR as CHRYSLER
 from opendbc.car.ford.values import CAR as FORD
 from opendbc.car.gm.values import CAR as GM
@@ -16,7 +17,7 @@ from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN

-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | MG | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | BYD | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | MG | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
 BRANDS = get_args(Platform)

 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
@@ -27,15 +27,17 @@ class VehicleModel:
      CP: Car Parameters
    """
    # for math readability, convert long names car params into short names
-    self.m: float = CP.mass
-    self.j: float = CP.rotationalInertia
+    # Tire stiffness and rotational inertia are already divided by vehicle mass, which cancels out of the model.
+    # Use unit mass to preserve the standard bicycle-model equations below.
+    self.m: float = 1.0
+    self.j: float = CP.rotationalInertiaPerMass
    self.l: float = CP.wheelbase
    self.aF: float = CP.centerToFront
    self.aR: float = CP.wheelbase - CP.centerToFront
-    self.chi: float = CP.steerRatioRear
+    self.chi: float = 0.  # no rear steering

-    self.cF_orig: float = CP.tireStiffnessFront
-    self.cR_orig: float = CP.tireStiffnessRear
+    self.cF_orig: float = CP.tireStiffnessFrontPerMass
+    self.cR_orig: float = CP.tireStiffnessRearPerMass
    self.update_params(1.0, CP.steerRatio)

  def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
@@ -178,12 +180,12 @@ def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, n
    A tuple with the 2x2 A matrix, and 2x2 B matrix

  Parameters in the vehicle model:
-    cF: Tire stiffness Front [N/rad]
-    cR: Tire stiffness Rear [N/rad]
+    cF: Tire stiffness front per unit mass [N/(rad*kg)]
+    cR: Tire stiffness rear per unit mass [N/(rad*kg)]
    aF: Distance from CG to front wheels [m]
    aR: Distance from CG to rear wheels [m]
-    m: Mass [kg]
-    j: Rotational inertia [kg m^2]
+    m: Unit mass (1); stiffness and inertia are mass-normalized
+    j: Rotational inertia per unit mass [m^2]
    sR: Steering ratio [-]
    chi: Steer ratio rear [-]
  """
@@ -17,6 +17,7 @@ class CarState(CarStateBase):
    self.CCP = CarControllerParams(CP)
    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
    self.esp_hold_confirmation = False
+    self.esp_standstill = False
    self.upscale_lead_car_signal = False
    self.eps_stock_values = False
    self.acc_type = 0
@@ -98,7 +99,7 @@ class CarState(CarStateBase):
                        pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"],
                        pt_cp.vl["Gateway_72"]["ZV_HD_offen"]])

-    if self.CP.enableBsm:
+    if self.CP.flags & VolkswagenFlags.HAS_BSM:
      # Infostufe: BSM LED on, Warnung: BSM LED flashing
      ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
      ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
@@ -190,7 +191,7 @@ class CarState(CarStateBase):

    # Consume blind-spot monitoring info/warning LED states, if available.
    # Infostufe: BSM LED on, Warnung: BSM LED flashing
-    if self.CP.enableBsm:
+    if self.CP.flags & VolkswagenFlags.HAS_BSM:
      ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
      ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])

@@ -282,7 +283,11 @@ class CarState(CarStateBase):
    ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])

    self.acc_type = ext_cp.vl["ACC_18"]["ACC_Typ"]
-    self.esp_hold_confirmation = bool(pt_cp.vl["ESC_50"]["Standstill"])
+    self.esp_standstill = bool(pt_cp.vl["ESC_50"]["Standstill"])
+    if self.CP.flags & VolkswagenFlags.MEB_GEN2:
+      self.esp_hold_confirmation = pt_cp.vl["VMM_02"]["HMS_Status"] == 1
+    else:
+      self.esp_hold_confirmation = self.esp_standstill
    self.travel_assist_available = bool(cam_cp.vl["TA_01"]["Travel_Assist_Available"])
    ret.stockFcw = bool(ext_cp.vl["AWV_03"]["FCW_Active"])
    ret.stockAeb = bool(ext_cp.vl["AWV_03"]["AEB_Active"])
@@ -305,7 +310,7 @@ class CarState(CarStateBase):
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(240, pt_cp.vl["SMLS_01"]["BH_Blinker_li"],
                                                                            pt_cp.vl["SMLS_01"]["BH_Blinker_re"])

-    if self.CP.enableBsm:
+    if self.CP.flags & VolkswagenFlags.HAS_BSM:
      bsm_cp = pt_cp if self.CP.flags & VolkswagenFlags.MEB_GEN2 else ext_cp
      ret.leftBlindspot = (bool(bsm_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Info_Driver"]) or
                           bool(bsm_cp.vl["MEB_Side_Assist_01"]["Blind_Spot_Warn_Driver"]))
@@ -363,7 +368,7 @@ class CarState(CarStateBase):

    # Consume blind-spot monitoring info/warning LED states, if available.
    # Infostufe: BSM LED on, Warnung: BSM LED flashing
-    if self.CP.enableBsm:
+    if self.CP.flags & VolkswagenFlags.HAS_BSM:
      ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
      ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])

@@ -482,6 +482,7 @@ FW_VERSIONS = {
      b'\xf1\x870D9300014L \xf1\x895002',
      b'\xf1\x870D9300018C \xf1\x895297',
      b'\xf1\x870D9300041A \xf1\x894801',
+      b'\xf1\x870D9300041H \xf1\x894905',
      b'\xf1\x870D9300042H \xf1\x894901',
      b'\xf1\x870DD300045T \xf1\x891601',
      b'\xf1\x870DD300046B \xf1\x891601',
@@ -689,6 +690,7 @@ FW_VERSIONS = {
      b'\xf1\x870DL300013A \xf1\x893005',
      b'\xf1\x870DL300013G \xf1\x892119',
      b'\xf1\x870DL300013G \xf1\x892120',
+      b'\xf1\x870DL300013G \xf1\x892620',
      b'\xf1\x870DL300014C \xf1\x893703',
      b'\xf1\x870GC300013P \xf1\x892401',
      b'\xf1\x870GC300018R \xf1\x892802',
@@ -704,6 +706,7 @@ FW_VERSIONS = {
      b'\xf1\x875Q0959655BK\xf1\x890339\xf1\x82\x1331310031333334313132573732379333423100',
      b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
      b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
+      b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1312110031333300314240583752379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
@@ -738,6 +741,7 @@ FW_VERSIONS = {
      b'\xf1\x872Q0907567B \xf1\x890534',
      b'\xf1\x872Q0907572AA\xf1\x890396',
      b'\xf1\x872Q0907572AB\xf1\x890397',
+      b'\xf1\x872Q0907572AC\xf1\x890401',
      b'\xf1\x872Q0907572J \xf1\x890156',
      b'\xf1\x872Q0907572M \xf1\x890233',
      b'\xf1\x872Q0907572Q \xf1\x890342',
@@ -21,7 +21,8 @@ class CarInterface(CarInterfaceBase):
    if ret.flags & VolkswagenFlags.PQ:
      # Set global PQ35/PQ46/NMS parameters
      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
-      ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
+      if 0x3BA in fingerprint[0]:  # SWA_1
+        ret.flags |= VolkswagenFlags.HAS_BSM.value

      if 0x440 in fingerprint[0] or docs:  # Getriebe_1
        ret.transmissionType = TransmissionType.automatic
@@ -38,7 +39,8 @@ class CarInterface(CarInterfaceBase):
    elif ret.flags & VolkswagenFlags.MLB:
      # Set global MLB parameters
      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMlb)]
-      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
+      if 0x30F in fingerprint[0]:  # SWA_01
+        ret.flags |= VolkswagenFlags.HAS_BSM.value
      ret.networkLocation = NetworkLocation.gateway
      ret.dashcamOnly = is_release  # Release support needs HCA timeout fix, safety validation, revised J533 harness

@@ -65,7 +67,8 @@ class CarInterface(CarInterfaceBase):
        ret.networkLocation = NetworkLocation.fwdCamera
        ret.radarUnavailable = True

-      ret.enableBsm = 0x24C in fingerprint[0]  # MEB_Side_Assist_01
+      if 0x24C in fingerprint[0]:  # MEB_Side_Assist_01
+        ret.flags |= VolkswagenFlags.HAS_BSM.value

      if 0x25D in fingerprint[0]:  # KLR_01
        ret.flags |= VolkswagenFlags.STOCK_KLR_PRESENT.value
@@ -78,7 +81,8 @@ class CarInterface(CarInterfaceBase):
    else:
      # Set global MQB parameters
      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
-      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
+      if 0x30F in fingerprint[0]:  # SWA_01
+        ret.flags |= VolkswagenFlags.HAS_BSM.value

      if 0xAD in fingerprint[0] or docs:  # Getriebe_11
        ret.transmissionType = TransmissionType.automatic
@@ -98,10 +98,12 @@ class MebLongStateMachine:
    # warning: car is reacting to hold mechanic even with long control off
    # HALTEN -> KEINE_ANFORDERUNG causes the car to fault into park, so both branches below put a ramp in
    # between: disengaging always ramps, and while engaged a release ramps until 5 kph
-    # NOTE: this allows KEINE_ANFORDERUNG -> ANFAHREN, but we haven't observed a fault due to this yet
+    # NOTE: ANFAHREN faults TSK if the hold manager isn't holding
    # TODO: camera can send 7 on disengage at a stop which we don't fully understand yet
    stopping = CC.actuators.longControlState == LongCtrlState.stopping
-    starting = CC.actuators.longControlState == LongCtrlState.pid and CS.esp_hold_confirmation
+    # HMS_Status leaves holding as soon as we send anfahren, so keep driving off until we leave standstill
+    driving_off = self.prev_acc_hold_type == self.acc_hold_type_vals['ANFAHREN'] and CS.esp_standstill
+    starting = CC.actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or driving_off)
    long_active = CC.longActive and not CS.out.accFaulted  # catches it one frame earlier, not sure if needed

    if not long_active:
@@ -223,6 +223,7 @@ class VolkswagenFlags(IntFlag):
  KOMBI_PRESENT = 4
  ALT_GEAR = 32
  STOCK_KLR_PRESENT = 64
+  HAS_BSM = 256  # blind spot monitoring

  # Static flags
  PQ = 2
@@ -332,7 +333,7 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video="https://youtu.be/FAomFKPFlDA"),
      VWCarDocs("Volkswagen CC 2018-22", video="https://youtu.be/FAomFKPFlDA"),
    ],
-    VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
+    VolkswagenCarSpecs(wheelbase=2.84),
    chassis_codes={"AN", "3H"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
  )
@@ -344,7 +345,7 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Teramont Cross Sport 2021-22"),
      VWCarDocs("Volkswagen Teramont X 2021-22"),
    ],
-    VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
+    VolkswagenCarSpecs(wheelbase=2.98),
    chassis_codes={"CA"},
    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_SUV},
  )
@@ -353,7 +354,7 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Caddy 2019"),
      VWCarDocs("Volkswagen Caddy Maxi 2019"),
    ],
-    VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
+    VolkswagenCarSpecs(wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
    chassis_codes={"2K"},
    wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
  )
@@ -365,7 +366,7 @@ class CAR(Platforms):
      VWCarDocs("MAN TGE 2017-24", video="https://youtu.be/4100gLeabmo"),
      VWCarDocs("MAN eTGE 2020-24", video="https://youtu.be/4100gLeabmo"),
    ],
-    VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
+    VolkswagenCarSpecs(wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
    chassis_codes={"SY", "SZ", "UY", "UZ"},
    wmis={WMI.VOLKSWAGEN_COMMERCIAL, WMI.MAN},
  )
@@ -380,7 +381,7 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Golf R 2015-19"),
      VWCarDocs("Volkswagen Golf SportsVan 2015-20"),
    ],
-    VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
+    VolkswagenCarSpecs(wheelbase=2.62),
    chassis_codes={"5G", "AU", "BA", "BE"},
    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
  )
@@ -388,20 +389,20 @@ class CAR(Platforms):
    [
      VWCarDocs("Volkswagen ID.4 2021-23", car_parts=CarParts.common([CarHarness.vw_meb]), footnotes=[]),
    ],
-    VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
+    VolkswagenCarSpecs(wheelbase=2.77),
    chassis_codes={"E2"},
    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
  )
  VOLKSWAGEN_ID4_MK2 = VolkswagenMEBPlatformConfig(
    [VWCarDocs("Volkswagen ID.4 2024-25", car_parts=CarParts.common([CarHarness.vw_meb]), footnotes=[])],
-    VolkswagenCarSpecs(mass=2224, wheelbase=2.77),
+    VolkswagenCarSpecs(wheelbase=2.77),
    chassis_codes={"E8"},
    wmis={WMI.VOLKSWAGEN_USA_SUV, WMI.VOLKSWAGEN_EUROPE_CAR, WMI.VOLKSWAGEN_EUROPE_SUV},
    flags=VolkswagenFlags.MEB_GEN2,
  )
  VOLKSWAGEN_JETTA_MK6 = VolkswagenPQPlatformConfig(
    [VWCarDocs("Volkswagen Jetta 2015-18")],
-    VolkswagenCarSpecs(mass=1518, wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
+    VolkswagenCarSpecs(wheelbase=2.65, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
    chassis_codes={"5K", "AJ"},
    wmis={WMI.VOLKSWAGEN_MEXICO_CAR},
  )
@@ -410,7 +411,7 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Jetta 2019-23"),
      VWCarDocs("Volkswagen Jetta GLI 2021-23"),
    ],
-    VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
+    VolkswagenCarSpecs(wheelbase=2.71),
    chassis_codes={"BU"},
    wmis={WMI.VOLKSWAGEN_MEXICO_CAR, WMI.VOLKSWAGEN_EUROPE_CAR},
  )
@@ -420,13 +421,13 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Passat Alltrack 2015-22"),
      VWCarDocs("Volkswagen Passat GTE 2015-22"),
    ],
-    VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
+    VolkswagenCarSpecs(wheelbase=2.79),
    chassis_codes={"3C", "3G"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
  )
  VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig(
    [VWCarDocs("Volkswagen Passat NMS 2017-22")],
-    VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
+    VolkswagenCarSpecs(wheelbase=2.80, minSteerSpeed=50 * CV.KPH_TO_MS, minEnableSpeed=20 * CV.KPH_TO_MS),
    chassis_codes={"A3"},
    wmis={WMI.VOLKSWAGEN_USA_CAR},
  )
@@ -435,7 +436,7 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
      VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
    ],
-    VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
+    VolkswagenCarSpecs(wheelbase=2.55),
    chassis_codes={"AW"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
  )
@@ -444,19 +445,19 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Sharan 2018-22"),
      VWCarDocs("SEAT Alhambra 2018-20"),
    ],
-    VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS),
+    VolkswagenCarSpecs(wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS),
    chassis_codes={"7N"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
  )
  VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Volkswagen Taos 2022-24")],
-    VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
+    VolkswagenCarSpecs(wheelbase=2.69),
    chassis_codes={"B2"},
    wmis={WMI.VOLKSWAGEN_MEXICO_SUV, WMI.VOLKSWAGEN_ARGENTINA},
  )
  VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
-    VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
+    VolkswagenCarSpecs(wheelbase=2.60),
    chassis_codes={"C1"},
    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
  )
@@ -465,13 +466,13 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Tiguan 2018-24"),
      VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
    ],
-    VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
+    VolkswagenCarSpecs(wheelbase=2.74),
    chassis_codes={"5N", "AD", "AX", "BW"},
    wmis={WMI.VOLKSWAGEN_EUROPE_SUV, WMI.VOLKSWAGEN_MEXICO_SUV},
  )
  VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Volkswagen Touran 2016-23")],
-    VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
+    VolkswagenCarSpecs(wheelbase=2.79),
    chassis_codes={"1T"},
    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
  )
@@ -480,13 +481,13 @@ class CAR(Platforms):
      VWCarDocs("Volkswagen Caravelle 2020"),
      VWCarDocs("Volkswagen California 2021-23"),
    ],
-    VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
+    VolkswagenCarSpecs(wheelbase=3.00, minSteerSpeed=14.0),
    chassis_codes={"7H", "7L"},
    wmis={WMI.VOLKSWAGEN_COMMERCIAL_BUS_VAN},
  )
  VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Volkswagen T-Roc 2018-23")],
-    VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
+    VolkswagenCarSpecs(wheelbase=2.63),
    chassis_codes={"A1"},
    wmis={WMI.VOLKSWAGEN_EUROPE_SUV},
  )
@@ -497,31 +498,31 @@ class CAR(Platforms):
      VWCarDocs("Audi RS3 2018"),
      VWCarDocs("Audi S3 2015-17"),
    ],
-    VolkswagenCarSpecs(mass=1335, wheelbase=2.61),
+    VolkswagenCarSpecs(wheelbase=2.61),
    chassis_codes={"8V", "FF"},
    wmis={WMI.AUDI_GERMANY_CAR, WMI.AUDI_SPORT, WMI.VOLKSWAGEN_CHINA_FAW},
  )
  AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Audi Q2 2018")],
-    VolkswagenCarSpecs(mass=1205, wheelbase=2.61),
+    VolkswagenCarSpecs(wheelbase=2.61),
    chassis_codes={"GA"},
    wmis={WMI.AUDI_GERMANY_CAR, WMI.VOLKSWAGEN_CHINA_FAW},
  )
  AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Audi Q3 2019-24")],
-    VolkswagenCarSpecs(mass=1623, wheelbase=2.68),
+    VolkswagenCarSpecs(wheelbase=2.68),
    chassis_codes={"8U", "F3", "FS"},
    wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR, WMI.VOLKSWAGEN_CHINA_FAW},
  )
  AUDI_Q5_MK1 = VolkswagenMLBPlatformConfig(
    [VWCarDocs("Audi Q5 2013-17")],
-    VolkswagenCarSpecs(mass=1895, wheelbase=2.81),
+    VolkswagenCarSpecs(wheelbase=2.81),
    chassis_codes={"8R"},
    wmis={WMI.AUDI_EUROPE_MPV, WMI.AUDI_GERMANY_CAR},
  )
  PORSCHE_MACAN_MK1 = VolkswagenMLBPlatformConfig(
    [VWCarDocs("Porsche Macan 2017-24")],
-    VolkswagenCarSpecs(mass=1895, wheelbase=2.81, steerRatio=16.2),
+    VolkswagenCarSpecs(wheelbase=2.81, steerRatio=16.2),
    chassis_codes={"95", "A5"},
    wmis={WMI.PORSCHE_SUV},
  )
@@ -531,19 +532,19 @@ class CAR(Platforms):
      VWCarDocs("SEAT Ateca 2016-23"),
      VWCarDocs("SEAT Leon 2014-20"),
    ],
-    VolkswagenCarSpecs(mass=1300, wheelbase=2.64),
+    VolkswagenCarSpecs(wheelbase=2.64),
    chassis_codes={"5F"},
    wmis={WMI.SEAT},
  )
  CUPRA_BORN_MK1 = VolkswagenMEBPlatformConfig(
    [VWCarDocs("CUPRA Born 2021-23", car_parts=CarParts.common([CarHarness.vw_meb]), footnotes=[])],
-    VolkswagenCarSpecs(mass=1956, wheelbase=2.766),
+    VolkswagenCarSpecs(wheelbase=2.766),
    chassis_codes={"K1"},
    wmis={WMI.SEAT},
  )
  SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0])],
-    VolkswagenCarSpecs(mass=1266, wheelbase=2.56),
+    VolkswagenCarSpecs(wheelbase=2.56),
    chassis_codes={"PJ"},
    wmis={WMI.SKODA},
  )
@@ -552,19 +553,19 @@ class CAR(Platforms):
      VWCarDocs("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
      VWCarDocs("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
    ],
-    VolkswagenCarSpecs(mass=1230, wheelbase=2.66),
+    VolkswagenCarSpecs(wheelbase=2.66),
    chassis_codes={"NW"},
    wmis={WMI.SKODA},
  )
  SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Škoda Karoq 2019-23")],
-    VolkswagenCarSpecs(mass=1278, wheelbase=2.66),
+    VolkswagenCarSpecs(wheelbase=2.66),
    chassis_codes={"NU"},
    wmis={WMI.SKODA},
  )
  SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Škoda Kodiaq 2017-23")],
-    VolkswagenCarSpecs(mass=1569, wheelbase=2.79),
+    VolkswagenCarSpecs(wheelbase=2.79),
    chassis_codes={"NS"},
    wmis={WMI.SKODA, WMI.VOLKSWAGEN_GROUP_RUS},
  )
@@ -574,13 +575,13 @@ class CAR(Platforms):
      VWCarDocs("Škoda Octavia RS 2016"),
      VWCarDocs("Škoda Octavia Scout 2017-19"),
    ],
-    VolkswagenCarSpecs(mass=1388, wheelbase=2.68),
+    VolkswagenCarSpecs(wheelbase=2.68),
    chassis_codes={"NE"},
    wmis={WMI.SKODA},
  )
  SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Škoda Superb 2015-22")],
-    VolkswagenCarSpecs(mass=1505, wheelbase=2.84),
+    VolkswagenCarSpecs(wheelbase=2.84),
    chassis_codes={"3V", "NP"},
    wmis={WMI.SKODA},
  )
@@ -5,7 +5,7 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind

 ## How to start reverse engineering cars

-[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
+[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/openpilot/tools/cabana).

 Use [panda](https://github.com/commaai/panda) to connect your car to a computer.

@@ -22,7 +22,7 @@ DBC files for different models of the same brand have a lot of overlap. Therefor
    ```
    CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
    ```
-    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
+    is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana]([https://commaai.github.io/cabana/?demo=1](https://github.com/commaai/openpilot/tree/master/openpilot/tools/cabana)) can easily display/add/edit comments to signals and messages.

 - Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
 For example:
@@ -0,0 +1,194 @@
+VERSION ""
+
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_: EPS ESP_ECU BCM VCU MPC_CAM ADAS_ECU MCU BSD
+
+
+BO_ 287 STEER_MODULE_2: 5 EPS
+ SG_ STEER_ANGLE_2 : 0|16@1- (0.1,0) [-780|780] "deg" MCU,ADAS_ECU
+ SG_ DRIVER_EPS_TORQUE : 16|8@1+ (1,0) [0|255] "" MCU,ADAS_ECU
+ SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM_4BIT : 39|4@0+ (1,0) [0|15] "" MCU
+
+BO_ 290 WHEEL_SPEED: 8 ESP_ECU
+ SG_ WHEELSPEED_FL : 0|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+ SG_ WHEELSPEED_FR : 16|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+ SG_ WHEELSPEED_BL : 32|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+ SG_ WHEELSPEED_BR : 48|16@1+ (0.1,0) [0|6553.5] "kph" MCU,ADAS_ECU
+
+BO_ 307 STALKS: 8 BCM
+ SG_ LEFT_BLINKER : 37|1@0+ (1,0) [0|1] "" MCU
+ SG_ RIGHT_BLINKER : 38|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+
+BO_ 482 STEERING_MODULE_ADAS: 8 ADAS_ECU
+ SG_ ANGLE_RATE_LIMIT_UPPER : 0|10@1- (1,0) [-512|511] "" EPS
+ SG_ ANGLE_RATE_LIMIT_LOWER : 10|10@1- (1,0) [-512|511] "" EPS
+ SG_ STEER_REQ_ACTIVE_LOW : 20|1@0+ (1,0) [0|1] "" EPS
+ SG_ STEER_REQ : 21|1@0+ (1,0) [0|1] "" EPS
+ SG_ E2E_ALIVE_2 : 22|1@0+ (1,0) [0|1] "" EPS
+ SG_ E2E_ALIVE_1 : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ STEER_ANGLE : 24|16@1- (0.1,0) [-3276.8|3276.7] "deg" EPS
+ SG_ SET_ME_FF : 47|8@0+ (1,0) [0|255] "" EPS
+ SG_ SET_ME_F : 48|4@1+ (1,0) [0|15] "" EPS
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" EPS
+
+BO_ 496 WHEELSPEED_CLEAN: 8 ESP_ECU
+ SG_ WHEELSPEED_CLEAN : 0|16@1+ (0.1,0) [0|6553.5] "kph" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 508 STEERING_TORQUE: 8 EPS
+ SG_ LKS_PREPARED : 0|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ CRUISE_ACTIVATED : 1|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ TORQUE_FAILED : 2|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ DRIVER_TORQUE : 4|12@1- (0.1,0) [-204.8|204.7] "Nm" MCU,ADAS_ECU
+ SG_ TARGET_ANGLE : 16|16@1- (0.1,0) [-3276.8|3276.7] "deg" MCU,ADAS_ECU
+ SG_ MAIN_TORQUE : 32|12@1- (1,0) [-2048|2047] "" MCU,ADAS_ECU
+ SG_ HANDS_ON_WHEEL_WARN : 45|1@1+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ TORQUE_TEMP_FAILED : 46|2@1+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 578 DRIVE_STATE: 8 VCU
+ SG_ RAW_THROTTLE : 30|7@0+ (1,0) [0|127] "" MCU
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" MCU,ADAS_ECU
+ SG_ GEAR : 40|3@1+ (1,0) [0|7] "" MCU
+
+BO_ 660 METER_CLUSTER: 8 BCM
+ SG_ FRONT_RIGHT_DOOR : 1|1@1+ (1,0) [0|1] "" MCU
+ SG_ FRONT_LEFT_DOOR : 3|1@0+ (1,0) [0|1] "" MCU
+ SG_ BACK_LEFT_DOOR : 5|1@1+ (1,0) [0|1] "" MCU
+ SG_ BACK_RIGHT_DOOR : 7|1@0+ (1,0) [0|1] "" MCU
+ SG_ SEATBELT_DRIVER : 17|1@0+ (1,0) [0|1] "" MCU
+
+BO_ 790 LKAS_HUD_ADAS: 8 MPC_CAM
+ SG_ AUTO_LIGHT : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LANE_STATE : 4|2@1+ (1,0) [0|3] "" MCU
+ SG_ LKS_MODE : 6|2@1+ (1,0) [0|3] "" MCU
+ SG_ HANDS_ON_WHEEL_REQ : 10|1@1+ (1,0) [0|1] "" MCU
+ SG_ TJA_ICA_STATE : 11|4@1+ (1,0) [0|15] "" MCU
+ SG_ HMA_ON_OFF : 15|1@0+ (1,0) [0|1] "" MCU
+ SG_ LKAS_OUTPUT : 16|11@1- (1,0) [-1024|1023] "" MCU
+ SG_ LKAS_REQ_PREPARE : 27|1@1+ (1,0) [0|1] "" MCU
+ SG_ LKAS_ACTIVE : 28|1@1+ (1,0) [0|1] "" MCU
+ SG_ SLA_STATE : 29|3@1+ (1,0) [0|7] "" MCU
+ SG_ RIGHT_LANE_STATE : 34|2@1+ (1,0) [0|3] "" MCU
+ SG_ LKAS_STATE : 36|4@1+ (1,0) [0|15] "" MCU
+ SG_ SPEED_LIMIT_VALUE : 40|8@1+ (5,-5) [-5|1270] "kph" MCU
+ SG_ LDSW_TYPE : 49|2@0+ (1,0) [0|3] "" MCU
+ SG_ COUNTER : 52|4@1+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 813 ACC_HUD_ADAS: 8 ADAS_ECU
+ SG_ SET_SPEED : 0|8@1+ (0.5,0) [0|127.5] "kph" MCU
+ SG_ SET_DISTANCE : 12|3@0+ (1,0) [0|7] "" MCU
+ SG_ ACC_STATE : 19|3@1+ (1,0) [0|7] "" MCU
+ SG_ ACC_ON2 : 20|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_ON1 : 22|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_XFF : 47|8@0+ (1,0) [0|255] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 814 ACC_CMD: 8 ADAS_ECU
+ SG_ ACCEL_CMD : 0|8@1+ (1,-100) [-100|155] "" MCU
+ SG_ ACC_ON_1 : 9|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_25_1 : 10|6@1+ (1,0) [0|63] "" MCU
+ SG_ ACC_ON_2 : 17|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_25_2 : 18|6@1+ (1,0) [0|63] "" MCU
+ SG_ DECEL_FACTOR : 24|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_X8 : 31|4@0+ (1,0) [0|15] "" MCU
+ SG_ ACCEL_FACTOR : 32|4@1+ (1,0) [0|15] "" MCU
+ SG_ CMD_REQ_ACTIVE_LOW : 36|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_1 : 38|1@0+ (1,0) [0|1] "" MCU
+ SG_ STANDSTILL_RESUME : 39|1@0+ (1,0) [0|1] "" MCU
+ SG_ STANDSTILL_STATE : 40|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_REQ_NOT_STANDSTILL : 43|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_CONTROLLABLE_AND_ON : 44|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_OVERRIDE_OR_STANDSTILL : 45|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" MCU
+ SG_ SET_ME_XF : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 834 PEDAL: 8 VCU
+ SG_ GAS_PEDAL : 0|8@1+ (0.01,0) [0|2.55] "" MCU
+ SG_ BRAKE_PEDAL : 8|8@1+ (0.01,0) [0|2.55] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" MCU
+
+BO_ 944 PCM_BUTTONS: 8 MCU
+ SG_ SET_ME_1_1 : 2|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_BTN : 3|1@0+ (1,0) [0|1] "" MCU
+ SG_ RES_BTN : 4|1@0+ (1,0) [0|1] "" MCU
+ SG_ LKAS_ON_BTN : 6|1@0+ (1,0) [0|1] "" MCU
+ SG_ SET_ME_1_2 : 12|1@0+ (1,0) [0|1] "" MCU
+ SG_ DEC_DISTANCE_BTN : 15|1@0+ (1,0) [0|1] "" MCU
+ SG_ INC_DISTANCE_BTN : 16|1@0+ (1,0) [0|1] "" MCU
+ SG_ ACC_ON_BTN : 19|1@0+ (1,0) [0|1] "" MCU
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" MCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" MCU
+
+BO_ 1048 BSD_RADAR: 8 BSD
+ SG_ LEFT_APPROACH : 9|2@0+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ RIGHT_APPROACH : 11|2@0+ (1,0) [0|3] "" MCU,ADAS_ECU
+ SG_ APPROACH : 17|1@0+ (1,0) [0|1] "" MCU,ADAS_ECU
+
+CM_ BO_ 287 "EPS steering wheel angle + driver torque. Validated: angle range plausible, DRIVER_EPS_TORQUE stays near 0 when hands-off.";
+CM_ BO_ 290 "Per-wheel speed from ESP (FL/FR/BL/BR). Scale 0.1 kph/bit. Use WHEELSPEED_CLEAN (0x1F0) for the aggregated filtered value openpilot consumes.";
+CM_ BO_ 307 "Turn signal / stalk info. Validated: LEFT_BLINKER and RIGHT_BLINKER transition 0->1 during lane change events.";
+CM_ BO_ 482 "Lateral steering command sent by MPC camera/ADAS ECU to EPS. Blocked by panda on bus 2; panda injects its own on bus 0.";
+CM_ BO_ 496 "Wheel speed (cleaned average). Validated: 0-127 km/h matching driving speed.";
+CM_ BO_ 508 "Column steering torque from EPS.";
+CM_ BO_ 578 "Drivetrain state: gear, brake pressed, raw throttle.";
+CM_ BO_ 660 "Body/meter cluster: doors + seatbelt.";
+CM_ BO_ 790 "LKAS HUD ADAS message from camera. Blocked by panda on bus 2; panda re-injects.";
+CM_ BO_ 813 "ACC HUD ADAS message (cruise set speed, distance, ACC state).";
+CM_ BO_ 814 "ACC acceleration command from ADAS ECU. Blocked by panda on bus 2 when OP longitudinal active.";
+CM_ BO_ 834 "Gas/brake pedal percentages.";
+CM_ BO_ 944 "Steering-wheel cruise control buttons.";
+VAL_ 508 TORQUE_TEMP_FAILED 1 "TooLarge" 2 "TooFast" 3 "Both";
+VAL_ 578 GEAR 4 "D" 2 "R" 3 "N" 1 "P";
+VAL_ 790 AUTO_LIGHT 1 "OFF" 2 "ON";
+VAL_ 790 LEFT_LANE_STATE 0 "OFF" 1 "GREEN" 2 "ORANGE";
+VAL_ 790 LKS_MODE 0 "OFF" 1 "DIVERGE" 2 "KEEPING" 3 "ALL";
+VAL_ 790 TJA_ICA_STATE 0 "OFF" 1 "PASSIVE" 2 "ACTIVE1" 3 "ACTIVE2" 4 "FAULT";
+VAL_ 790 SLA_STATE 0 "OFF" 1 "FUSION_MODE" 2 "VISION_MODE" 3 "NV_ONLY_MODE" 4 "DEFECT";
+VAL_ 790 RIGHT_LANE_STATE 0 "OFF" 1 "GREEN" 2 "ORANGE";
+VAL_ 790 LKAS_STATE 2 "ACTIVE" 1 "OFF";
+VAL_ 790 LDSW_TYPE 0 "VIBRATE" 1 "SOUND" 2 "ALL";
+VAL_ 813 SET_DISTANCE 4 "4bar" 3 "3bar" 2 "2bar" 1 "1bar";
+VAL_ 813 ACC_STATE 0 "OFF" 2 "ACC_ON" 3 "ACC_ACTIVE" 5 "FORCE_ACCEL" 7 "ERROR";
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os

-chrysler_to_ram = {
+chrysler_to_ram: dict[str, dict[int, int | tuple[int, int]]] = {
  "_stellantis_common_ram_dt_generated.dbc": {
    258: 35,
    264: 37,
@@ -26,7 +26,7 @@ chrysler_to_ram = {
    820: 657,
  },
  "_stellantis_common_ram_hd_generated.dbc": {
-    571: 570,
+    571: (570, 571),
    678: 629,
  },
 }
@@ -42,14 +42,46 @@ def generate():
      parts = [f'CM_ "Generated from {src}"\n\n']

      wrote_addrs = set()
+      cur_msg = []
      for line in in_f.readlines():
-        if line.startswith(('BO_', 'VAL_')):
-          sl = line.split(' ')
+        if line.startswith('VAL_'):
+          val_sl = line.split(' ')
+          val_addr = int(val_sl[1])
+          val_new_addrs = addr_lookup.get(val_addr, (val_addr,))
+          if not isinstance(val_new_addrs, tuple):
+            val_new_addrs = (val_new_addrs,)
+          for val_new_addr in val_new_addrs:
+            val_sl[1] = str(val_new_addr)
+            cur_msg.append(' '.join(val_sl))
+        else:
+          cur_msg.append(line)
+        if line.strip() == '':
+          if not len(cur_msg):
+            continue
+
+          if not cur_msg[0].startswith('BO_'):
+            parts.extend(cur_msg)
+            cur_msg = []
+            continue
+
+          # msg done
+          sl = cur_msg[0].split(' ')
          addr = int(sl[1])
+
+          new_addrs = addr_lookup.get(addr, (addr,))
+          if not isinstance(new_addrs, tuple):
+            new_addrs = (new_addrs,)
+
+          for idx, new_addr in enumerate(new_addrs):
+            if idx > 0 and cur_msg[0].startswith('BO_'):
+              sl[2] = sl[2][:-1] + '_ALT:'
+            sl[1] = str(new_addr)
+            cur_msg[0] = ' '.join(sl)
+            parts.extend(cur_msg)
+
          wrote_addrs.add(addr)
-          sl[1] = str(addr_lookup.get(addr, addr))
-          line = ' '.join(sl)
-        parts.append(line)
+          cur_msg = []
+      parts.extend(cur_msg)

      missing_addrs = set(addr_lookup.keys()) - wrote_addrs
      assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}"
@@ -299,6 +299,7 @@ BO_ 313 VMM_02: 32 XXX
 SG_ FCW_Reaction_2 : 56|1@1+ (1,0) [0|1] "" XXX
 SG_ Brake_Pressure : 76|11@1+ (1,0) [0|100] "" XXX
 SG_ FCW_Reaction_3 : 88|5@1+ (1,0) [0|31] "" XXX
+ SG_ HMS_Status : 196|4@1+ (1,0) [0|15] "" XXX

 BO_ 317 QFK_01: 32 XXX
 SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
@@ -2027,6 +2028,7 @@ CM_ SG_ 219 Unknown_192 "Constant per platform (0 on all gen1 ID.4/Born, 1 on al
 CM_ SG_ 219 Unknown_27 "Low bit tracks AWV_Unavailable, but is also set in 20-33% of normal driving";
 CM_ SG_ 219 Unknown_80 "Low bit is normally 1 and clears with AWV_Unavailable, but also clears in ~1% of normal driving";
 CM_ SG_ 313 Long_Control_Inhibit "Goes high after user brakes hard, causes temporary TSK_Status fault";
+CM_ SG_ 313 HMS_Status "Hold manager response to ACC_18.ACC_Anforderung_HMS and auto hold, 2024+ only";
 CM_ SG_ 333 SET_ME_0x2FE "Only set by stock ACC on 2024+; reads 0 on pre-2024 and is not packed by mebcan";
 CM_ SG_ 380196013 AWV_Status "Mirrors AWV_03.AWV_Unavailable, at a higher rate";
 CM_ BO_ 317 "Lenkungssteuergerät";
@@ -2155,6 +2157,7 @@ VAL_ 299 GRA_LIM_Taste_verfuegbar 0 "Limiter_Taste_nicht_vorhanden" 1 "Limiter_T
 VAL_ 299 GRA_Tip_Stufe_2 0 "Tip_Stufe_1__keine_Betaetigung" 1 "Tip_Stufe_2";
 VAL_ 299 GRA_TravelAssist 0 "nicht_betaetigt" 1 "betaetigt";
 VAL_ 313 Long_Control_Inhibit 1 "not_inhibited" 2 "inhibited";
+VAL_ 313 HMS_Status 0 "not_holding" 1 "holding" 5 "starting" 6 "releasing" 9 "stopping";
 VAL_ 317 LatCon_HCA_Status 0 "disabled" 1 "initializing" 2 "ready" 3 "fault" 4 "active" 5 "preempted" 6 "fault" 7 "rejected";
 VAL_ 319 PreCrash_Charisma_FahrPr 0 "keine_Funktion" 1 "Programm_1" 2 "Programm_2" 3 "Programm_3" 4 "Programm_4" 5 "Programm_5" 6 "Programm_6" 7 "Programm_7" 8 "Programm_8" 9 "Programm_9" 10 "Programm_10" 11 "Programm_11" 12 "Programm_12" 13 "Programm_13" 14 "Programm_14" 15 "Programm_15";
 VAL_ 319 PreCrash_Charisma_Status 0 "Init" 1 "verfuegbar" 2 "nicht_verfuegbar" 3 "asynchron_durch_Fahrerwunsch";
@@ -140,6 +140,7 @@ BO_ 532 SCS_HSC2_FrP09: 6 SCSABS
 SG_ BrkPdlDrvrAppdPrsVHSC2 : 0|1@0+ (1,0) [0|1] ""  FVCM

 BO_ 572 SCS_HSC2_FrP19: 8 SCSABS
+ SG_ VehSpdAvgChksmHSC2 : 63|8@0+ (1,0) [0|255] "" SCSABS
 SG_ VehSpdAvgHSC2 : 22|15@0+ (0.015625,0) [0|511.984] "km/h"  FVCM,FDR
 SG_ VehSpdAvgAlvRCHSC2 : 39|4@0+ (1,0) [0|15] ""  FVCM,FDR
 SG_ VehSpdAvgPVHSC2 : 7|16@0+ (1,0) [0|65535] ""  FVCM,FDR
@@ -36,6 +36,22 @@ BS_:
 BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT


+BO_ 84 DI_autonomyHealth: 8 XXX
+ SG_ DI_ah_vehicleSpeedLimit : 0|9@1+ (1,0) [0|511] "" XXX
+ SG_ DI_ah_vehicleReverseSpeedLimit : 9|5@1+ (1,0) [0|31] "" XXX
+ SG_ DI_autonomyBehavior : 14|2@1+ (1,0) [0|3] "" XXX
+ SG_ DI_ah_vehicleNoGradeAccelMax : 16|8@1+ (0.04,0) [0|10.2] "" XXX
+ SG_ DI_ah_vehicleNoGradeDecelMax : 24|9@1+ (0.04,0) [0|20.44] "" XXX
+ SG_ DI_ah_timeToNoPropulsion : 33|12@1+ (1,0) [0|4095] "" XXX
+ SG_ DI_ah_dGearAvailable : 45|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI_ah_rGearAvailable : 46|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI_ah_pGearAvailable : 47|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI_loncDegradedAvailable : 48|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI_loncDegradedReason : 49|4@1+ (1,0) [0|15] "" XXX
+ SG_ DI_epbUnavailable : 53|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI_opdAvailableForPedalInterface : 54|1@1+ (1,0) [0|1] "" XXX
+ SG_ DI_loncInPreFaultStopping : 55|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 905 DAS_status2: 8 PARTY
 SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|255] ""  aps
 SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|15] ""  aps
@@ -204,10 +220,22 @@ BO_ 605 DAS_road: 6 XXX
 BO_ 1160 DAS_steeringControl: 4 PARTY
 SG_ DAS_steeringControlChecksum : 24|8@1+ (1,0) [0|255] ""  aps
 SG_ DAS_steeringControlCounter : 16|4@1+ (1,0) [0|15] ""  aps
- SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|3] ""  aps
+ SG_ DAS_steeringControlType : 23|3@0+ (1,0) [0|7] ""  aps
 SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg"  aps
 SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|1] ""  aps

+BO_ 1161 DAS_redundantBrakingControl: 8 XXX
+ SG_ DAS_redundantBrakingControlChecksum : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ DAS_redundantBrakingControlCounter : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ DAS_useDasFallbackBrakeCommands : 12|1@1+ (1,0) [0|1] "" XXX
+ SG_ DAS_brakeTorqueCommand : 13|13@1+ (3,0) [0|24573] "" XXX
+ SG_ DAS_brakeTorqueRequestActive : 26|1@1+ (1,0) [0|1] "" XXX
+ SG_ DAS_miaBrakeTorqueCommand : 27|13@1+ (3,0) [0|24573] "" XXX
+ SG_ DAS_preAbbaBrakeTorqueDebug : 40|13@1+ (3,0) [0|24573] "" XXX
+ SG_ DAS_abbaStateDebug : 56|4@1+ (1,0) [0|15] "" XXX
+ SG_ DAS_abbaESPMiaBit : 60|1@1+ (1,0) [0|1] "" XXX
+ SG_ DAS_abbaLongStabilityIsUnavailableBit : 61|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 297 SCCM_steeringAngleSensor: 8 PARTY
 SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] ""  X
 SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] ""  X
@@ -320,11 +348,15 @@ BO_ 325 ESP_status: 8 PARTY

 CM_ BO_ 605 "Bytes change when toggling between FSD and AP, as well as Traffic Light and Stop Sign Control in TACC";

+CM_ BO_ 84 "Appears with the 3-bit DAS_steeringControlType firmware on all Autopilot hardware, including HW2.5";
 CM_ SG_ 659 DAS_autosteerEnabled "1 if Autosteer or FSD is enabled, 0 otherwise";
+CM_ SG_ 1160 DAS_steeringControlType "Older firmware only used the top 2 bits (bits 7:6), and is not supported";
+CM_ BO_ 1161 "Sent by HW3/HW4 Autopilot computers only on firmware with the 3-bit DAS_steeringControlType (not by HW2.5)";
 CM_ SG_ 785 leftBlinkerOn "only describes stalk position if half pressed without auto-cancel blinkers. otherwise acts as expected";
 CM_ SG_ 785 rightBlinkerOn "only describes stalk position if half pressed without auto-cancel blinkers. otherwise acts as expected";
 CM_ SG_ 785 scrollWheelPressed "captures either scroll wheel left, right or down press";

+VAL_ 84 DI_ah_vehicleSpeedLimit 511 "SNA" ;
 VAL_ 545 VCFRONT_uiAudioLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
 VAL_ 545 VCFRONT_uiHiCurrentLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
 VAL_ 545 VCFRONT_vcrightHiCurrentLVState 1 "LV_ON" 2 "LV_GOING_DOWN" 3 "LV_FAULT" 0 "LV_OFF" ;
@@ -426,7 +458,7 @@ VAL_ 599 DI_uiSpeedUnits 0 "DI_SPEED_MPH" 1 "DI_SPEED_KPH" ;
 VAL_ 599 DI_uiSpeed 255 "DI_UI_SPEED_SNA" ;
 VAL_ 599 DI_vehicleSpeed 4095 "SNA" ;
 VAL_ 637 APS_eacAllow 0 "INHIBIT" 1 "ALLOW" 2 "RESERVED" 3 "SNA";
-VAL_ 1160 DAS_steeringControlType 2 "LANE_KEEP_ASSIST" 0 "NONE" 1 "ANGLE_CONTROL" 3 "EMERGENCY_LANE_KEEP" ;
+VAL_ 1160 DAS_steeringControlType 2 "LANE_KEEP_ASSIST" 0 "NONE" 1 "ANGLE_CONTROL" 3 "EMERGENCY_LANE_KEEP" 4 "FSD" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID" ;
 VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT" ;
@@ -87,10 +87,10 @@ BO_ 304 PLA_01: 8 XXX
 SG_ PLA_LW_Soll : 16|13@1+ (0.1,0) [0.0|819.1] "Unit_DegreOfArc"  XXX
 SG_ PLA_VZ_LW_Soll : 31|1@1+ (1.0,0.0) [0.0|1] ""  XXX
 SG_ PLA_Status_PLA_EPS : 32|4@1+ (1.0,0.0) [0.0|15] ""  XXX
- SG_ PLA_Bremsmoment : 36|13@1+ (4,0) [0|32760] "Unit_NewtoMeter"  XXX
- SG_ PLA_Bremsverzoegerung : 36|7@1+ (0.1,0) [0.0|12.0] "Unit_MeterPerSeconSquar"  XXX
- SG_ PLA_Anf_Bremsverzoegerung : 43|1@1+ (1.0,0.0) [0.0|1] ""  XXX
- SG_ PLA_BremsMom_Verzoeg : 50|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+ SG_ PLA_Bremsmoment m0 : 36|13@1+ (4,0) [0|32760] "Unit_NewtoMeter" XXX
+ SG_ PLA_Bremsverzoegerung m1 : 36|7@1+ (0.1,0) [0|12] "Unit_MeterPerSeconSquar" XXX
+ SG_ PLA_Anf_Bremsverzoegerung m1 : 43|1@1+ (1,0) [0|1] "" XXX
+ SG_ PLA_BremsMom_Verzoeg M : 50|1@1+ (1,0) [0|1] "" XXX
 SG_ PLA_Anhalten : 51|1@1+ (1.0,0.0) [0.0|1] ""  XXX
 SG_ PLA_Anhalteweg : 52|11@1+ (0.01,0) [0.01|20.45] "Unit_Meter"  XXX
 SG_ PLA_01_Signal_red_cyclic : 63|1@1+ (1.0,0.0) [0.0|1] ""  XXX
@@ -1633,6 +1633,7 @@ CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in AC
 CM_ SG_ 302 ACC_Hold_Release "Request to ABS to release brake hold";
 CM_ SG_ 302 ACC_Accel_Secondary "Target acceleration of the secondary controller";
 CM_ SG_ 302 ACC_Accel_TSK "Mirror of request to TSK to implement a target acceleration";
+CM_ SG_ 304 PLA_BremsMom_Verzoeg "0=PLA_Bremsmoment, 1=PLA_Bremsverzoegerung/PLA_Anf_Bremsverzoegerung.";
 CM_ SG_ 870 Hazard_Switch "Four-way flashers active";
 CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left";
 CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right";
@@ -34,6 +34,7 @@
 #define SAFETY_PSA 31U
 #define SAFETY_RIVIAN 33U
 #define SAFETY_VOLKSWAGEN_MEB 34U
+#define SAFETY_BYD 35U
 #define SAFETY_MG 38U

 #define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U))
@@ -59,7 +60,8 @@
 #define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))
 #define UPDATE_VEHICLE_SPEED_2(val_ms) (update_sample(&vehicle_speed_2, ROUND((val_ms) * VEHICLE_SPEED_FACTOR)))

-uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len);
+uint32_t GET_BYTES_LE(const CANPacket_t *msg, int start, int len);
+uint64_t GET_BYTES_64_LE(const CANPacket_t *msg, int start, int len);

 extern const int MAX_WRONG_COUNTERS;
 #define MAX_ADDR_CHECK_MSGS 3U
@@ -253,7 +255,7 @@ bool longitudinal_interceptor_checks(const CANPacket_t *msg);  // gas intercepto
 void pcm_cruise_check(bool cruise_engaged);
 void speed_mismatch_check(const float speed_2);

-void safety_tick(const safety_config *safety_config);
+void safety_tick(void);

 // This can be set by the safety hooks
 extern bool controls_allowed;
@@ -368,4 +370,5 @@ extern const safety_hooks volkswagen_meb_hooks;
 extern const safety_hooks volkswagen_pq_hooks;
 extern const safety_hooks rivian_hooks;
 extern const safety_hooks psa_hooks;
+extern const safety_hooks byd_hooks;
 extern const safety_hooks mg_hooks;
@@ -1,3 +1,5 @@
+#pragma once
+
 #include "opendbc/safety/declarations.h"

 // cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension
@@ -34,6 +36,36 @@

 #define SAFETY_UNUSED(x) ((void)(x))

+// Update an MSB-first CRC8 with one byte; callers choose the initial value and final XOR.
+static uint8_t crc8_update(uint8_t initial_crc, uint8_t data, uint8_t poly) {
+  uint8_t crc = initial_crc ^ data;
+  for (int i = 0; i < 8; i++) {
+    if ((crc & 0x80U) != 0U) {
+      crc = (crc << 1) ^ poly;
+    } else {
+      crc <<= 1;
+    }
+  }
+  return crc;
+}
+
+// Compare address and bus as one key: CANPacket_t has a 29-bit address and 3-bit bus.
+static bool msg_matches_addr_bus(const CANPacket_t *msg, uint32_t addr, uint32_t bus) {
+  uint32_t actual = ((uint32_t)msg->addr << 3) | (uint32_t)msg->bus;
+  uint32_t expected = (addr << 3) | bus;
+  return actual == expected;
+}
+
+// Compare address, bus, and decoded byte length as one key.
+static bool msg_matches_addr_bus_len(const CANPacket_t *msg, uint32_t addr, uint32_t bus, uint32_t len) {
+  uint64_t actual = ((uint64_t)msg->addr << 10) | ((uint64_t)msg->bus << 7) | (uint64_t)dlc_to_len[msg->data_len_code];
+  uint64_t expected = ((uint64_t)addr << 10) | ((uint64_t)bus << 7) | (uint64_t)len;
+  return actual == expected;
+}
+
+#define MSG_MATCHES_SELECT(_msg, _addr, _bus, _len, NAME, ...) NAME
+#define msg_matches(...) MSG_MATCHES_SELECT(__VA_ARGS__, msg_matches_addr_bus_len, msg_matches_addr_bus)(__VA_ARGS__)
+
 // compute the time elapsed (in microseconds) from 2 counter samples
 // case where ts < ts_last is ok: overflow is properly re-casted into uint32_t
 static inline uint32_t safety_get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
@@ -4,74 +4,64 @@
 #include <stdint.h>

 #include "opendbc/safety/can.h"
+#include "opendbc/safety/helpers.h"

 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;

 void ignition_can_hook(const CANPacket_t *msg) {
-  if (msg->bus == 0U) {
-    int len = GET_LEN(msg);
-
-    // GM exception
-    if ((msg->addr == 0x1F1U) && (len == 8)) {
-      // SystemPowerMode (2=Run, 3=Crank Request)
-      ignition_can = (msg->data[0] & 0x2U) != 0U;
-      ignition_can_cnt = 0U;
-    }
-
-    // Rivian R1S/T GEN1 exception
-    if ((msg->addr == 0x152U) && (len == 8)) {
-      // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
-      int counter = msg->data[1] & 0xFU;  // max is only 14
-
-      static int prev_counter_rivian = -1;
-      if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
-        // VDM_OutputSignals->VDM_EpasPowerMode
-        ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
-        ignition_can_cnt = 0U;
-      }
-      prev_counter_rivian = counter;
-    }
-
-    // Tesla Model 3/Y exception
-    if ((msg->addr == 0x221U) && (len == 8)) {
-      // 0x221 overlaps with Rivian which has random data on byte 0
-      int counter = msg->data[6] >> 4;
-
-      static int prev_counter_tesla = -1;
-      if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
-        // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
-        int power_state = (msg->data[0] >> 5U) & 0x3U;
-        ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
-        ignition_can_cnt = 0U;
-      }
-      prev_counter_tesla = counter;
-    }
-
-    // Mazda exception
-    if ((msg->addr == 0x9EU) && (len == 8)) {
-      ignition_can = (msg->data[0] >> 5) == 0x6U;
-      ignition_can_cnt = 0U;
-    }
-
-    // Volkswagen MEB exception
-    if ((msg->addr == 0x3C0U) && (len == 4)) {
-      int counter = msg->data[1] & 0xFU;
-
-      static int prev_counter_vw_meb = -1;
-      if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
-        // Klemmen_Status_01->ZAS_Kl_15
-        ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
-        ignition_can_cnt = 0U;
-      }
-      prev_counter_vw_meb = counter;
-    }
+  // GM exception
+  if (msg_matches(msg, 0x1F1U, 0U, 8U)) {
+    // SystemPowerMode (2=Run, 3=Crank Request)
+    ignition_can = (msg->data[0] & 0x2U) != 0U;
+    ignition_can_cnt = 0U;
  }

-  // TODO: this is too loose, Teslas have 0x222
-  // body v2 exception
-  // if (((msg->bus == 0U) || (msg->bus == 2U)) && (msg->addr == 0x222U)) {
-  //   ignition_can = true;
-  //   ignition_can_cnt = 0U;
-  // }
+  // Rivian R1S/T GEN1 exception
+  if (msg_matches(msg, 0x152U, 0U, 8U)) {
+    // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
+    int counter = msg->data[1] & 0xFU;  // max is only 14
+
+    static int prev_counter_rivian = -1;
+    if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
+      // VDM_OutputSignals->VDM_EpasPowerMode
+      ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
+      ignition_can_cnt = 0U;
+    }
+    prev_counter_rivian = counter;
+  }
+
+  // Tesla Model 3/Y exception
+  if (msg_matches(msg, 0x221U, 0U, 8U)) {
+    // 0x221 overlaps with Rivian which has random data on byte 0
+    int counter = msg->data[6] >> 4;
+
+    static int prev_counter_tesla = -1;
+    if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
+      // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
+      int power_state = (msg->data[0] >> 5U) & 0x3U;
+      ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
+      ignition_can_cnt = 0U;
+    }
+    prev_counter_tesla = counter;
+  }
+
+  // Mazda exception
+  if (msg_matches(msg, 0x9EU, 0U, 8U)) {
+    ignition_can = (msg->data[0] >> 5) == 0x6U;
+    ignition_can_cnt = 0U;
+  }
+
+  // Volkswagen MEB exception
+  if (msg_matches(msg, 0x3C0U, 0U, 4U)) {
+    int counter = msg->data[1] & 0xFU;
+
+    static int prev_counter_vw_meb = -1;
+    if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
+      // Klemmen_Status_01->ZAS_Kl_15
+      ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
+      ignition_can_cnt = 0U;
+    }
+    prev_counter_vw_meb = counter;
+  }
 }
@@ -2,10 +2,28 @@

 #include "opendbc/safety/declarations.h"

-static void body_rx_hook(const CANPacket_t *msg) {
-  if (msg->addr == 0x201U) {
-    controls_allowed = true;
+static uint8_t body_get_counter(const CANPacket_t *msg) {
+  return msg->data[6] & 0xFU;
+}
+
+static uint32_t body_get_checksum(const CANPacket_t *msg) {
+  return msg->data[7];
+}
+
+static uint32_t body_compute_checksum(const CANPacket_t *msg) {
+  uint8_t checksum = 0xFFU;
+  int len = GET_LEN(msg);
+  for (int i = len - 2; i >= 0; i--) {
+    checksum = crc8_update(checksum, msg->data[i], 0xD5U);
  }
+  return checksum;
+}
+
+static void body_rx_hook(const CANPacket_t *msg) {
+  SAFETY_UNUSED(msg);
+
+  // controls allowed as soon as RX is valid
+  controls_allowed = true;
 }

 static bool body_tx_hook(const CANPacket_t *msg) {
@@ -17,7 +35,7 @@ static bool body_tx_hook(const CANPacket_t *msg) {

  // Allow going into CAN flashing mode even if controls are not allowed
  bool flash_msg = (msg->addr == 0x250U) && (GET_LEN(msg) == 8U);
-  if (!controls_allowed && (GET_BYTES(msg, 0, 4) == 0xdeadfaceU) && (GET_BYTES(msg, 4, 4) == 0x0ab00b1eU) && flash_msg) {
+  if (!controls_allowed && flash_msg && (GET_BYTES_64_LE(msg, 0, 8) == 0x0AB00B1EDEADFACEULL)) {
    tx = true;
  }

@@ -26,11 +44,15 @@ static bool body_tx_hook(const CANPacket_t *msg) {

 static safety_config body_init(uint16_t param) {
  static RxCheck body_rx_checks[] = {
-    {.msg = {{0x201, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
+    {.msg = {{0x201, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
  };

-  static const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8, .check_relay = false}, {0x250, 0, 6, .check_relay = false}, {0x251, 0, 5, .check_relay = false},  // body
-                                        {0x1, 0, 8, .check_relay = false}};  // CAN flasher
+  static const CanMsg BODY_TX_MSGS[] = {
+    {0x250, 0, 8, .check_relay = false},
+    {0x250, 0, 6, .check_relay = false},
+    {0x251, 0, 5, .check_relay = false},
+    {0x1, 0, 8, .check_relay = false},   // CAN flasher
+  };

  SAFETY_UNUSED(param);
  safety_config ret = BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS);
@@ -42,4 +64,7 @@ const safety_hooks body_hooks = {
  .init = body_init,
  .rx = body_rx_hook,
  .tx = body_tx_hook,
+  .get_counter = body_get_counter,
+  .get_checksum = body_get_checksum,
+  .compute_checksum = body_compute_checksum,
 };
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Isaac Barham	3b1816ae6c	navigation: add experimental signal-selected Mapbox turn cues Use a physical turn signal to select the next router-validated street without setting a destination. Track its incoming approach and time the existing model turn cue from fresh localization; slow approaches also require a sustained forecast of movement from the model's own trajectory. Keep this opt-in and preserve legacy timing when disabled. Retain existing speed, blindspot and one-cue rules; leave steering, minimum curvature handling and Tesla cooperative steering unchanged. Show map availability on the MICI navigation panel and record cue provenance. Ship a reproducibly rebuilt ARM64 Params library for the prebuilt branch, including stable buffers for filtered-key enumeration. Software validation: 167 tests, lint, compile, and 52,061-row disabled-mode equivalence. Actual CTV3 recorded-view pilots are mixed; the full saved-route sweep remains in progress. This is an experimental test build, with no physical curb-clearance claim.	2026-11-03 12:11:07 -05:00
Isaac Barham	f5d861d86d	modeld: restore 1.6 m/s curvature hold threshold Restore the original minimum lateral-control speed in both model runners. At or below 1.6 m/s, keep the previous desired curvature. This does not disable steering or replace the model speed input. Validation: both files byte-match commit 32f16216977bceb42923eb7eeaa5dd926979ce65; Python syntax, scoped Ruff and diff checks pass. Turn-cue and cooperative-steering behavior are otherwise unchanged.	2026-11-03 08:02:15 -05:00
Isaac Barham	995e5d49e9	turns: prevent repeated cues under a held signal Keep the consumed turn cue separate from temporary speed and blind-spot eligibility. Canceling the signal or changing sides permits the next cue; hazards and feature toggles cannot re-issue the old cue. Preserve existing first-release conditions. Validation: 46 focused controller cases, 14 source-level DesireHelper/AutoLaneChange cases, and 7 host pulse scenarios pass. Actual CTV3 recorded-input replay removes the duplicate while preserving the first cue. Existing 27 turn cases and two traffic circles retain identical neural input pulses. Recorded-view tests do not establish physical curb clearance.	2026-11-03 08:02:07 -05:00
Isaac Barham	4943158ffc	navigation: support privately provisioned Mapbox routing Load a protected public Mapbox token on the device and refresh routing when it changes. Add an authenticated setMapboxToken method with atomic private storage, and remove raw RPC logging from Athena and Sunnylink. Keep route request credentials out of error logs. Validation: 27 navigation tests plus 8 subtests, five token RPC tests, and Ruff pass.	2026-11-02 17:05:15 -05:00
Isaac Barham	93453194f3	turns: remove stopped trigger and restore low-speed curvature Remove stopped speed as an independent turn-cue trigger. Restore the 0.3 m/s minimum curvature-update speed in both modeld paths, undoing the changes from `32f1621`. Preserve model-prediction and directional-nudge behavior and update regression coverage. Validation: 25 focused controller source tests and 16 action-boundary probes passed.	2026-11-02 16:28:31 -05:00
Claude	32f1621697	modeld: raise minimum lateral control speed to 1.6 m/s Port of commaai/openpilot#39174. Below this speed modeld holds the previous desired curvature instead of following the model, so the wheel stops chasing noisy plans while creeping or stopped. Applied to both selfdrive/modeld and sunnypilot modeld_v2. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ATDgLMxRqNpP9H2Ndeg65v	2026-11-02 02:46:33 +00:00
Claude	b12077a70c	lane turn desire: fix modeld crash slicing the capnp desirePrediction modeld passes modelV2.meta.desirePrediction, a capnp list, which can't be sliced, so model_turn_probs raised every frame and modeld never ran. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ATDgLMxRqNpP9H2Ndeg65v	2026-11-02 00:28:06 +00:00
Claude	a6f281d2f0	lane turn desire: wait for the turn before sending the desire The model treats the turn desire as "turn now", so sending it as soon as the blinker is on below the lane turn speed makes the car take the first opening. Now the blinker only arms the turn, and the desire is sent once one of these says the turn is here: - the model's own desirePrediction for that turn reaches 0.35 within the two soonest horizons - the driver nudges the wheel toward the turn - the car is stopped (red light, stop sign) Once sent it stays on until the blinker goes off, so the model still sees a single pulse. Built on dev-chestnut, which is prebuilt, so this is always on with Lane Turn Desires (WAIT_FOR_TURN) instead of adding a param the compiled params library would not know. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01ATDgLMxRqNpP9H2Ndeg65v	2026-11-01 20:43:04 +00:00
github-actions[bot]	46e7ff91e4	sunnypilot v2026.11.01-4997 version: sunnypilot v2026.003.000 (dev) date: 2026-11-01T17:10:35 master commit: `a86979d2b2`	2026-11-01 17:10:35 +00:00
				`@@ -0,0 +1 @@`
				`openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text`