sunnypilot v0.9.6.1

.gitignore

@@ -46,7 +46,6 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out

CHANGELOGS.md

@@ -1,3 +1,65 @@
+sunnypilot - 0.9.6.1 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit db57a21 (February 22, 2024)
+  * v0.9.6 release (February 27, 2024)
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
+* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
+* UPDATED: Driving Model Selector v3
+  * NEW❗: Driving Model additions
+    * Certified Herbalist v2 (February 13, 2024) - CHv2
+    * Certified Herbalist (February 5, 2024) - CH
+    * Los Angeles v2 (January 24, 2024) - LAv2
+    * Los Angeles (January 22, 2024) - LAv1
+  * NEW❗: Model Caching thanks to DevTekVE!
+    * Model caching allows the selection of previously downloaded Driving Model
+    * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
+  * Legacy Driving Models support
+    * New Delhi (December 21, 2023) - ND
+    * Blue Diamond v2 (December 11, 2023) - BDv2
+    * Blue Diamond (November 18, 2023) - BDv1
+    * Farmville (November 7, 2023) - FV
+    * Night Strike (October 3, 2023) - NS
+  * Certain features are deprecated with newer Driving Models
+    * Dynamic Lane Profile (DLP)
+    * Custom Offsets
+* UPDATED: Dynamic Lane Profile (DLP)
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Custom Offsets
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
+  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
+* UI Updates
+  * NEW❗: Visuals: Display Feature Status toggle
+    * Display the statuses of certain features on the driving screen
+  * NEW❗: Visuals: Enable Onroad Settings toggle
+    * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
+  * REMOVED: "Device ambient" temperature option on the sidebar
+* FIXED: New comma 3X support
+* FIXED: New comma eSIM support
+* Bug fixes and performance improvements
+
 sunnypilot - 0.9.5.3 (2023-12-24)
 ========================
 * UPDATED: Dynamic Experimental Control (DEC)

README.md

@@ -27,7 +27,7 @@ Table of Contents
 ---
 
 Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.sunnypilot.com
+* https://discord.gg/sunnypilot
 
   ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
 

RELEASES.md

@@ -1,4 +1,28 @@
-Version 0.9.5 (2023-11-16)
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+
+Version 0.9.6 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+
+Version 0.9.5 (2023-11-17)
 ========================
 * New driving model
   * Improved navigate on openpilot performance using navigation instructions as an additional model input
@@ -8,11 +32,12 @@ Version 0.9.5 (2023-11-16)
 * Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
 * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
-* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
 * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
-* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Kia Optima Hybrid 2019 support
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)

SConstruct

@@ -9,11 +9,16 @@ import SCons.Errors
 
 SCons.Warnings.warningAsException(True)
 
+# pending upstream fix - https://github.com/SCons/scons/issues/4461
+#SetOption('warn', 'all')
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
 Decider('MD5-timestamp')
 
+SetOption('num_jobs', int(os.cpu_count()/2))
+
 AddOption('--kaitai',
           action='store_true',
           help='Regenerate kaitai struct parsers')
@@ -37,7 +42,7 @@ AddOption('--clazy',
 AddOption('--compile_db',
           action='store_true',
           help='build clang compilation database')
-          
+
 AddOption('--ccflags',
           action='store',
           type='string',
@@ -62,7 +67,7 @@ AddOption('--pc-thneed',
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.islink(Dir('#laika/').abspath),
+          default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
 ## Architecture name breakdown (arch)
@@ -116,10 +121,7 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
-  rpath += [
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+  rpath += []
 
   # MacOS
   if arch == "Darwin":
@@ -143,9 +145,6 @@ else:
     libpath = [
       f"#third_party/acados/{arch}/lib",
       f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/mapbox-gl-native-qt/{arch}",
-      "#cereal",
-      "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
@@ -208,11 +207,12 @@ env = Environment(
     "#third_party/json11",
     "#third_party/linux/include",
     "#third_party/snpe/include",
-    "#third_party/mapbox-gl-native-qt/include",
     "#third_party/qrcode",
     "#third_party",
     "#cereal",
     "#opendbc/can",
+    "#third_party/maplibre-native-qt/include",
+    f"#third_party/maplibre-native-qt/{arch}/include"
   ],
 
   CC='clang',
@@ -229,10 +229,13 @@ env = Environment(
     "#opendbc/can",
     "#selfdrive/boardd",
     "#common",
+    "#rednose/helpers",
   ],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  tools=["default", "cython", "compilation_db"],
+  REDNOSE_ROOT="#",
+  tools=["default", "cython", "compilation_db", "rednose_filter"],
+  toolpath=["#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -295,8 +298,11 @@ else:
   qt_env['QTDIR'] = qt_install_prefix
   qt_dirs = [
     f"{qt_install_headers}",
-    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
   ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
   qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
@@ -313,7 +319,7 @@ try:
 except SCons.Errors.UserError:
   qt_env.Tool('qt')
 
-qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
@@ -326,7 +332,8 @@ qt_flags = [
   "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui']
+qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
+qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
 qt_env['LIBS'] = qt_libs
 
 if GetOption("clazy"):
@@ -368,31 +375,7 @@ SConscript([
   'panda/SConscript',
 ])
 
-# Build rednose library and ekf models
-rednose_deps = [
-  "#selfdrive/locationd/models/constants.py",
-  "#selfdrive/locationd/models/gnss_helpers.py",
-]
-
-rednose_config = {
-  'generated_folder': '#selfdrive/locationd/models/generated',
-  'to_build': {
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
-  },
-}
-
-if arch != "larch64":
-  rednose_config['to_build'].update({
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
-    'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
-  })
-
-Export('rednose_config')
+# Build rednose library
 SConscript(['rednose/SConscript'])
 
 # Build system services

body/board/SConscript

@@ -31,7 +31,7 @@ if os.getenv("RELEASE"):
   assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
 else:
   BUILD_TYPE = "DEBUG"
-  cert_fn = File("../certs/debug").srcnode().abspath
+  cert_fn = File("../certs/debug").srcnode().relpath
   common_flags += ["-DALLOW_DEBUG"]
 
 if os.getenv("DEBUG"):
@@ -99,7 +99,7 @@ def to_c_uint32(x):
 def get_key_header(name):
   from Crypto.PublicKey import RSA
 
-  public_fn = File(f'../certs/{name}.pub').srcnode().abspath
+  public_fn = f'../certs/{name}.pub'
   rsa = RSA.importKey(open(public_fn).read())
   assert(rsa.size_in_bits() == 1024)
 
@@ -132,7 +132,7 @@ with open("obj/cert.h", "w") as f:
 
 for project_name in build_projects:
   project = build_projects[project_name]
-  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().abspath
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
 
   flags = [
     "-Wall",
@@ -193,5 +193,5 @@ for project_name in build_projects:
   main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
 
   # Sign main
-  sign_py = File("../crypto/sign.py").srcnode().abspath
+  sign_py = File("../crypto/sign.py").srcnode().relpath
   panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")

body/board/inc/stm32f4xx.h

@@ -8,8 +8,8 @@
   *          is using in the C source code, usually in main.c. This file contains:
   *           - Configuration section that allows to select:
   *              - The STM32F4xx device used in the target application
-  *              - To use or not the peripheral’s drivers in application code(i.e. 
-  *                code will be based on direct access to peripheral’s registers 
+  *              - To use or not the peripheral's drivers in application code(i.e. 
+  *                code will be based on direct access to peripheral's registers 
   *                rather than drivers API), this option is controlled by 
   *                "#define USE_HAL_DRIVER"
   *  

cereal/__init__.py

@@ -1,4 +1,3 @@
-# pylint: skip-file
 import os
 import capnp
 

cereal/car.capnp

@@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -162,6 +161,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
   }
 }
 
@@ -479,9 +479,9 @@ struct CarParams {
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
   experimentalLongitudinalAvailable @71 :Bool;
-  pcmCruiseSpeed @73 :Bool;  # is openpilot's state tied to the PCM's cruise speed?
-  customStockLongAvailable @74 :Bool;
-  spFlags @75 :UInt32;       # flags for car specific quirks in sunnypilot
+  pcmCruiseSpeed @74 :Bool;  # is openpilot's state tied to the PCM's cruise speed?
+  customStockLongAvailable @75 :Bool;
+  spFlags @76 :UInt32;       # flags for car specific quirks in sunnypilot
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
@@ -533,6 +533,7 @@ struct CarParams {
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
 
@@ -646,12 +647,14 @@ struct CarParams {
     body @27;
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
+    chryslerCusw @30;
   }
 
   enum SteerControlType {
     torque @0;
     angle @1;
-    curvature @2;
+
+    curvatureDEPRECATED @2;
   }
 
   enum TransmissionType {

cereal/custom.capnp

@@ -116,15 +116,15 @@ struct LateralPlanSP @0xf35cc4560bbf6ec2 {
   rProb @2 :Float32;
 
   dProb @3 :Float32;
-  dPathWLinesX @6 :List(Float32);
-  dPathWLinesY @7 :List(Float32);
-
-  laneChangePrev @8 :Bool;
-  laneChangeEdgeBlock @10 :Bool;
 
   dynamicLaneProfile @4 :Int8;
   standstillElapsed @5 :Float32;
   dynamicLaneProfileStatus @9 :Bool;
+
+  dPathWLinesXDEPRECATED @6 :List(Float32);
+  dPathWLinesYDEPRECATED @7 :List(Float32);
+  laneChangePrevDEPRECATED @8 :Bool;
+  laneChangeEdgeBlockDEPRECATED @10 :Bool;
 }
 
 struct DriverMonitoringStateSP @0xda96579883444c35 {
@@ -175,7 +175,9 @@ struct E2eLongStateSP @0xa5cd762cd951a455 {
   status @0 :UInt16;
 }
 
-struct CustomReserved6 @0xf98d843bfd7004a3 {
+struct ModelDataV2SP @0xf98d843bfd7004a3 {
+  laneChangePrev @0 :Bool;
+  laneChangeEdgeBlock @1 :Bool;
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {

cereal/gen/cpp/car.capnp.h

@@ -6,11 +6,15 @@
 #include <capnp/generated-header-support.h>
 #include <kj/windows-sanity.h>
 
-#if CAPNP_VERSION != 8000
+#ifndef CAPNP_VERSION
+#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?"
+#elif CAPNP_VERSION != 1000002
 #error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
 #endif
 
 
+CAPNP_BEGIN_HEADER
+
 namespace capnp {
 namespace schemas {
 
@@ -49,7 +53,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
   PARK_BRAKE,
   MANUAL_RESTART,
   LOW_SPEED_LOCKOUT,
-  PLANNER_ERROR,
+  PLANNER_ERROR_D_E_P_R_E_C_A_T_E_D,
   IPAS_OVERRIDE_D_E_P_R_E_C_A_T_E_D,
   JOYSTICK_DEBUG,
   STEER_TEMP_UNAVAILABLE_SILENT,
@@ -283,13 +287,14 @@ enum class SafetyModel_95551e5b1edaf451: uint16_t {
   BODY,
   HYUNDAI_CANFD,
   VOLKSWAGEN_MQB_EVO,
+  CHRYSLER_CUSW,
 };
 CAPNP_DECLARE_ENUM(SafetyModel, 95551e5b1edaf451);
 CAPNP_DECLARE_SCHEMA(d661512be2def77f);
 enum class SteerControlType_d661512be2def77f: uint16_t {
   TORQUE,
   ANGLE,
-  CURVATURE,
+  CURVATURE_D_E_P_R_E_C_A_T_E_D,
 };
 CAPNP_DECLARE_ENUM(SteerControlType, d661512be2def77f);
 CAPNP_DECLARE_SCHEMA(8f162eeb14bfc0ec);
@@ -2557,6 +2562,8 @@ public:
 
   inline float getTireStiffnessFactor() const;
 
+  inline bool getPassive() const;
+
   inline bool getPcmCruiseSpeed() const;
 
   inline bool getCustomStockLongAvailable() const;
@@ -2859,6 +2866,9 @@ public:
   inline float getTireStiffnessFactor();
   inline void setTireStiffnessFactor(float value);
 
+  inline bool getPassive();
+  inline void setPassive(bool value);
+
   inline bool getPcmCruiseSpeed();
   inline void setPcmCruiseSpeed(bool value);
 
@@ -7692,34 +7702,48 @@ inline void CarParams::Builder::setTireStiffnessFactor(float value) {
       ::capnp::bounded<33>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool CarParams::Reader::getPcmCruiseSpeed() const {
+inline bool CarParams::Reader::getPassive() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<996>() * ::capnp::ELEMENTS);
 }
 
-inline bool CarParams::Builder::getPcmCruiseSpeed() {
+inline bool CarParams::Builder::getPassive() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<996>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::Builder::setPcmCruiseSpeed(bool value) {
+inline void CarParams::Builder::setPassive(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<996>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool CarParams::Reader::getCustomStockLongAvailable() const {
+inline bool CarParams::Reader::getPcmCruiseSpeed() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<997>() * ::capnp::ELEMENTS);
 }
 
-inline bool CarParams::Builder::getCustomStockLongAvailable() {
+inline bool CarParams::Builder::getPcmCruiseSpeed() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<997>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::Builder::setCustomStockLongAvailable(bool value) {
+inline void CarParams::Builder::setPcmCruiseSpeed(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<997>() * ::capnp::ELEMENTS, value);
 }
 
+inline bool CarParams::Reader::getCustomStockLongAvailable() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<998>() * ::capnp::ELEMENTS);
+}
+
+inline bool CarParams::Builder::getCustomStockLongAvailable() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<998>() * ::capnp::ELEMENTS);
+}
+inline void CarParams::Builder::setCustomStockLongAvailable(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<998>() * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t CarParams::Reader::getSpFlags() const {
   return _reader.getDataField< ::uint32_t>(
       ::capnp::bounded<34>() * ::capnp::ELEMENTS);
@@ -9457,3 +9481,5 @@ inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> CarParams::Lat
 
 }  // namespace
 
+CAPNP_END_HEADER
+

cereal/gen/cpp/custom.capnp.c++

@@ -50,7 +50,7 @@ static const ::capnp::_::AlignedData<38> b_d92113aa7c18cdf6 = {
 static const uint16_t m_d92113aa7c18cdf6[] = {0, 1, 3, 2};
 const ::capnp::_::RawSchema s_d92113aa7c18cdf6 = {
   0xd92113aa7c18cdf6, b_d92113aa7c18cdf6.words, 38, nullptr, m_d92113aa7c18cdf6,
-  0, 4, nullptr, nullptr, nullptr, { &s_d92113aa7c18cdf6, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, nullptr, nullptr, nullptr, { &s_d92113aa7c18cdf6, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(LongitudinalPersonalitySP_d92113aa7c18cdf6, d92113aa7c18cdf6);
@@ -142,7 +142,7 @@ static const uint16_t m_81c2f05a394cf4af[] = {1, 0};
 static const uint16_t i_81c2f05a394cf4af[] = {0, 1};
 const ::capnp::_::RawSchema s_81c2f05a394cf4af = {
   0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 77, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
-  1, 2, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }
+  1, 2, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_b6a9042bc207bf27 = {
@@ -170,7 +170,7 @@ static const ::capnp::_::AlignedData<19> b_b6a9042bc207bf27 = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_b6a9042bc207bf27 = {
   0xb6a9042bc207bf27, b_b6a9042bc207bf27.words, 19, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_b6a9042bc207bf27, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_b6a9042bc207bf27, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_88da8426fae53f07 = {
@@ -198,7 +198,7 @@ static const ::capnp::_::AlignedData<19> b_88da8426fae53f07 = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_88da8426fae53f07 = {
   0x88da8426fae53f07, b_88da8426fae53f07.words, 19, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_88da8426fae53f07, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_88da8426fae53f07, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_a9d235d23de15f34 = {
@@ -226,7 +226,7 @@ static const ::capnp::_::AlignedData<19> b_a9d235d23de15f34 = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_a9d235d23de15f34 = {
   0xa9d235d23de15f34, b_a9d235d23de15f34.words, 19, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_a9d235d23de15f34, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_a9d235d23de15f34, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_be8ceaa2a89de7dd = {
@@ -254,7 +254,7 @@ static const ::capnp::_::AlignedData<19> b_be8ceaa2a89de7dd = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_be8ceaa2a89de7dd = {
   0xbe8ceaa2a89de7dd, b_be8ceaa2a89de7dd.words, 19, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_be8ceaa2a89de7dd, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_be8ceaa2a89de7dd, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<39> b_8cd56244b40afff5 = {
@@ -304,7 +304,7 @@ static const uint16_t m_8cd56244b40afff5[] = {0};
 static const uint16_t i_8cd56244b40afff5[] = {0};
 const ::capnp::_::RawSchema s_8cd56244b40afff5 = {
   0x8cd56244b40afff5, b_8cd56244b40afff5.words, 39, nullptr, m_8cd56244b40afff5,
-  0, 1, i_8cd56244b40afff5, nullptr, nullptr, { &s_8cd56244b40afff5, nullptr, nullptr, 0, 0, nullptr }
+  0, 1, i_8cd56244b40afff5, nullptr, nullptr, { &s_8cd56244b40afff5, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<20> b_f4da5f8564a56edb = {
@@ -333,7 +333,7 @@ static const ::capnp::_::AlignedData<20> b_f4da5f8564a56edb = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_f4da5f8564a56edb = {
   0xf4da5f8564a56edb, b_f4da5f8564a56edb.words, 20, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f4da5f8564a56edb, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_f4da5f8564a56edb, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_b5044e038567cd31 = {
@@ -361,7 +361,7 @@ static const ::capnp::_::AlignedData<19> b_b5044e038567cd31 = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_b5044e038567cd31 = {
   0xb5044e038567cd31, b_b5044e038567cd31.words, 19, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_b5044e038567cd31, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_b5044e038567cd31, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<133> b_8e4c2c83a5d25c2d = {
@@ -515,7 +515,7 @@ static const uint16_t m_8e4c2c83a5d25c2d[] = {2, 5, 3, 0, 6, 1, 4};
 static const uint16_t i_8e4c2c83a5d25c2d[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_8e4c2c83a5d25c2d = {
   0x8e4c2c83a5d25c2d, b_8e4c2c83a5d25c2d.words, 133, d_8e4c2c83a5d25c2d, m_8e4c2c83a5d25c2d,
-  8, 7, i_8e4c2c83a5d25c2d, nullptr, nullptr, { &s_8e4c2c83a5d25c2d, nullptr, nullptr, 0, 0, nullptr }
+  8, 7, i_8e4c2c83a5d25c2d, nullptr, nullptr, { &s_8e4c2c83a5d25c2d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<403> b_aedffd8f31e7b55d = {
@@ -936,7 +936,7 @@ static const uint16_t m_aedffd8f31e7b55d[] = {13, 5, 7, 18, 15, 19, 6, 20, 14, 2
 static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21};
 const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
   0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 403, d_aedffd8f31e7b55d, m_aedffd8f31e7b55d,
-  5, 22, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }
+  5, 22, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<45> b_9e7784369b990802 = {
@@ -991,7 +991,7 @@ static const ::capnp::_::AlignedData<45> b_9e7784369b990802 = {
 static const uint16_t m_9e7784369b990802[] = {3, 2, 0, 4, 1};
 const ::capnp::_::RawSchema s_9e7784369b990802 = {
   0x9e7784369b990802, b_9e7784369b990802.words, 45, nullptr, m_9e7784369b990802,
-  0, 5, nullptr, nullptr, nullptr, { &s_9e7784369b990802, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, nullptr, nullptr, nullptr, { &s_9e7784369b990802, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(SpeedLimitControlState_9e7784369b990802, 9e7784369b990802);
@@ -1042,7 +1042,7 @@ static const ::capnp::_::AlignedData<40> b_d1124e845254aeda = {
 static const uint16_t m_d1124e845254aeda[] = {0, 1, 3, 2};
 const ::capnp::_::RawSchema s_d1124e845254aeda = {
   0xd1124e845254aeda, b_d1124e845254aeda.words, 40, nullptr, m_d1124e845254aeda,
-  0, 4, nullptr, nullptr, nullptr, { &s_d1124e845254aeda, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, nullptr, nullptr, nullptr, { &s_d1124e845254aeda, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(VisionTurnControllerState_d1124e845254aeda, d1124e845254aeda);
@@ -1107,11 +1107,11 @@ static const ::capnp::_::AlignedData<54> b_b53c44b896b6c446 = {
 static const uint16_t m_b53c44b896b6c446[] = {0, 4, 1, 2, 3, 6, 5, 7};
 const ::capnp::_::RawSchema s_b53c44b896b6c446 = {
   0xb53c44b896b6c446, b_b53c44b896b6c446.words, 54, nullptr, m_b53c44b896b6c446,
-  0, 8, nullptr, nullptr, nullptr, { &s_b53c44b896b6c446, nullptr, nullptr, 0, 0, nullptr }
+  0, 8, nullptr, nullptr, nullptr, { &s_b53c44b896b6c446, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(LongitudinalPlanSource_b53c44b896b6c446, b53c44b896b6c446);
-static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
+static const ::capnp::_::AlignedData<209> b_f35cc4560bbf6ec2 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     194, 110, 191,  11,  86, 196,  92, 243,
      13,   0,   0,   0,   1,   0,   3,   0,
@@ -1158,55 +1158,55 @@ static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
      48,   1,   0,   0,   3,   0,   1,   0,
      60,   1,   0,   0,   2,   0,   1,   0,
-      8,   0,   0,   0,  16,   0,   0,   0,
+      4,   0,   0,   0,  16,   0,   0,   0,
       0,   0,   1,   0,   4,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      57,   1,   0,   0, 154,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      60,   1,   0,   0,   3,   0,   1,   0,
      72,   1,   0,   0,   2,   0,   1,   0,
-      9,   0,   0,   0,   5,   0,   0,   0,
+      5,   0,   0,   0,   5,   0,   0,   0,
       0,   0,   1,   0,   5,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      69,   1,   0,   0, 146,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      72,   1,   0,   0,   3,   0,   1,   0,
      84,   1,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   0,   0,   0,   0,
+      7,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   1,   0,   6,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     81,   1,   0,   0, 106,   0,   0,   0,
+     81,   1,   0,   0, 186,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     80,   1,   0,   0,   3,   0,   1,   0,
-    108,   1,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   1,   0,   0,   0,
+     84,   1,   0,   0,   3,   0,   1,   0,
+    112,   1,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0,   1,   0,   0,   0,
       0,   0,   1,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    105,   1,   0,   0, 106,   0,   0,   0,
+    109,   1,   0,   0, 186,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    104,   1,   0,   0,   3,   0,   1,   0,
-    132,   1,   0,   0,   2,   0,   1,   0,
-      6,   0,   0,   0, 136,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    129,   1,   0,   0, 122,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    128,   1,   0,   0,   3,   0,   1,   0,
+    112,   1,   0,   0,   3,   0,   1,   0,
     140,   1,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0, 137,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
+      9,   0,   0,   0, 136,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     137,   1,   0,   0, 202,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     144,   1,   0,   0,   3,   0,   1,   0,
     156,   1,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0, 138,   0,   0,   0,
+      6,   0,   0,   0, 137,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    153,   1,   0,   0, 202,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    160,   1,   0,   0,   3,   0,   1,   0,
+    172,   1,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0, 138,   0,   0,   0,
       0,   0,   1,   0,  10,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    153,   1,   0,   0, 162,   0,   0,   0,
+    169,   1,   0,   0, 242,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-    156,   1,   0,   0,   3,   0,   1,   0,
-    168,   1,   0,   0,   2,   0,   1,   0,
+    176,   1,   0,   0,   3,   0,   1,   0,
+    188,   1,   0,   0,   2,   0,   1,   0,
     108,  97, 110, 101,  87, 105, 100, 116,
     104,   0,   0,   0,   0,   0,   0,   0,
      10,   0,   0,   0,   0,   0,   0,   0,
@@ -1261,7 +1261,8 @@ static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     100,  80,  97, 116, 104,  87,  76, 105,
-    110, 101, 115,  88,   0,   0,   0,   0,
+    110, 101, 115,  88,  68,  69,  80,  82,
+     69,  67,  65,  84,  69,  68,   0,   0,
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1274,7 +1275,8 @@ static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     100,  80,  97, 116, 104,  87,  76, 105,
-    110, 101, 115,  89,   0,   0,   0,   0,
+    110, 101, 115,  89,  68,  69,  80,  82,
+     69,  67,  65,  84,  69,  68,   0,   0,
      14,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1287,7 +1289,9 @@ static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
     108,  97, 110, 101,  67, 104,  97, 110,
-    103, 101,  80, 114, 101, 118,   0,   0,
+    103, 101,  80, 114, 101, 118,  68,  69,
+     80,  82,  69,  67,  65,  84,  69,  68,
+      0,   0,   0,   0,   0,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1308,7 +1312,8 @@ static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
       0,   0,   0,   0,   0,   0,   0,   0,
     108,  97, 110, 101,  67, 104,  97, 110,
     103, 101,  69, 100, 103, 101,  66, 108,
-    111,  99, 107,   0,   0,   0,   0,   0,
+    111,  99, 107,  68,  69,  80,  82,  69,
+     67,  65,  84,  69,  68,   0,   0,   0,
       1,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
@@ -1322,8 +1327,8 @@ static const ::capnp::_::AlignedData<204> b_f35cc4560bbf6ec2 = {
 static const uint16_t m_f35cc4560bbf6ec2[] = {6, 7, 3, 4, 9, 1, 10, 8, 0, 2, 5};
 static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
 const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
-  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 204, nullptr, m_f35cc4560bbf6ec2,
-  0, 11, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }
+  0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 209, nullptr, m_f35cc4560bbf6ec2,
+  0, 11, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<57> b_da96579883444c35 = {
@@ -1394,7 +1399,7 @@ static const uint16_t m_da96579883444c35[] = {0, 1};
 static const uint16_t i_da96579883444c35[] = {0, 1};
 const ::capnp::_::RawSchema s_da96579883444c35 = {
   0xda96579883444c35, b_da96579883444c35.words, 57, d_da96579883444c35, m_da96579883444c35,
-  1, 2, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }
+  1, 2, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<47> b_b5a4fa12beedc9ab = {
@@ -1451,7 +1456,7 @@ static const ::capnp::_::AlignedData<47> b_b5a4fa12beedc9ab = {
 static const uint16_t m_b5a4fa12beedc9ab[] = {4, 2, 0, 1, 5, 3};
 const ::capnp::_::RawSchema s_b5a4fa12beedc9ab = {
   0xb5a4fa12beedc9ab, b_b5a4fa12beedc9ab.words, 47, nullptr, m_b5a4fa12beedc9ab,
-  0, 6, nullptr, nullptr, nullptr, { &s_b5a4fa12beedc9ab, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, nullptr, nullptr, nullptr, { &s_b5a4fa12beedc9ab, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(HandsOnWheelState_b5a4fa12beedc9ab, b5a4fa12beedc9ab);
@@ -1852,7 +1857,7 @@ static const uint16_t m_80ae746ee2596b11[] = {13, 20, 18, 19, 17, 14, 15, 16, 12
 static const uint16_t i_80ae746ee2596b11[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
 const ::capnp::_::RawSchema s_80ae746ee2596b11 = {
   0x80ae746ee2596b11, b_80ae746ee2596b11.words, 386, d_80ae746ee2596b11, m_80ae746ee2596b11,
-  1, 21, i_80ae746ee2596b11, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }
+  1, 21, i_80ae746ee2596b11, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<31> b_e3ff45a51e47d36d = {
@@ -1893,7 +1898,7 @@ static const ::capnp::_::AlignedData<31> b_e3ff45a51e47d36d = {
 static const uint16_t m_e3ff45a51e47d36d[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_e3ff45a51e47d36d = {
   0xe3ff45a51e47d36d, b_e3ff45a51e47d36d.words, 31, nullptr, m_e3ff45a51e47d36d,
-  0, 3, nullptr, nullptr, nullptr, { &s_e3ff45a51e47d36d, nullptr, nullptr, 0, 0, nullptr }
+  0, 3, nullptr, nullptr, nullptr, { &s_e3ff45a51e47d36d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(DataType_e3ff45a51e47d36d, e3ff45a51e47d36d);
@@ -1938,33 +1943,69 @@ static const uint16_t m_a5cd762cd951a455[] = {0};
 static const uint16_t i_a5cd762cd951a455[] = {0};
 const ::capnp::_::RawSchema s_a5cd762cd951a455 = {
   0xa5cd762cd951a455, b_a5cd762cd951a455.words, 33, nullptr, m_a5cd762cd951a455,
-  0, 1, i_a5cd762cd951a455, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }
+  0, 1, i_a5cd762cd951a455, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = {
+static const ::capnp::_::AlignedData<51> b_f98d843bfd7004a3 = {
   {   0,   0,   0,   0,   5,   0,   6,   0,
     163,   4, 112, 253,  59, 132, 141, 249,
-     13,   0,   0,   0,   1,   0,   0,   0,
+     13,   0,   0,   0,   1,   0,   1,   0,
      89,  10,  85,  29, 102, 186,  38, 181,
       0,   0,   7,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-     21,   0,   0,   0, 234,   0,   0,   0,
+     21,   0,   0,   0, 218,   0,   0,   0,
      33,   0,   0,   0,   7,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
+     29,   0,   0,   0, 119,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
       0,   0,   0,   0,   0,   0,   0,   0,
      99, 117, 115, 116, 111, 109,  46,  99,
-     97, 112, 110, 112,  58,  67, 117, 115,
-    116, 111, 109,  82, 101, 115, 101, 114,
-    118, 101, 100,  54,   0,   0,   0,   0,
-      0,   0,   0,   0,   1,   0,   1,   0, }
+     97, 112, 110, 112,  58,  77, 111, 100,
+    101, 108,  68,  97, 116,  97,  86,  50,
+     83,  80,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   1,   0,   1,   0,
+      8,   0,   0,   0,   3,   0,   4,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   1,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     41,   0,   0,   0, 122,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     40,   0,   0,   0,   3,   0,   1,   0,
+     52,   0,   0,   0,   2,   0,   1,   0,
+      1,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   1,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     49,   0,   0,   0, 162,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     52,   0,   0,   0,   3,   0,   1,   0,
+     64,   0,   0,   0,   2,   0,   1,   0,
+    108,  97, 110, 101,  67, 104,  97, 110,
+    103, 101,  80, 114, 101, 118,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,  97, 110, 101,  67, 104,  97, 110,
+    103, 101,  69, 100, 103, 101,  66, 108,
+    111,  99, 107,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      1,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0, }
 };
 ::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words;
 #if !CAPNP_LITE
+static const uint16_t m_f98d843bfd7004a3[] = {1, 0};
+static const uint16_t i_f98d843bfd7004a3[] = {0, 1};
 const ::capnp::_::RawSchema s_f98d843bfd7004a3 = {
-  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }
+  0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 51, nullptr, m_f98d843bfd7004a3,
+  0, 2, i_f98d843bfd7004a3, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
@@ -1990,7 +2031,7 @@ static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_b86e6369214c01c8 = {
   0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
@@ -2016,7 +2057,7 @@ static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
   0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
@@ -2042,7 +2083,7 @@ static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = {
 #if !CAPNP_LITE
 const ::capnp::_::RawSchema s_a1680744031fdb2d = {
   0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr,
-  0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }
+  0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 }  // namespace schemas
@@ -2053,147 +2094,219 @@ const ::capnp::_::RawSchema s_a1680744031fdb2d = {
 namespace cereal {
 
 // ControlsStateSP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralINDIState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralINDIState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralINDIState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralINDIState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralINDIState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralPIDState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralPIDState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralPIDState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralPIDState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralPIDState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralAngleState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralAngleState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralAngleState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralAngleState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralAngleState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralDebugState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralDebugState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralDebugState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralDebugState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralDebugState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralTorqueState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralTorqueState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralTorqueState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralTorqueState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralTorqueState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralCurvatureState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralCurvatureState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralCurvatureState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralCurvatureState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralCurvatureState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralLQRState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralLQRState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralLQRState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralLQRState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralLQRState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ControlsStateSP::LateralControlState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ControlsStateSP::LateralControlState::_capnpPrivate::dataWordSize;
 constexpr uint16_t ControlsStateSP::LateralControlState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ControlsStateSP::LateralControlState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ControlsStateSP::LateralControlState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LongitudinalPlanSP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LongitudinalPlanSP::_capnpPrivate::dataWordSize;
 constexpr uint16_t LongitudinalPlanSP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LongitudinalPlanSP::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LongitudinalPlanSP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LateralPlanSP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LateralPlanSP::_capnpPrivate::dataWordSize;
 constexpr uint16_t LateralPlanSP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LateralPlanSP::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LateralPlanSP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // DriverMonitoringStateSP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t DriverMonitoringStateSP::_capnpPrivate::dataWordSize;
 constexpr uint16_t DriverMonitoringStateSP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind DriverMonitoringStateSP::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* DriverMonitoringStateSP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LiveMapDataSP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LiveMapDataSP::_capnpPrivate::dataWordSize;
 constexpr uint16_t LiveMapDataSP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LiveMapDataSP::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LiveMapDataSP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // E2eLongStateSP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t E2eLongStateSP::_capnpPrivate::dataWordSize;
 constexpr uint16_t E2eLongStateSP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind E2eLongStateSP::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* E2eLongStateSP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
-// CustomReserved6
-constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize;
-constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount;
+// ModelDataV2SP
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr uint16_t ModelDataV2SP::_capnpPrivate::dataWordSize;
+constexpr uint16_t ModelDataV2SP::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
-constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind;
-constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema;
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
+constexpr ::capnp::Kind ModelDataV2SP::_capnpPrivate::kind;
+constexpr ::capnp::_::RawSchema const* ModelDataV2SP::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // CustomReserved7
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize;
 constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // CustomReserved8
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize;
 constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // CustomReserved9
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize;
 constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 

cereal/gen/cpp/custom.capnp.h

@@ -6,12 +6,16 @@
 #include <capnp/generated-header-support.h>
 #include <kj/windows-sanity.h>
 
-#if CAPNP_VERSION != 8000
+#ifndef CAPNP_VERSION
+#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?"
+#elif CAPNP_VERSION != 1000002
 #error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
 #endif
 
 #include "car.capnp.h"
 
+CAPNP_BEGIN_HEADER
+
 namespace capnp {
 namespace schemas {
 
@@ -332,15 +336,15 @@ struct E2eLongStateSP {
   };
 };
 
-struct CustomReserved6 {
-  CustomReserved6() = delete;
+struct ModelDataV2SP {
+  ModelDataV2SP() = delete;
 
   class Reader;
   class Builder;
   class Pipeline;
 
   struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(f98d843bfd7004a3, 0, 0)
+    CAPNP_DECLARE_STRUCT_HEADER(f98d843bfd7004a3, 1, 0)
     #if !CAPNP_LITE
     static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
     #endif  // !CAPNP_LITE
@@ -1372,17 +1376,17 @@ public:
 
   inline float getStandstillElapsed() const;
 
-  inline bool hasDPathWLinesX() const;
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDPathWLinesX() const;
+  inline bool hasDPathWLinesXDEPRECATED() const;
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDPathWLinesXDEPRECATED() const;
 
-  inline bool hasDPathWLinesY() const;
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDPathWLinesY() const;
+  inline bool hasDPathWLinesYDEPRECATED() const;
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDPathWLinesYDEPRECATED() const;
 
-  inline bool getLaneChangePrev() const;
+  inline bool getLaneChangePrevDEPRECATED() const;
 
   inline bool getDynamicLaneProfileStatus() const;
 
-  inline bool getLaneChangeEdgeBlock() const;
+  inline bool getLaneChangeEdgeBlockDEPRECATED() const;
 
 private:
   ::capnp::_::StructReader _reader;
@@ -1430,30 +1434,30 @@ public:
   inline float getStandstillElapsed();
   inline void setStandstillElapsed(float value);
 
-  inline bool hasDPathWLinesX();
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDPathWLinesX();
-  inline void setDPathWLinesX( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
-  inline void setDPathWLinesX(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDPathWLinesX(unsigned int size);
-  inline void adoptDPathWLinesX(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDPathWLinesX();
+  inline bool hasDPathWLinesXDEPRECATED();
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDPathWLinesXDEPRECATED();
+  inline void setDPathWLinesXDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
+  inline void setDPathWLinesXDEPRECATED(::kj::ArrayPtr<const float> value);
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDPathWLinesXDEPRECATED(unsigned int size);
+  inline void adoptDPathWLinesXDEPRECATED(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
+  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDPathWLinesXDEPRECATED();
 
-  inline bool hasDPathWLinesY();
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDPathWLinesY();
-  inline void setDPathWLinesY( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
-  inline void setDPathWLinesY(::kj::ArrayPtr<const float> value);
-  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDPathWLinesY(unsigned int size);
-  inline void adoptDPathWLinesY(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
-  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDPathWLinesY();
+  inline bool hasDPathWLinesYDEPRECATED();
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDPathWLinesYDEPRECATED();
+  inline void setDPathWLinesYDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value);
+  inline void setDPathWLinesYDEPRECATED(::kj::ArrayPtr<const float> value);
+  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder initDPathWLinesYDEPRECATED(unsigned int size);
+  inline void adoptDPathWLinesYDEPRECATED(::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value);
+  inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> disownDPathWLinesYDEPRECATED();
 
-  inline bool getLaneChangePrev();
-  inline void setLaneChangePrev(bool value);
+  inline bool getLaneChangePrevDEPRECATED();
+  inline void setLaneChangePrevDEPRECATED(bool value);
 
   inline bool getDynamicLaneProfileStatus();
   inline void setDynamicLaneProfileStatus(bool value);
 
-  inline bool getLaneChangeEdgeBlock();
-  inline void setLaneChangeEdgeBlock(bool value);
+  inline bool getLaneChangeEdgeBlockDEPRECATED();
+  inline void setLaneChangeEdgeBlockDEPRECATED(bool value);
 
 private:
   ::capnp::_::StructBuilder _builder;
@@ -1837,9 +1841,9 @@ private:
 };
 #endif  // !CAPNP_LITE
 
-class CustomReserved6::Reader {
+class ModelDataV2SP::Reader {
 public:
-  typedef CustomReserved6 Reads;
+  typedef ModelDataV2SP Reads;
 
   Reader() = default;
   inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
@@ -1854,6 +1858,10 @@ public:
   }
 #endif  // !CAPNP_LITE
 
+  inline bool getLaneChangePrev() const;
+
+  inline bool getLaneChangeEdgeBlock() const;
+
 private:
   ::capnp::_::StructReader _reader;
   template <typename, ::capnp::Kind>
@@ -1866,9 +1874,9 @@ private:
   friend class ::capnp::Orphanage;
 };
 
-class CustomReserved6::Builder {
+class ModelDataV2SP::Builder {
 public:
-  typedef CustomReserved6 Builds;
+  typedef ModelDataV2SP Builds;
 
   Builder() = delete;  // Deleted to discourage incorrect usage.
                        // You can explicitly initialize to nullptr instead.
@@ -1882,6 +1890,12 @@ public:
   inline ::kj::StringTree toString() const { return asReader().toString(); }
 #endif  // !CAPNP_LITE
 
+  inline bool getLaneChangePrev();
+  inline void setLaneChangePrev(bool value);
+
+  inline bool getLaneChangeEdgeBlock();
+  inline void setLaneChangeEdgeBlock(bool value);
+
 private:
   ::capnp::_::StructBuilder _builder;
   template <typename, ::capnp::Kind>
@@ -1892,9 +1906,9 @@ private:
 };
 
 #if !CAPNP_LITE
-class CustomReserved6::Pipeline {
+class ModelDataV2SP::Pipeline {
 public:
-  typedef CustomReserved6 Pipelines;
+  typedef ModelDataV2SP Pipelines;
 
   inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
   inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
@@ -3054,92 +3068,92 @@ inline void LateralPlanSP::Builder::setStandstillElapsed(float value) {
       ::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool LateralPlanSP::Reader::hasDPathWLinesX() const {
+inline bool LateralPlanSP::Reader::hasDPathWLinesXDEPRECATED() const {
   return !_reader.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
 }
-inline bool LateralPlanSP::Builder::hasDPathWLinesX() {
+inline bool LateralPlanSP::Builder::hasDPathWLinesXDEPRECATED() {
   return !_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader LateralPlanSP::Reader::getDPathWLinesX() const {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader LateralPlanSP::Reader::getDPathWLinesXDEPRECATED() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::getDPathWLinesX() {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::getDPathWLinesXDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
-inline void LateralPlanSP::Builder::setDPathWLinesX( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
+inline void LateralPlanSP::Builder::setDPathWLinesXDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS), value);
 }
-inline void LateralPlanSP::Builder::setDPathWLinesX(::kj::ArrayPtr<const float> value) {
+inline void LateralPlanSP::Builder::setDPathWLinesXDEPRECATED(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::initDPathWLinesX(unsigned int size) {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::initDPathWLinesXDEPRECATED(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS), size);
 }
-inline void LateralPlanSP::Builder::adoptDPathWLinesX(
+inline void LateralPlanSP::Builder::adoptDPathWLinesXDEPRECATED(
     ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> LateralPlanSP::Builder::disownDPathWLinesX() {
+inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> LateralPlanSP::Builder::disownDPathWLinesXDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
       ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
 
-inline bool LateralPlanSP::Reader::hasDPathWLinesY() const {
+inline bool LateralPlanSP::Reader::hasDPathWLinesYDEPRECATED() const {
   return !_reader.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
 }
-inline bool LateralPlanSP::Builder::hasDPathWLinesY() {
+inline bool LateralPlanSP::Builder::hasDPathWLinesYDEPRECATED() {
   return !_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader LateralPlanSP::Reader::getDPathWLinesY() const {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader LateralPlanSP::Reader::getDPathWLinesYDEPRECATED() const {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS));
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::getDPathWLinesY() {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::getDPathWLinesYDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS));
 }
-inline void LateralPlanSP::Builder::setDPathWLinesY( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
+inline void LateralPlanSP::Builder::setDPathWLinesYDEPRECATED( ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS), value);
 }
-inline void LateralPlanSP::Builder::setDPathWLinesY(::kj::ArrayPtr<const float> value) {
+inline void LateralPlanSP::Builder::setDPathWLinesYDEPRECATED(::kj::ArrayPtr<const float> value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS), value);
 }
-inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::initDPathWLinesY(unsigned int size) {
+inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder LateralPlanSP::Builder::initDPathWLinesYDEPRECATED(unsigned int size) {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS), size);
 }
-inline void LateralPlanSP::Builder::adoptDPathWLinesY(
+inline void LateralPlanSP::Builder::adoptDPathWLinesYDEPRECATED(
     ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>&& value) {
   ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> LateralPlanSP::Builder::disownDPathWLinesY() {
+inline ::capnp::Orphan< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>> LateralPlanSP::Builder::disownDPathWLinesYDEPRECATED() {
   return ::capnp::_::PointerHelpers< ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
       ::capnp::bounded<1>() * ::capnp::POINTERS));
 }
 
-inline bool LateralPlanSP::Reader::getLaneChangePrev() const {
+inline bool LateralPlanSP::Reader::getLaneChangePrevDEPRECATED() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<136>() * ::capnp::ELEMENTS);
 }
 
-inline bool LateralPlanSP::Builder::getLaneChangePrev() {
+inline bool LateralPlanSP::Builder::getLaneChangePrevDEPRECATED() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<136>() * ::capnp::ELEMENTS);
 }
-inline void LateralPlanSP::Builder::setLaneChangePrev(bool value) {
+inline void LateralPlanSP::Builder::setLaneChangePrevDEPRECATED(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<136>() * ::capnp::ELEMENTS, value);
 }
@@ -3158,16 +3172,16 @@ inline void LateralPlanSP::Builder::setDynamicLaneProfileStatus(bool value) {
       ::capnp::bounded<137>() * ::capnp::ELEMENTS, value);
 }
 
-inline bool LateralPlanSP::Reader::getLaneChangeEdgeBlock() const {
+inline bool LateralPlanSP::Reader::getLaneChangeEdgeBlockDEPRECATED() const {
   return _reader.getDataField<bool>(
       ::capnp::bounded<138>() * ::capnp::ELEMENTS);
 }
 
-inline bool LateralPlanSP::Builder::getLaneChangeEdgeBlock() {
+inline bool LateralPlanSP::Builder::getLaneChangeEdgeBlockDEPRECATED() {
   return _builder.getDataField<bool>(
       ::capnp::bounded<138>() * ::capnp::ELEMENTS);
 }
-inline void LateralPlanSP::Builder::setLaneChangeEdgeBlock(bool value) {
+inline void LateralPlanSP::Builder::setLaneChangeEdgeBlockDEPRECATED(bool value) {
   _builder.setDataField<bool>(
       ::capnp::bounded<138>() * ::capnp::ELEMENTS, value);
 }
@@ -3600,5 +3614,35 @@ inline void E2eLongStateSP::Builder::setStatus( ::uint16_t value) {
       ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }
 
+inline bool ModelDataV2SP::Reader::getLaneChangePrev() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+
+inline bool ModelDataV2SP::Builder::getLaneChangePrev() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
+}
+inline void ModelDataV2SP::Builder::setLaneChangePrev(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool ModelDataV2SP::Reader::getLaneChangeEdgeBlock() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline bool ModelDataV2SP::Builder::getLaneChangeEdgeBlock() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void ModelDataV2SP::Builder::setLaneChangeEdgeBlock(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
 }  // namespace
 
+CAPNP_END_HEADER
+

cereal/gen/cpp/legacy.capnp.c++

@@ -61,7 +61,7 @@ static const uint16_t m_9811e1f38f62f2d1[] = {1, 0};
 static const uint16_t i_9811e1f38f62f2d1[] = {0, 1};
 const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = {
   0x9811e1f38f62f2d1, b_9811e1f38f62f2d1.words, 48, nullptr, m_9811e1f38f62f2d1,
-  0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }
+  0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<81> b_c08240f996aefced = {
@@ -153,7 +153,7 @@ static const uint16_t m_c08240f996aefced[] = {1, 2, 3, 0};
 static const uint16_t i_c08240f996aefced[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_c08240f996aefced = {
   0xc08240f996aefced, b_c08240f996aefced.words, 81, nullptr, m_c08240f996aefced,
-  0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<86> b_88dcce08ad29dda0 = {
@@ -253,7 +253,7 @@ static const uint16_t m_88dcce08ad29dda0[] = {0, 2, 3, 1};
 static const uint16_t i_88dcce08ad29dda0[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_88dcce08ad29dda0 = {
   0x88dcce08ad29dda0, b_88dcce08ad29dda0.words, 86, d_88dcce08ad29dda0, m_88dcce08ad29dda0,
-  1, 4, i_88dcce08ad29dda0, nullptr, nullptr, { &s_88dcce08ad29dda0, nullptr, nullptr, 0, 0, nullptr }
+  1, 4, i_88dcce08ad29dda0, nullptr, nullptr, { &s_88dcce08ad29dda0, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<39> b_9917470acf94d285 = {
@@ -302,7 +302,7 @@ static const ::capnp::_::AlignedData<39> b_9917470acf94d285 = {
 static const uint16_t m_9917470acf94d285[] = {0, 1, 2, 4, 3};
 const ::capnp::_::RawSchema s_9917470acf94d285 = {
   0x9917470acf94d285, b_9917470acf94d285.words, 39, nullptr, m_9917470acf94d285,
-  0, 5, nullptr, nullptr, nullptr, { &s_9917470acf94d285, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, nullptr, nullptr, nullptr, { &s_9917470acf94d285, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(App_9917470acf94d285, 9917470acf94d285);
@@ -447,7 +447,7 @@ static const uint16_t m_8afd33dc9b35e1aa[] = {0, 5, 4, 2, 3, 1};
 static const uint16_t i_8afd33dc9b35e1aa[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_8afd33dc9b35e1aa = {
   0x8afd33dc9b35e1aa, b_8afd33dc9b35e1aa.words, 133, nullptr, m_8afd33dc9b35e1aa,
-  0, 6, i_8afd33dc9b35e1aa, nullptr, nullptr, { &s_8afd33dc9b35e1aa, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, i_8afd33dc9b35e1aa, nullptr, nullptr, { &s_8afd33dc9b35e1aa, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<48> b_a99a9d5b33cf5859 = {
@@ -506,7 +506,7 @@ static const uint16_t m_a99a9d5b33cf5859[] = {0, 1};
 static const uint16_t i_a99a9d5b33cf5859[] = {0, 1};
 const ::capnp::_::RawSchema s_a99a9d5b33cf5859 = {
   0xa99a9d5b33cf5859, b_a99a9d5b33cf5859.words, 48, nullptr, m_a99a9d5b33cf5859,
-  0, 2, i_a99a9d5b33cf5859, nullptr, nullptr, { &s_a99a9d5b33cf5859, nullptr, nullptr, 0, 0, nullptr }
+  0, 2, i_a99a9d5b33cf5859, nullptr, nullptr, { &s_a99a9d5b33cf5859, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<48> b_cff7566681c277ce = {
@@ -565,7 +565,7 @@ static const uint16_t m_cff7566681c277ce[] = {1, 0};
 static const uint16_t i_cff7566681c277ce[] = {0, 1};
 const ::capnp::_::RawSchema s_cff7566681c277ce = {
   0xcff7566681c277ce, b_cff7566681c277ce.words, 48, nullptr, m_cff7566681c277ce,
-  0, 2, i_cff7566681c277ce, nullptr, nullptr, { &s_cff7566681c277ce, nullptr, nullptr, 0, 0, nullptr }
+  0, 2, i_cff7566681c277ce, nullptr, nullptr, { &s_cff7566681c277ce, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<260> b_d4df5a192382ba0b = {
@@ -839,7 +839,7 @@ static const uint16_t m_d4df5a192382ba0b[] = {0, 2, 6, 7, 8, 13, 14, 3, 11, 4, 9
 static const uint16_t i_d4df5a192382ba0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14};
 const ::capnp::_::RawSchema s_d4df5a192382ba0b = {
   0xd4df5a192382ba0b, b_d4df5a192382ba0b.words, 260, d_d4df5a192382ba0b, m_d4df5a192382ba0b,
-  1, 15, i_d4df5a192382ba0b, nullptr, nullptr, { &s_d4df5a192382ba0b, nullptr, nullptr, 0, 0, nullptr }
+  1, 15, i_d4df5a192382ba0b, nullptr, nullptr, { &s_d4df5a192382ba0b, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<40> b_cb6a279f015f6b51 = {
@@ -889,7 +889,7 @@ static const ::capnp::_::AlignedData<40> b_cb6a279f015f6b51 = {
 static const uint16_t m_cb6a279f015f6b51[] = {3, 0, 1, 2, 4};
 const ::capnp::_::RawSchema s_cb6a279f015f6b51 = {
   0xcb6a279f015f6b51, b_cb6a279f015f6b51.words, 40, nullptr, m_cb6a279f015f6b51,
-  0, 5, nullptr, nullptr, nullptr, { &s_cb6a279f015f6b51, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, nullptr, nullptr, nullptr, { &s_cb6a279f015f6b51, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(ChannelWidth_cb6a279f015f6b51, cb6a279f015f6b51);
@@ -949,7 +949,7 @@ static const uint16_t m_94b7baa90c5c321e[] = {0, 1};
 static const uint16_t i_94b7baa90c5c321e[] = {0, 1};
 const ::capnp::_::RawSchema s_94b7baa90c5c321e = {
   0x94b7baa90c5c321e, b_94b7baa90c5c321e.words, 48, nullptr, m_94b7baa90c5c321e,
-  0, 2, i_94b7baa90c5c321e, nullptr, nullptr, { &s_94b7baa90c5c321e, nullptr, nullptr, 0, 0, nullptr }
+  0, 2, i_94b7baa90c5c321e, nullptr, nullptr, { &s_94b7baa90c5c321e, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<314> b_b8aad62cffef28a9 = {
@@ -1281,7 +1281,7 @@ static const uint16_t m_b8aad62cffef28a9[] = {12, 13, 0, 6, 16, 4, 7, 2, 11, 10,
 static const uint16_t i_b8aad62cffef28a9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16};
 const ::capnp::_::RawSchema s_b8aad62cffef28a9 = {
   0xb8aad62cffef28a9, b_b8aad62cffef28a9.words, 314, d_b8aad62cffef28a9, m_b8aad62cffef28a9,
-  5, 17, i_b8aad62cffef28a9, nullptr, nullptr, { &s_b8aad62cffef28a9, nullptr, nullptr, 0, 0, nullptr }
+  5, 17, i_b8aad62cffef28a9, nullptr, nullptr, { &s_b8aad62cffef28a9, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<121> b_8817eeea389e9f08 = {
@@ -1413,7 +1413,7 @@ static const uint16_t m_8817eeea389e9f08[] = {0, 4, 1, 2, 3, 5};
 static const uint16_t i_8817eeea389e9f08[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_8817eeea389e9f08 = {
   0x8817eeea389e9f08, b_8817eeea389e9f08.words, 121, nullptr, m_8817eeea389e9f08,
-  0, 6, i_8817eeea389e9f08, nullptr, nullptr, { &s_8817eeea389e9f08, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, i_8817eeea389e9f08, nullptr, nullptr, { &s_8817eeea389e9f08, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<154> b_d1c9bef96d26fa91 = {
@@ -1578,7 +1578,7 @@ static const uint16_t m_d1c9bef96d26fa91[] = {0, 1, 7, 8, 3, 4, 5, 6, 2};
 static const uint16_t i_d1c9bef96d26fa91[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
 const ::capnp::_::RawSchema s_d1c9bef96d26fa91 = {
   0xd1c9bef96d26fa91, b_d1c9bef96d26fa91.words, 154, nullptr, m_d1c9bef96d26fa91,
-  0, 9, i_d1c9bef96d26fa91, nullptr, nullptr, { &s_d1c9bef96d26fa91, nullptr, nullptr, 0, 0, nullptr }
+  0, 9, i_d1c9bef96d26fa91, nullptr, nullptr, { &s_d1c9bef96d26fa91, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<141> b_a26e3710efd3e914 = {
@@ -1730,7 +1730,7 @@ static const uint16_t m_a26e3710efd3e914[] = {3, 2, 0, 1, 4, 6, 5};
 static const uint16_t i_a26e3710efd3e914[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_a26e3710efd3e914 = {
   0xa26e3710efd3e914, b_a26e3710efd3e914.words, 141, nullptr, m_a26e3710efd3e914,
-  0, 7, i_a26e3710efd3e914, nullptr, nullptr, { &s_a26e3710efd3e914, nullptr, nullptr, 0, 0, nullptr }
+  0, 7, i_a26e3710efd3e914, nullptr, nullptr, { &s_a26e3710efd3e914, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<126> b_9744f25fb60f2bf8 = {
@@ -1867,7 +1867,7 @@ static const uint16_t m_9744f25fb60f2bf8[] = {2, 1, 5, 0, 3, 4};
 static const uint16_t i_9744f25fb60f2bf8[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_9744f25fb60f2bf8 = {
   0x9744f25fb60f2bf8, b_9744f25fb60f2bf8.words, 126, nullptr, m_9744f25fb60f2bf8,
-  0, 6, i_9744f25fb60f2bf8, nullptr, nullptr, { &s_9744f25fb60f2bf8, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, i_9744f25fb60f2bf8, nullptr, nullptr, { &s_9744f25fb60f2bf8, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<78> b_f98f999c6a071122 = {
@@ -1956,7 +1956,7 @@ static const uint16_t m_f98f999c6a071122[] = {1, 2, 0};
 static const uint16_t i_f98f999c6a071122[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_f98f999c6a071122 = {
   0xf98f999c6a071122, b_f98f999c6a071122.words, 78, nullptr, m_f98f999c6a071122,
-  0, 3, i_f98f999c6a071122, nullptr, nullptr, { &s_f98f999c6a071122, nullptr, nullptr, 0, 0, nullptr }
+  0, 3, i_f98f999c6a071122, nullptr, nullptr, { &s_f98f999c6a071122, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<62> b_c25bbbd524983447 = {
@@ -2029,7 +2029,7 @@ static const uint16_t m_c25bbbd524983447[] = {0, 1, 2};
 static const uint16_t i_c25bbbd524983447[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_c25bbbd524983447 = {
   0xc25bbbd524983447, b_c25bbbd524983447.words, 62, nullptr, m_c25bbbd524983447,
-  0, 3, i_c25bbbd524983447, nullptr, nullptr, { &s_c25bbbd524983447, nullptr, nullptr, 0, 0, nullptr }
+  0, 3, i_c25bbbd524983447, nullptr, nullptr, { &s_c25bbbd524983447, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<64> b_e10e21168db0c7f7 = {
@@ -2104,7 +2104,7 @@ static const uint16_t m_e10e21168db0c7f7[] = {0, 1, 2};
 static const uint16_t i_e10e21168db0c7f7[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_e10e21168db0c7f7 = {
   0xe10e21168db0c7f7, b_e10e21168db0c7f7.words, 64, nullptr, m_e10e21168db0c7f7,
-  0, 3, i_e10e21168db0c7f7, nullptr, nullptr, { &s_e10e21168db0c7f7, nullptr, nullptr, 0, 0, nullptr }
+  0, 3, i_e10e21168db0c7f7, nullptr, nullptr, { &s_e10e21168db0c7f7, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<153> b_ab54c59699f8f9f3 = {
@@ -2272,7 +2272,7 @@ static const uint16_t m_ab54c59699f8f9f3[] = {5, 6, 0, 7, 1, 4, 3, 2};
 static const uint16_t i_ab54c59699f8f9f3[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_ab54c59699f8f9f3 = {
   0xab54c59699f8f9f3, b_ab54c59699f8f9f3.words, 153, d_ab54c59699f8f9f3, m_ab54c59699f8f9f3,
-  2, 8, i_ab54c59699f8f9f3, nullptr, nullptr, { &s_ab54c59699f8f9f3, nullptr, nullptr, 0, 0, nullptr }
+  2, 8, i_ab54c59699f8f9f3, nullptr, nullptr, { &s_ab54c59699f8f9f3, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<155> b_f5ad1d90cdc1dd6b = {
@@ -2442,7 +2442,7 @@ static const uint16_t m_f5ad1d90cdc1dd6b[] = {4, 6, 5, 1, 3, 2, 0, 7};
 static const uint16_t i_f5ad1d90cdc1dd6b[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_f5ad1d90cdc1dd6b = {
   0xf5ad1d90cdc1dd6b, b_f5ad1d90cdc1dd6b.words, 155, d_f5ad1d90cdc1dd6b, m_f5ad1d90cdc1dd6b,
-  2, 8, i_f5ad1d90cdc1dd6b, nullptr, nullptr, { &s_f5ad1d90cdc1dd6b, nullptr, nullptr, 0, 0, nullptr }
+  2, 8, i_f5ad1d90cdc1dd6b, nullptr, nullptr, { &s_f5ad1d90cdc1dd6b, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<103> b_90c8426c3eaddd3b = {
@@ -2562,7 +2562,7 @@ static const uint16_t m_90c8426c3eaddd3b[] = {2, 4, 3, 1, 0};
 static const uint16_t i_90c8426c3eaddd3b[] = {0, 1, 2, 3, 4};
 const ::capnp::_::RawSchema s_90c8426c3eaddd3b = {
   0x90c8426c3eaddd3b, b_90c8426c3eaddd3b.words, 103, d_90c8426c3eaddd3b, m_90c8426c3eaddd3b,
-  4, 5, i_90c8426c3eaddd3b, nullptr, nullptr, { &s_90c8426c3eaddd3b, nullptr, nullptr, 0, 0, nullptr }
+  4, 5, i_90c8426c3eaddd3b, nullptr, nullptr, { &s_90c8426c3eaddd3b, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<53> b_e8db07dcf8fcea05 = {
@@ -2625,7 +2625,7 @@ static const ::capnp::_::AlignedData<53> b_e8db07dcf8fcea05 = {
 static const uint16_t m_e8db07dcf8fcea05[] = {1, 2, 3, 4, 0, 5, 6};
 const ::capnp::_::RawSchema s_e8db07dcf8fcea05 = {
   0xe8db07dcf8fcea05, b_e8db07dcf8fcea05.words, 53, nullptr, m_e8db07dcf8fcea05,
-  0, 7, nullptr, nullptr, nullptr, { &s_e8db07dcf8fcea05, nullptr, nullptr, 0, 0, nullptr }
+  0, 7, nullptr, nullptr, nullptr, { &s_e8db07dcf8fcea05, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Type_e8db07dcf8fcea05, e8db07dcf8fcea05);
@@ -2672,7 +2672,7 @@ static const ::capnp::_::AlignedData<36> b_b9aa88c75ef99a1f = {
 static const uint16_t m_b9aa88c75ef99a1f[] = {3, 2, 0, 1};
 const ::capnp::_::RawSchema s_b9aa88c75ef99a1f = {
   0xb9aa88c75ef99a1f, b_b9aa88c75ef99a1f.words, 36, nullptr, m_b9aa88c75ef99a1f,
-  0, 4, nullptr, nullptr, nullptr, { &s_b9aa88c75ef99a1f, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, nullptr, nullptr, nullptr, { &s_b9aa88c75ef99a1f, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Status_b9aa88c75ef99a1f, b9aa88c75ef99a1f);
@@ -3094,7 +3094,7 @@ static const uint16_t m_b99b2bc7a57e8128[] = {12, 13, 3, 15, 16, 11, 8, 22, 1, 2
 static const uint16_t i_b99b2bc7a57e8128[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22};
 const ::capnp::_::RawSchema s_b99b2bc7a57e8128 = {
   0xb99b2bc7a57e8128, b_b99b2bc7a57e8128.words, 406, d_b99b2bc7a57e8128, m_b99b2bc7a57e8128,
-  2, 23, i_b99b2bc7a57e8128, nullptr, nullptr, { &s_b99b2bc7a57e8128, nullptr, nullptr, 0, 0, nullptr }
+  2, 23, i_b99b2bc7a57e8128, nullptr, nullptr, { &s_b99b2bc7a57e8128, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<159> b_943dc4625473b03f = {
@@ -3264,7 +3264,7 @@ static const uint16_t m_943dc4625473b03f[] = {7, 5, 6, 4, 0, 3, 2, 1};
 static const uint16_t i_943dc4625473b03f[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_943dc4625473b03f = {
   0x943dc4625473b03f, b_943dc4625473b03f.words, 159, nullptr, m_943dc4625473b03f,
-  0, 8, i_943dc4625473b03f, nullptr, nullptr, { &s_943dc4625473b03f, nullptr, nullptr, 0, 0, nullptr }
+  0, 8, i_943dc4625473b03f, nullptr, nullptr, { &s_943dc4625473b03f, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<41> b_c871d3cc252af657 = {
@@ -3315,7 +3315,7 @@ static const ::capnp::_::AlignedData<41> b_c871d3cc252af657 = {
 static const uint16_t m_c871d3cc252af657[] = {0, 4, 1, 2, 3};
 const ::capnp::_::RawSchema s_c871d3cc252af657 = {
   0xc871d3cc252af657, b_c871d3cc252af657.words, 41, nullptr, m_c871d3cc252af657,
-  0, 5, nullptr, nullptr, nullptr, { &s_c871d3cc252af657, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, nullptr, nullptr, nullptr, { &s_c871d3cc252af657, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(SensorSource_c871d3cc252af657, c871d3cc252af657);
@@ -3445,7 +3445,7 @@ static const uint16_t m_d7700859ed1f5b76[] = {1, 3, 2, 4, 5, 0};
 static const uint16_t i_d7700859ed1f5b76[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_d7700859ed1f5b76 = {
   0xd7700859ed1f5b76, b_d7700859ed1f5b76.words, 118, nullptr, m_d7700859ed1f5b76,
-  0, 6, i_d7700859ed1f5b76, nullptr, nullptr, { &s_d7700859ed1f5b76, nullptr, nullptr, 0, 0, nullptr }
+  0, 6, i_d7700859ed1f5b76, nullptr, nullptr, { &s_d7700859ed1f5b76, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<143> b_cd60164a8a0159ef = {
@@ -3599,7 +3599,7 @@ static const uint16_t m_cd60164a8a0159ef[] = {3, 6, 4, 0, 5, 1, 2};
 static const uint16_t i_cd60164a8a0159ef[] = {0, 1, 2, 3, 4, 5, 6};
 const ::capnp::_::RawSchema s_cd60164a8a0159ef = {
   0xcd60164a8a0159ef, b_cd60164a8a0159ef.words, 143, nullptr, m_cd60164a8a0159ef,
-  0, 7, i_cd60164a8a0159ef, nullptr, nullptr, { &s_cd60164a8a0159ef, nullptr, nullptr, 0, 0, nullptr }
+  0, 7, i_cd60164a8a0159ef, nullptr, nullptr, { &s_cd60164a8a0159ef, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<99> b_d500d30c5803fa4f = {
@@ -3709,7 +3709,7 @@ static const uint16_t m_d500d30c5803fa4f[] = {4, 2, 3, 0, 1};
 static const uint16_t i_d500d30c5803fa4f[] = {0, 1, 2, 3, 4};
 const ::capnp::_::RawSchema s_d500d30c5803fa4f = {
   0xd500d30c5803fa4f, b_d500d30c5803fa4f.words, 99, nullptr, m_d500d30c5803fa4f,
-  0, 5, i_d500d30c5803fa4f, nullptr, nullptr, { &s_d500d30c5803fa4f, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, i_d500d30c5803fa4f, nullptr, nullptr, { &s_d500d30c5803fa4f, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<83> b_c8233c0345e27e24 = {
@@ -3806,7 +3806,7 @@ static const uint16_t m_c8233c0345e27e24[] = {3, 2, 0, 1};
 static const uint16_t i_c8233c0345e27e24[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_c8233c0345e27e24 = {
   0xc8233c0345e27e24, b_c8233c0345e27e24.words, 83, d_c8233c0345e27e24, m_c8233c0345e27e24,
-  1, 4, i_c8233c0345e27e24, nullptr, nullptr, { &s_c8233c0345e27e24, nullptr, nullptr, 0, 0, nullptr }
+  1, 4, i_c8233c0345e27e24, nullptr, nullptr, { &s_c8233c0345e27e24, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<95> b_92e21bb7ea38793a = {
@@ -3912,7 +3912,7 @@ static const uint16_t m_92e21bb7ea38793a[] = {1, 3, 0, 2};
 static const uint16_t i_92e21bb7ea38793a[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_92e21bb7ea38793a = {
   0x92e21bb7ea38793a, b_92e21bb7ea38793a.words, 95, nullptr, m_92e21bb7ea38793a,
-  0, 4, i_92e21bb7ea38793a, nullptr, nullptr, { &s_92e21bb7ea38793a, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, i_92e21bb7ea38793a, nullptr, nullptr, { &s_92e21bb7ea38793a, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<92> b_9b326d4e436afec7 = {
@@ -4015,7 +4015,7 @@ static const uint16_t m_9b326d4e436afec7[] = {2, 3, 1, 0};
 static const uint16_t i_9b326d4e436afec7[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_9b326d4e436afec7 = {
   0x9b326d4e436afec7, b_9b326d4e436afec7.words, 92, nullptr, m_9b326d4e436afec7,
-  0, 4, i_9b326d4e436afec7, nullptr, nullptr, { &s_9b326d4e436afec7, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, i_9b326d4e436afec7, nullptr, nullptr, { &s_9b326d4e436afec7, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<91> b_8fdfadb254ea867a = {
@@ -4117,7 +4117,7 @@ static const uint16_t m_8fdfadb254ea867a[] = {0, 1, 2, 3};
 static const uint16_t i_8fdfadb254ea867a[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_8fdfadb254ea867a = {
   0x8fdfadb254ea867a, b_8fdfadb254ea867a.words, 91, nullptr, m_8fdfadb254ea867a,
-  0, 4, i_8fdfadb254ea867a, nullptr, nullptr, { &s_8fdfadb254ea867a, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, i_8fdfadb254ea867a, nullptr, nullptr, { &s_8fdfadb254ea867a, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<52> b_bd8822120928120c = {
@@ -4183,7 +4183,7 @@ static const uint16_t m_bd8822120928120c[] = {1, 0};
 static const uint16_t i_bd8822120928120c[] = {0, 1};
 const ::capnp::_::RawSchema s_bd8822120928120c = {
   0xbd8822120928120c, b_bd8822120928120c.words, 52, d_bd8822120928120c, m_bd8822120928120c,
-  1, 2, i_bd8822120928120c, nullptr, nullptr, { &s_bd8822120928120c, nullptr, nullptr, 0, 0, nullptr }
+  1, 2, i_bd8822120928120c, nullptr, nullptr, { &s_bd8822120928120c, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<153> b_ce7cd672cacc7814 = {
@@ -4347,7 +4347,7 @@ static const uint16_t m_ce7cd672cacc7814[] = {4, 6, 8, 3, 1, 2, 7, 5, 0};
 static const uint16_t i_ce7cd672cacc7814[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
 const ::capnp::_::RawSchema s_ce7cd672cacc7814 = {
   0xce7cd672cacc7814, b_ce7cd672cacc7814.words, 153, nullptr, m_ce7cd672cacc7814,
-  0, 9, i_ce7cd672cacc7814, nullptr, nullptr, { &s_ce7cd672cacc7814, nullptr, nullptr, 0, 0, nullptr }
+  0, 9, i_ce7cd672cacc7814, nullptr, nullptr, { &s_ce7cd672cacc7814, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<75> b_db98be6565516acb = {
@@ -4436,7 +4436,7 @@ static const uint16_t m_db98be6565516acb[] = {1, 0, 2};
 static const uint16_t i_db98be6565516acb[] = {0, 1, 2};
 const ::capnp::_::RawSchema s_db98be6565516acb = {
   0xdb98be6565516acb, b_db98be6565516acb.words, 75, d_db98be6565516acb, m_db98be6565516acb,
-  1, 3, i_db98be6565516acb, nullptr, nullptr, { &s_db98be6565516acb, nullptr, nullptr, 0, 0, nullptr }
+  1, 3, i_db98be6565516acb, nullptr, nullptr, { &s_db98be6565516acb, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<48> b_9eaef9187cadbb9b = {
@@ -4495,7 +4495,7 @@ static const uint16_t m_9eaef9187cadbb9b[] = {0, 1};
 static const uint16_t i_9eaef9187cadbb9b[] = {0, 1};
 const ::capnp::_::RawSchema s_9eaef9187cadbb9b = {
   0x9eaef9187cadbb9b, b_9eaef9187cadbb9b.words, 48, nullptr, m_9eaef9187cadbb9b,
-  0, 2, i_9eaef9187cadbb9b, nullptr, nullptr, { &s_9eaef9187cadbb9b, nullptr, nullptr, 0, 0, nullptr }
+  0, 2, i_9eaef9187cadbb9b, nullptr, nullptr, { &s_9eaef9187cadbb9b, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<150> b_a5b39b4fc4d7da3f = {
@@ -4660,7 +4660,7 @@ static const uint16_t m_a5b39b4fc4d7da3f[] = {4, 3, 5, 0, 6, 7, 1, 2};
 static const uint16_t i_a5b39b4fc4d7da3f[] = {0, 1, 2, 3, 4, 5, 6, 7};
 const ::capnp::_::RawSchema s_a5b39b4fc4d7da3f = {
   0xa5b39b4fc4d7da3f, b_a5b39b4fc4d7da3f.words, 150, d_a5b39b4fc4d7da3f, m_a5b39b4fc4d7da3f,
-  2, 8, i_a5b39b4fc4d7da3f, nullptr, nullptr, { &s_a5b39b4fc4d7da3f, nullptr, nullptr, 0, 0, nullptr }
+  2, 8, i_a5b39b4fc4d7da3f, nullptr, nullptr, { &s_a5b39b4fc4d7da3f, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<117> b_c5417a637451246f = {
@@ -4787,7 +4787,7 @@ static const ::capnp::_::AlignedData<117> b_c5417a637451246f = {
 static const uint16_t m_c5417a637451246f[] = {15, 16, 17, 2, 3, 6, 5, 9, 7, 11, 13, 4, 0, 1, 10, 12, 14, 18, 8, 19};
 const ::capnp::_::RawSchema s_c5417a637451246f = {
   0xc5417a637451246f, b_c5417a637451246f.words, 117, nullptr, m_c5417a637451246f,
-  0, 20, nullptr, nullptr, nullptr, { &s_c5417a637451246f, nullptr, nullptr, 0, 0, nullptr }
+  0, 20, nullptr, nullptr, nullptr, { &s_c5417a637451246f, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Instruction_c5417a637451246f, c5417a637451246f);
@@ -4889,7 +4889,7 @@ static const uint16_t m_acfa74a094e62626[] = {2, 1, 3, 0};
 static const uint16_t i_acfa74a094e62626[] = {0, 1, 2, 3};
 const ::capnp::_::RawSchema s_acfa74a094e62626 = {
   0xacfa74a094e62626, b_acfa74a094e62626.words, 86, d_acfa74a094e62626, m_acfa74a094e62626,
-  2, 4, i_acfa74a094e62626, nullptr, nullptr, { &s_acfa74a094e62626, nullptr, nullptr, 0, 0, nullptr }
+  2, 4, i_acfa74a094e62626, nullptr, nullptr, { &s_acfa74a094e62626, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<43> b_d85d75253435bf4b = {
@@ -4942,7 +4942,7 @@ static const ::capnp::_::AlignedData<43> b_d85d75253435bf4b = {
 static const uint16_t m_d85d75253435bf4b[] = {3, 1, 2, 4, 0};
 const ::capnp::_::RawSchema s_d85d75253435bf4b = {
   0xd85d75253435bf4b, b_d85d75253435bf4b.words, 43, nullptr, m_d85d75253435bf4b,
-  0, 5, nullptr, nullptr, nullptr, { &s_d85d75253435bf4b, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, nullptr, nullptr, nullptr, { &s_d85d75253435bf4b, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Type_d85d75253435bf4b, d85d75253435bf4b);
@@ -4989,7 +4989,7 @@ static const ::capnp::_::AlignedData<36> b_a6f6ce72165ccb49 = {
 static const uint16_t m_a6f6ce72165ccb49[] = {0, 3, 2, 1};
 const ::capnp::_::RawSchema s_a6f6ce72165ccb49 = {
   0xa6f6ce72165ccb49, b_a6f6ce72165ccb49.words, 36, nullptr, m_a6f6ce72165ccb49,
-  0, 4, nullptr, nullptr, nullptr, { &s_a6f6ce72165ccb49, nullptr, nullptr, 0, 0, nullptr }
+  0, 4, nullptr, nullptr, nullptr, { &s_a6f6ce72165ccb49, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Action_a6f6ce72165ccb49, a6f6ce72165ccb49);
@@ -5065,7 +5065,7 @@ static const uint16_t m_dfdf30d03fc485bd[] = {0, 1};
 static const uint16_t i_dfdf30d03fc485bd[] = {0, 1};
 const ::capnp::_::RawSchema s_dfdf30d03fc485bd = {
   0xdfdf30d03fc485bd, b_dfdf30d03fc485bd.words, 60, d_dfdf30d03fc485bd, m_dfdf30d03fc485bd,
-  2, 2, i_dfdf30d03fc485bd, nullptr, nullptr, { &s_dfdf30d03fc485bd, nullptr, nullptr, 0, 0, nullptr }
+  2, 2, i_dfdf30d03fc485bd, nullptr, nullptr, { &s_dfdf30d03fc485bd, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<61> b_a20710d4f428d6cd = {
@@ -5141,7 +5141,7 @@ static const uint16_t m_a20710d4f428d6cd[] = {0, 1};
 static const uint16_t i_a20710d4f428d6cd[] = {0, 1};
 const ::capnp::_::RawSchema s_a20710d4f428d6cd = {
   0xa20710d4f428d6cd, b_a20710d4f428d6cd.words, 61, d_a20710d4f428d6cd, m_a20710d4f428d6cd,
-  2, 2, i_a20710d4f428d6cd, nullptr, nullptr, { &s_a20710d4f428d6cd, nullptr, nullptr, 0, 0, nullptr }
+  2, 2, i_a20710d4f428d6cd, nullptr, nullptr, { &s_a20710d4f428d6cd, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<290> b_a0e27b453a38f450 = {
@@ -5442,7 +5442,7 @@ static const uint16_t m_a0e27b453a38f450[] = {9, 11, 13, 15, 7, 1, 8, 10, 12, 14
 static const uint16_t i_a0e27b453a38f450[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
 const ::capnp::_::RawSchema s_a0e27b453a38f450 = {
   0xa0e27b453a38f450, b_a0e27b453a38f450.words, 290, nullptr, m_a0e27b453a38f450,
-  0, 16, i_a0e27b453a38f450, nullptr, nullptr, { &s_a0e27b453a38f450, nullptr, nullptr, 0, 0, nullptr }
+  0, 16, i_a0e27b453a38f450, nullptr, nullptr, { &s_a0e27b453a38f450, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<420> b_d949bf717d77614d = {
@@ -5877,7 +5877,7 @@ static const uint16_t m_d949bf717d77614d[] = {10, 9, 11, 15, 13, 17, 19, 6, 1, 1
 static const uint16_t i_d949bf717d77614d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22};
 const ::capnp::_::RawSchema s_d949bf717d77614d = {
   0xd949bf717d77614d, b_d949bf717d77614d.words, 420, d_d949bf717d77614d, m_d949bf717d77614d,
-  2, 23, i_d949bf717d77614d, nullptr, nullptr, { &s_d949bf717d77614d, nullptr, nullptr, 0, 0, nullptr }
+  2, 23, i_d949bf717d77614d, nullptr, nullptr, { &s_d949bf717d77614d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<50> b_9ef1f3ff0deb5ffb = {
@@ -5937,7 +5937,7 @@ static const ::capnp::_::AlignedData<50> b_9ef1f3ff0deb5ffb = {
 static const uint16_t m_9ef1f3ff0deb5ffb[] = {5, 6, 3, 1, 4, 2, 0};
 const ::capnp::_::RawSchema s_9ef1f3ff0deb5ffb = {
   0x9ef1f3ff0deb5ffb, b_9ef1f3ff0deb5ffb.words, 50, nullptr, m_9ef1f3ff0deb5ffb,
-  0, 7, nullptr, nullptr, nullptr, { &s_9ef1f3ff0deb5ffb, nullptr, nullptr, 0, 0, nullptr }
+  0, 7, nullptr, nullptr, nullptr, { &s_9ef1f3ff0deb5ffb, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Constellation_9ef1f3ff0deb5ffb, 9ef1f3ff0deb5ffb);
@@ -6044,7 +6044,7 @@ static const ::capnp::_::AlignedData<96> b_cbb9490adce12d72 = {
 static const uint16_t m_cbb9490adce12d72[] = {9, 10, 2, 1, 13, 11, 12, 7, 8, 5, 14, 3, 6, 4, 0};
 const ::capnp::_::RawSchema s_cbb9490adce12d72 = {
   0xcbb9490adce12d72, b_cbb9490adce12d72.words, 96, nullptr, m_cbb9490adce12d72,
-  0, 15, nullptr, nullptr, nullptr, { &s_cbb9490adce12d72, nullptr, nullptr, 0, 0, nullptr }
+  0, 15, nullptr, nullptr, nullptr, { &s_cbb9490adce12d72, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(State_cbb9490adce12d72, cbb9490adce12d72);
@@ -6092,7 +6092,7 @@ static const ::capnp::_::AlignedData<37> b_c04e7b6231d4caa8 = {
 static const uint16_t m_c04e7b6231d4caa8[] = {1, 2, 0};
 const ::capnp::_::RawSchema s_c04e7b6231d4caa8 = {
   0xc04e7b6231d4caa8, b_c04e7b6231d4caa8.words, 37, nullptr, m_c04e7b6231d4caa8,
-  0, 3, nullptr, nullptr, nullptr, { &s_c04e7b6231d4caa8, nullptr, nullptr, 0, 0, nullptr }
+  0, 3, nullptr, nullptr, nullptr, { &s_c04e7b6231d4caa8, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(MultipathIndicator_c04e7b6231d4caa8, c04e7b6231d4caa8);
@@ -6222,7 +6222,7 @@ static const uint16_t m_e2517b083095fd4e[] = {4, 2, 5, 3, 1, 0};
 static const uint16_t i_e2517b083095fd4e[] = {0, 1, 2, 3, 4, 5};
 const ::capnp::_::RawSchema s_e2517b083095fd4e = {
   0xe2517b083095fd4e, b_e2517b083095fd4e.words, 115, d_e2517b083095fd4e, m_e2517b083095fd4e,
-  1, 6, i_e2517b083095fd4e, nullptr, nullptr, { &s_e2517b083095fd4e, nullptr, nullptr, 0, 0, nullptr }
+  1, 6, i_e2517b083095fd4e, nullptr, nullptr, { &s_e2517b083095fd4e, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<35> b_ec1ff7996b35366f = {
@@ -6267,7 +6267,7 @@ static const ::capnp::_::AlignedData<35> b_ec1ff7996b35366f = {
 static const uint16_t m_ec1ff7996b35366f[] = {1, 2, 0};
 const ::capnp::_::RawSchema s_ec1ff7996b35366f = {
   0xec1ff7996b35366f, b_ec1ff7996b35366f.words, 35, nullptr, m_ec1ff7996b35366f,
-  0, 3, nullptr, nullptr, nullptr, { &s_ec1ff7996b35366f, nullptr, nullptr, 0, 0, nullptr }
+  0, 3, nullptr, nullptr, nullptr, { &s_ec1ff7996b35366f, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(Status_ec1ff7996b35366f, ec1ff7996b35366f);
@@ -6383,7 +6383,7 @@ static const uint16_t m_e3d6685d4e9d8f7a[] = {3, 4, 0, 2, 1};
 static const uint16_t i_e3d6685d4e9d8f7a[] = {0, 1, 2, 3, 4};
 const ::capnp::_::RawSchema s_e3d6685d4e9d8f7a = {
   0xe3d6685d4e9d8f7a, b_e3d6685d4e9d8f7a.words, 104, nullptr, m_e3d6685d4e9d8f7a,
-  0, 5, i_e3d6685d4e9d8f7a, nullptr, nullptr, { &s_e3d6685d4e9d8f7a, nullptr, nullptr, 0, 0, nullptr }
+  0, 5, i_e3d6685d4e9d8f7a, nullptr, nullptr, { &s_e3d6685d4e9d8f7a, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 }  // namespace schemas
@@ -6394,323 +6394,483 @@ const ::capnp::_::RawSchema s_e3d6685d4e9d8f7a = {
 namespace cereal {
 
 // LogRotate
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LogRotate::_capnpPrivate::dataWordSize;
 constexpr uint16_t LogRotate::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LogRotate::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LogRotate::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LiveUI
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LiveUI::_capnpPrivate::dataWordSize;
 constexpr uint16_t LiveUI::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LiveUI::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LiveUI::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // UiLayoutState
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t UiLayoutState::_capnpPrivate::dataWordSize;
 constexpr uint16_t UiLayoutState::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind UiLayoutState::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* UiLayoutState::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // OrbslamCorrection
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OrbslamCorrection::_capnpPrivate::dataWordSize;
 constexpr uint16_t OrbslamCorrection::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind OrbslamCorrection::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* OrbslamCorrection::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // EthernetPacket
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t EthernetPacket::_capnpPrivate::dataWordSize;
 constexpr uint16_t EthernetPacket::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind EthernetPacket::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* EthernetPacket::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // CellInfo
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t CellInfo::_capnpPrivate::dataWordSize;
 constexpr uint16_t CellInfo::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind CellInfo::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* CellInfo::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // WifiScan
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t WifiScan::_capnpPrivate::dataWordSize;
 constexpr uint16_t WifiScan::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind WifiScan::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* WifiScan::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LiveEventData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LiveEventData::_capnpPrivate::dataWordSize;
 constexpr uint16_t LiveEventData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LiveEventData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LiveEventData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ModelData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ModelData::_capnpPrivate::dataWordSize;
 constexpr uint16_t ModelData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ModelData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ModelData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ModelData::PathData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ModelData::PathData::_capnpPrivate::dataWordSize;
 constexpr uint16_t ModelData::PathData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ModelData::PathData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ModelData::PathData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ModelData::LeadData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ModelData::LeadData::_capnpPrivate::dataWordSize;
 constexpr uint16_t ModelData::LeadData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ModelData::LeadData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ModelData::LeadData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ModelData::ModelSettings
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::dataWordSize;
 constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ModelData::ModelSettings::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ModelData::ModelSettings::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ModelData::MetaData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ModelData::MetaData::_capnpPrivate::dataWordSize;
 constexpr uint16_t ModelData::MetaData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ModelData::MetaData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ModelData::MetaData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ModelData::LongitudinalData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::dataWordSize;
 constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ModelData::LongitudinalData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ModelData::LongitudinalData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ECEFPoint
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ECEFPoint::_capnpPrivate::dataWordSize;
 constexpr uint16_t ECEFPoint::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ECEFPoint::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ECEFPoint::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // ECEFPointDEPRECATED
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::dataWordSize;
 constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind ECEFPointDEPRECATED::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* ECEFPointDEPRECATED::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // GPSPlannerPoints
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t GPSPlannerPoints::_capnpPrivate::dataWordSize;
 constexpr uint16_t GPSPlannerPoints::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind GPSPlannerPoints::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* GPSPlannerPoints::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // GPSPlannerPlan
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t GPSPlannerPlan::_capnpPrivate::dataWordSize;
 constexpr uint16_t GPSPlannerPlan::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind GPSPlannerPlan::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* GPSPlannerPlan::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // UiNavigationEvent
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t UiNavigationEvent::_capnpPrivate::dataWordSize;
 constexpr uint16_t UiNavigationEvent::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind UiNavigationEvent::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* UiNavigationEvent::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LiveLocationData
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LiveLocationData::_capnpPrivate::dataWordSize;
 constexpr uint16_t LiveLocationData::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LiveLocationData::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LiveLocationData::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LiveLocationData::Accuracy
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::dataWordSize;
 constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LiveLocationData::Accuracy::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LiveLocationData::Accuracy::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // OrbOdometry
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OrbOdometry::_capnpPrivate::dataWordSize;
 constexpr uint16_t OrbOdometry::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind OrbOdometry::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* OrbOdometry::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // OrbFeatures
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OrbFeatures::_capnpPrivate::dataWordSize;
 constexpr uint16_t OrbFeatures::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind OrbFeatures::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* OrbFeatures::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // OrbFeaturesSummary
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::dataWordSize;
 constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind OrbFeaturesSummary::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* OrbFeaturesSummary::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // OrbKeyFrame
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OrbKeyFrame::_capnpPrivate::dataWordSize;
 constexpr uint16_t OrbKeyFrame::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind OrbKeyFrame::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* OrbKeyFrame::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // KalmanOdometry
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t KalmanOdometry::_capnpPrivate::dataWordSize;
 constexpr uint16_t KalmanOdometry::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind KalmanOdometry::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* KalmanOdometry::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // OrbObservation
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t OrbObservation::_capnpPrivate::dataWordSize;
 constexpr uint16_t OrbObservation::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind OrbObservation::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* OrbObservation::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // CalibrationFeatures
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t CalibrationFeatures::_capnpPrivate::dataWordSize;
 constexpr uint16_t CalibrationFeatures::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind CalibrationFeatures::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* CalibrationFeatures::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // NavStatus
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t NavStatus::_capnpPrivate::dataWordSize;
 constexpr uint16_t NavStatus::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind NavStatus::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* NavStatus::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // NavStatus::Address
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t NavStatus::Address::_capnpPrivate::dataWordSize;
 constexpr uint16_t NavStatus::Address::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind NavStatus::Address::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* NavStatus::Address::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // NavUpdate
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t NavUpdate::_capnpPrivate::dataWordSize;
 constexpr uint16_t NavUpdate::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind NavUpdate::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* NavUpdate::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // NavUpdate::LatLng
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::dataWordSize;
 constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind NavUpdate::LatLng::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* NavUpdate::LatLng::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // NavUpdate::Segment
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t NavUpdate::Segment::_capnpPrivate::dataWordSize;
 constexpr uint16_t NavUpdate::Segment::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind NavUpdate::Segment::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* NavUpdate::Segment::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // TrafficEvent
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t TrafficEvent::_capnpPrivate::dataWordSize;
 constexpr uint16_t TrafficEvent::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind TrafficEvent::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* TrafficEvent::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // AndroidGnss
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t AndroidGnss::_capnpPrivate::dataWordSize;
 constexpr uint16_t AndroidGnss::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind AndroidGnss::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* AndroidGnss::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // AndroidGnss::Measurements
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::dataWordSize;
 constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind AndroidGnss::Measurements::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // AndroidGnss::Measurements::Clock
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::dataWordSize;
 constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind AndroidGnss::Measurements::Clock::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Clock::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // AndroidGnss::Measurements::Measurement
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::dataWordSize;
 constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind AndroidGnss::Measurements::Measurement::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Measurement::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // AndroidGnss::NavigationMessage
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::dataWordSize;
 constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind AndroidGnss::NavigationMessage::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* AndroidGnss::NavigationMessage::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 // LidarPts
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr uint16_t LidarPts::_capnpPrivate::dataWordSize;
 constexpr uint16_t LidarPts::_capnpPrivate::pointerCount;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #if !CAPNP_LITE
+#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 constexpr ::capnp::Kind LidarPts::_capnpPrivate::kind;
 constexpr ::capnp::_::RawSchema const* LidarPts::_capnpPrivate::schema;
+#endif  // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
 #endif  // !CAPNP_LITE
 
 

cereal/gen/cpp/legacy.capnp.h

@@ -6,11 +6,15 @@
 #include <capnp/generated-header-support.h>
 #include <kj/windows-sanity.h>
 
-#if CAPNP_VERSION != 8000
+#ifndef CAPNP_VERSION
+#error "CAPNP_VERSION is not defined, is capnp/generated-header-support.h missing?"
+#elif CAPNP_VERSION != 1000002
 #error "Version mismatch between generated code and library headers.  You must use the same version of the Cap'n Proto compiler and library."
 #endif
 
 
+CAPNP_BEGIN_HEADER
+
 namespace capnp {
 namespace schemas {
 
@@ -11407,3 +11411,5 @@ inline ::capnp::Orphan< ::capnp::Data> LidarPts::Builder::disownPkt() {
 
 }  // namespace
 
+CAPNP_END_HEADER
+

cereal/log.capnp

@@ -33,6 +33,7 @@ struct InitData {
   deviceType @3 :DeviceType;
   version @4 :Text;
   gitCommit @10 :Text;
+  gitCommitDate @21 :Text;
   gitBranch @11 :Text;
   gitRemote @13 :Text;
 
@@ -130,8 +131,9 @@ struct InitData {
 
 struct FrameData {
   frameId @0 :UInt32;
-  encodeId @1 :UInt32; # DEPRECATED
   frameIdSensor @25 :UInt32;
+  requestId @28 :UInt32;
+  encodeId @1 :UInt32;
 
   frameType @7 :FrameType;
 
@@ -166,6 +168,7 @@ struct FrameData {
     unknown @0;
     ar0231 @1;
     ox03c10 @2;
+    os04c10 @3;
   }
 
   frameLengthDEPRECATED @3 :Int32;
@@ -297,6 +300,29 @@ struct GpsLocationData {
   }
 }
 
+enum Desire {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+  laneChangeLeft @3;
+  laneChangeRight @4;
+  keepLeft @5;
+  keepRight @6;
+}
+
+enum LaneChangeState {
+  off @0;
+  preLaneChange @1;
+  laneChangeStarting @2;
+  laneChangeFinishing @3;
+}
+
+enum LaneChangeDirection {
+  none @0;
+  left @1;
+  right @2;
+}
+
 struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
@@ -331,7 +357,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   cpuTempC @26 :List(Float32);
   gpuTempC @27 :List(Float32);
   memoryTempC @28 :Float32;
-  ambientTempC @30 :Float32;
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
@@ -404,11 +429,11 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   chargingErrorDEPRECATED @17 :Bool;
   chargingDisabledDEPRECATED @18 :Bool;
   usbOnlineDEPRECATED @12 :Bool;
+  ambientTempCDEPRECATED @30 :Float32;
 }
 
 struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
-  gasInterceptorDetected @4 :Bool;
   rxBufferOverflow @7 :UInt32;
   txBufferOverflow @8 :UInt32;
   gmlanSendErrs @9 :UInt32;
@@ -494,6 +519,7 @@ struct PandaState @0xa7649e2575e4591e {
     redPanda @7;
     redPandaV2 @8;
     tres @9;
+    cuatro @10;
   }
 
   enum HarnessStatus {
@@ -541,6 +567,7 @@ struct PandaState @0xa7649e2575e4591e {
     }
   }
 
+  gasInterceptorDetectedDEPRECATED @4 :Bool;
   startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -666,7 +693,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-  desiredCurvatureRate @62 :Float32;
   forceDecel @51 :Bool;
 
   # UI alerts
@@ -688,8 +714,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     angleState @58 :LateralAngleState;
     debugState @59 :LateralDebugState;
     torqueState @60 :LateralTorqueState;
-    curvatureState @65 :LateralCurvatureState;
 
+    curvatureStateDEPRECATED @65 :LateralCurvatureState;
     lqrStateDEPRECATED @55 :LateralLQRState;
   }
 
@@ -824,6 +850,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   steerOverrideDEPRECATED @20 :Bool;
   steeringAngleDesiredDegDEPRECATED @29 :Float32;
   canMonoTimesDEPRECATED @21 :List(UInt64);
+  desiredCurvatureRateDEPRECATED @62 :Float32;
 }
 
 # All SI units and in device frame
@@ -875,7 +902,8 @@ struct ModelDataV2 {
   locationMonoTime @24 :UInt64;
 
   # e2e lateral planner
-  lateralPlannerSolution @25: LateralPlannerSolution;
+  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  action @26: Action;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -913,6 +941,9 @@ struct ModelDataV2 {
     desireState @5 :List(Float32);
     disengagePredictions @6 :DisengagePredictions;
     hardBrakePredicted @7 :Bool;
+    laneChangeState @8 :LaneChangeState;
+    laneChangeDirection @9 :LaneChangeDirection;
+
 
     # deprecated
     brakeDisengageProbDEPRECATED @2 :Float32;
@@ -954,6 +985,9 @@ struct ModelDataV2 {
     yawRateStd @7 :List(Float32);
   }
 
+  struct Action {
+    desiredCurvature @0 :Float32;
+  }
 }
 
 struct EncodeIndex {
@@ -1844,11 +1878,12 @@ struct QcomGnss @0xde94674b07ae51c1 {
 }
 
 struct Clocks {
-  bootTimeNanos @0 :UInt64;
-  monotonicNanos @1 :UInt64;
-  monotonicRawNanos @2 :UInt64;
-  wallTimeNanos @3 :UInt64;
-  modemUptimeMillis @4 :UInt64;
+  wallTimeNanos @3 :UInt64;  # unix epoch time
+
+  bootTimeNanosDEPRECATED @0 :UInt64;
+  monotonicNanosDEPRECATED @1 :UInt64;
+  monotonicRawNanosDEPRECATD @2 :UInt64;
+  modemUptimeMillisDEPRECATED @4 :UInt64;
 }
 
 struct LiveMpcData {
@@ -2167,6 +2202,8 @@ struct EncodeData {
   data @1 :Data;
   header @2 :Data;
   unixTimestampNanos @3 :UInt64;
+  width @4 :UInt32;
+  height @5 :UInt32;
 }
 
 struct UserFlag {
@@ -2214,7 +2251,6 @@ struct Event {
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     longitudinalPlan @24 :LongitudinalPlan;
-    lateralPlan @64 :LateralPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
@@ -2226,7 +2262,7 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    carEvents @68: List(Car.CarEvent);
+    onroadEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
@@ -2288,11 +2324,11 @@ struct Event {
     # *********** Custom: reserved for forks ***********
     controlsStateSP @107 :Custom.ControlsStateSP;
     longitudinalPlanSP @108 :Custom.LongitudinalPlanSP;
-    lateralPlanSP @109 :Custom.LateralPlanSP;
+    lateralPlanSPDEPRECATED @109 :Custom.LateralPlanSP;
     driverMonitoringStateSP @110 :Custom.DriverMonitoringStateSP;
     liveMapDataSP @111 :Custom.LiveMapDataSP;
     e2eLongStateSP @112 :Custom.E2eLongStateSP;
-    customReserved6 @113 :Custom.CustomReserved6;
+    modelV2SP @113 :Custom.ModelDataV2SP;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;
@@ -2335,5 +2371,6 @@ struct Event {
     pandaStateDEPRECATED @12 :PandaState;
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
+    lateralPlanDEPRECATED @64 :LateralPlan;
   }
 }

cereal/messaging/__init__.py

@@ -22,7 +22,6 @@ assert delete_fake_prefix
 assert wait_for_one_event
 
 NO_TRAVERSAL_LIMIT = 2**64-1
-AVG_FREQ_HISTORY = 100
 
 context = Context()
 
@@ -41,10 +40,13 @@ def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
     return msg
 
 
-def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
-  dat = log.Event.new_message()
-  dat.logMonoTime = int(time.monotonic() * 1e9)
-  dat.valid = True
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
   if service is not None:
     if size is None:
       dat.init(service)
@@ -114,14 +116,14 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._
 
   while 1:
     if wait and dat is None:
-      rcv = sock.receive()
+      recv = sock.receive()
     else:
-      rcv = sock.receive(non_blocking=True)
+      recv = sock.receive(non_blocking=True)
 
-    if rcv is None:  # Timeout hit
+    if recv is None:  # Timeout hit
       break
 
-    dat = rcv
+    dat = recv
 
   if dat is not None:
     dat = log_from_bytes(dat)
@@ -152,53 +154,76 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
 
 
 class SubMaster:
-  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
+  def __init__(self, services: List[str], poll: Optional[str] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               addr: str = "127.0.0.1"):
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
     self.frame = -1
+    self.seen = {s: False for s in services}
     self.updated = {s: False for s in services}
-    self.rcv_time = {s: 0. for s in services}
-    self.rcv_frame = {s: 0 for s in services}
+    self.recv_time = {s: 0. for s in services}
+    self.recv_frame = {s: 0 for s in services}
     self.alive = {s: False for s in services}
     self.freq_ok = {s: False for s in services}
-    self.recv_dts: Dict[str, Deque[float]] = {s: deque(maxlen=AVG_FREQ_HISTORY) for s in services}
+    self.recv_dts: Dict[str, Deque[float]] = {}
     self.sock = {}
-    self.freq = {}
     self.data = {}
     self.valid = {}
     self.logMonoTime = {}
 
+    self.max_freq = {}
+    self.min_freq = {}
+
     self.poller = Poller()
-    self.non_polled_services = [s for s in services if poll is not None and
-                                len(poll) and s not in poll]
+    polled_services = set([poll, ] if poll is not None else services)
+    self.non_polled_services = set(services) - polled_services
 
     self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
     self.ignore_alive = [] if ignore_alive is None else ignore_alive
-    self.simulation = bool(int(os.getenv("SIMULATION", "0")))
+    self.ignore_valid = [] if ignore_valid is None else ignore_valid
+    if bool(int(os.getenv("SIMULATION", "0"))):
+      self.ignore_alive = services
+      self.ignore_average_freq = services
+
+    # if freq and poll aren't specified, assume the max to be conservative
+    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
+    self.update_freq = frequency or max([SERVICE_LIST[s].frequency for s in polled_services])
 
     for s in services:
-      if addr is not None:
-        p = self.poller if s not in self.non_polled_services else None
-        self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
-      self.freq[s] = SERVICE_LIST[s].frequency
+      p = self.poller if s not in self.non_polled_services else None
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
 
       try:
         data = new_message(s)
-      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
+      except capnp.lib.capnp.KjException:
         data = new_message(s, 0) # lists
 
-      self.data[s] = getattr(data, s)
+      self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
-      self.valid[s] = data.valid
+      self.valid[s] = True  # FIXME: this should default to False
+
+      freq = max(min([SERVICE_LIST[s].frequency, self.update_freq]), 1.)
+      if s == poll:
+        max_freq = freq
+        min_freq = freq
+      else:
+        max_freq = min(freq, self.update_freq)
+        if SERVICE_LIST[s].frequency >= 2*self.update_freq:
+          min_freq = self.update_freq
+        elif self.update_freq >= 2*SERVICE_LIST[s].frequency:
+          min_freq = freq
+        else:
+          min_freq = min(freq, freq / 2.)
+      self.max_freq[s] = max_freq*1.2
+      self.min_freq[s] = min_freq*0.8
+      self.recv_dts[s] = deque(maxlen=int(10*freq))
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
-  def _check_avg_freq(self, s):
-    return self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
-            and (s not in self.ignore_average_freq)
+  def _check_avg_freq(self, s: str) -> bool:
+    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)
 
-  def update(self, timeout: int = 1000) -> None:
+  def update(self, timeout: int = 100) -> None:
     msgs = []
     for sock in self.poller.poll(timeout):
       msgs.append(recv_one_or_none(sock))
@@ -216,64 +241,57 @@ class SubMaster:
         continue
 
       s = msg.which()
+      self.seen[s] = True
       self.updated[s] = True
 
-      if self._check_avg_freq(s):
-        self.recv_dts[s].append(cur_time - self.rcv_time[s])
-
-      self.rcv_time[s] = cur_time
-      self.rcv_frame[s] = self.frame
+      if self.recv_time[s] > 1e-5:
+        self.recv_dts[s].append(cur_time - self.recv_time[s])
+      self.recv_time[s] = cur_time
+      self.recv_frame[s] = self.frame
       self.data[s] = getattr(msg, s)
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-      if self.simulation:
+    for s in self.data:
+      if SERVICE_LIST[s].frequency > 1e-5:
+        # alive if delay is within 10x the expected frequency
+        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
+
+        # check average frequency; slow to fall, quick to recover
+        dts = self.recv_dts[s]
+        assert dts.maxlen is not None
+        recent_dts = list(dts)[-int(dts.maxlen / 10):]
+        try:
+          avg_freq = 1 / (sum(dts) / len(dts))
+          avg_freq_recent = 1 / (sum(recent_dts) / len(recent_dts))
+        except ZeroDivisionError:
+          avg_freq = 0
+          avg_freq_recent = 0
+
+        avg_freq_ok = self.min_freq[s] <= avg_freq <= self.max_freq[s]
+        recent_freq_ok = self.min_freq[s] <= avg_freq_recent <= self.max_freq[s]
+        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
+      else:
         self.freq_ok[s] = True
         self.alive[s] = True
 
-    if not self.simulation:
-      for s in self.data:
-        # arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
-        if self.freq[s] > 1e-5:
-          # alive if delay is within 10x the expected frequency
-          self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
-
-          # TODO: check if update frequency is high enough to not drop messages
-          # freq_ok if average frequency is higher than 90% of expected frequency
-          if self._check_avg_freq(s):
-            if len(self.recv_dts[s]) > 0:
-              avg_dt = sum(self.recv_dts[s]) / len(self.recv_dts[s])
-              expected_dt = 1 / (self.freq[s] * 0.90)
-              self.freq_ok[s] = (avg_dt < expected_dt)
-            else:
-              self.freq_ok[s] = False
-          else:
-            self.freq_ok[s] = True
-        else:
-          self.freq_ok[s] = True
-          self.alive[s] = True
-
-  def all_alive(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
+  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
+    if service_list is None:
+      service_list = list(self.sock.keys())
     return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
 
-  def all_freq_ok(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
+  def all_freq_ok(self, service_list: Optional[List[str]] = None) -> bool:
+    if service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.freq_ok[s] for s in service_list if self._check_avg_freq(s))
 
-  def all_valid(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.valid.keys()
-    return all(self.valid[s] for s in service_list)
+  def all_valid(self, service_list: Optional[List[str]] = None) -> bool:
+    if service_list is None:
+      service_list = list(self.sock.keys())
+    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
 
-  def all_checks(self, service_list=None) -> bool:
-    if service_list is None:  # check all
-      service_list = self.alive.keys()
-    return self.all_alive(service_list=service_list) \
-           and self.all_freq_ok(service_list=service_list) \
-           and self.all_valid(service_list=service_list)
+  def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
+    return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
 
 class PubMaster:

cereal/services.h

@@ -37,14 +37,14 @@ static std::map<std::string, service> services = {
   { "ubloxGnss", {"ubloxGnss", 8031, true, 10, -1}},
   { "qcomGnss", {"qcomGnss", 8032, true, 2, -1}},
   { "gnssMeasurements", {"gnssMeasurements", 8033, true, 10, 10}},
-  { "clocks", {"clocks", 8034, true, 1, 1}},
+  { "clocks", {"clocks", 8034, true, 0, 1}},
   { "ubloxRaw", {"ubloxRaw", 8035, true, 20, -1}},
   { "liveLocationKalman", {"liveLocationKalman", 8036, true, 20, 5}},
   { "liveParameters", {"liveParameters", 8037, true, 20, 5}},
   { "cameraOdometry", {"cameraOdometry", 8038, true, 20, 5}},
-  { "lateralPlan", {"lateralPlan", 8039, true, 20, 5}},
+  { "lateralPlanDEPRECATED", {"lateralPlanDEPRECATED", 8039, true, 20, 5}},
   { "thumbnail", {"thumbnail", 8040, true, 0, 1}},
-  { "carEvents", {"carEvents", 8041, true, 1, 1}},
+  { "onroadEvents", {"onroadEvents", 8041, true, 1, 1}},
   { "carParams", {"carParams", 8042, true, 0, 1}},
   { "roadCameraState", {"roadCameraState", 8043, true, 20, 20}},
   { "driverCameraState", {"driverCameraState", 8044, true, 20, 20}},
@@ -67,25 +67,26 @@ static std::map<std::string, service> services = {
   { "microphone", {"microphone", 8061, true, 10, 10}},
   { "controlsStateSP", {"controlsStateSP", 8062, true, 100, 10}},
   { "longitudinalPlanSP", {"longitudinalPlanSP", 8063, true, 20, 5}},
-  { "lateralPlanSP", {"lateralPlanSP", 8064, true, 20, 5}},
+  { "lateralPlanSPDEPRECATED", {"lateralPlanSPDEPRECATED", 8064, true, 20, 5}},
   { "driverMonitoringStateSP", {"driverMonitoringStateSP", 8065, true, 20, 10}},
   { "liveMapDataSP", {"liveMapDataSP", 8066, true, 0, -1}},
   { "e2eLongStateSP", {"e2eLongStateSP", 8067, true, 0, -1}},
-  { "uiDebug", {"uiDebug", 8068, true, 0, 1}},
-  { "testJoystick", {"testJoystick", 8069, true, 0, -1}},
-  { "roadEncodeData", {"roadEncodeData", 8070, false, 20, -1}},
-  { "driverEncodeData", {"driverEncodeData", 8071, false, 20, -1}},
-  { "wideRoadEncodeData", {"wideRoadEncodeData", 8072, false, 20, -1}},
-  { "qRoadEncodeData", {"qRoadEncodeData", 8073, false, 20, -1}},
-  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8074, false, 20, -1}},
-  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8075, false, 20, -1}},
-  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8076, false, 20, -1}},
-  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8077, false, 20, -1}},
-  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8078, false, 20, -1}},
-  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8079, false, 20, -1}},
-  { "customReservedRawData0", {"customReservedRawData0", 8080, true, 0, -1}},
-  { "customReservedRawData1", {"customReservedRawData1", 8081, true, 0, -1}},
-  { "customReservedRawData2", {"customReservedRawData2", 8082, true, 0, -1}},
+  { "modelV2SP", {"modelV2SP", 8068, true, 20, 40}},
+  { "uiDebug", {"uiDebug", 8069, true, 0, 1}},
+  { "testJoystick", {"testJoystick", 8070, true, 0, -1}},
+  { "roadEncodeData", {"roadEncodeData", 8071, false, 20, -1}},
+  { "driverEncodeData", {"driverEncodeData", 8072, false, 20, -1}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", 8073, false, 20, -1}},
+  { "qRoadEncodeData", {"qRoadEncodeData", 8074, false, 20, -1}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", 8075, false, 20, -1}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", 8076, false, 20, -1}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", 8077, false, 20, -1}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", 8078, false, 20, -1}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", 8079, false, 20, -1}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", 8080, false, 20, -1}},
+  { "customReservedRawData0", {"customReservedRawData0", 8081, true, 0, -1}},
+  { "customReservedRawData1", {"customReservedRawData1", 8082, true, 0, -1}},
+  { "customReservedRawData2", {"customReservedRawData2", 8083, true, 0, -1}},
 };
 #endif
 

cereal/services.py

@@ -53,14 +53,14 @@ services: dict[str, tuple] = {
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
   "gnssMeasurements": (True, 10., 10),
-  "clocks": (True, 1., 1),
+  "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
   "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
+  "lateralPlanDEPRECATED": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
+  "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
@@ -84,10 +84,11 @@ services: dict[str, tuple] = {
 
   "controlsStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 5),
-  "lateralPlanSP": (True, 20., 5),
+  "lateralPlanSPDEPRECATED": (True, 20., 5),
   "driverMonitoringStateSP": (True, 20., 10),
   "liveMapDataSP": (True, 0.),
   "e2eLongStateSP": (True, 0.),
+  "modelV2SP": (True, 20., 40),
 
   # debug
   "uiDebug": (True, 0., 1),

cereal/visionipc/visionipc_client.h

@@ -2,11 +2,8 @@
 
 #include <set>
 #include <string>
-#include <vector>
-#include <unistd.h>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionbuf.h"
 
 class VisionIpcClient {

cereal/visionipc/visionipc_server.h

@@ -6,10 +6,10 @@
 #include <map>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionbuf.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type);
+std::string get_ipc_path(const std::string &name);
 
 class VisionIpcServer {
  private:

common/SConscript

@@ -2,7 +2,6 @@ Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',
-  'statlog.cc',
   'swaglog.cc',
   'util.cc',
   'i2c.cc',
@@ -24,18 +23,17 @@ Export('_common', '_gpucommon')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
 SConscript([
-  'kalman/SConscript',
-  'transformations/SConscript'  
+  'transformations/SConscript',
 ])
 
-Import('simple_kalman_python', 'transformations_python')
-common_python = [params_python, simple_kalman_python, transformations_python]
+Import('transformations_python')
+common_python = [params_python, transformations_python]
 
 Export('common_python')

common/api/__init__.py

@@ -2,7 +2,7 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta
-from openpilot.common.basedir import PERSIST
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
@@ -10,7 +10,7 @@ API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 class Api():
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
-    with open(PERSIST+'/comma/id_rsa') as f:
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
       self.private_key = f.read()
 
   def get(self, *args, **kwargs):

common/basedir.py

@@ -1,11 +1,4 @@
 import os
-from pathlib import Path
 
-from openpilot.system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
-
-if PC:
-  PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
-else:
-  PERSIST = "/persist"

common/ffi_wrapper.py

@@ -1,55 +1,8 @@
-import os
-import sys
-import fcntl
-import hashlib
 import platform
-from cffi import FFI
+
 
 def suffix():
   if platform.system() == "Darwin":
     return ".dylib"
   else:
     return ".so"
-
-def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
-  try:
-    os.mkdir(tmpdir)
-  except OSError:
-    pass
-
-  fd = os.open(tmpdir, 0)
-  fcntl.flock(fd, fcntl.LOCK_EX)
-  try:
-    sys.path.append(tmpdir)
-    try:
-      mod = __import__(cache)
-    except Exception:
-      print(f"cache miss {cache}")
-      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
-      mod = __import__(cache)
-  finally:
-    os.close(fd)
-
-  return mod.ffi, mod.lib
-
-
-def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
-  if libraries is None:
-    libraries = []
-
-  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
-  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
-  os.environ['CFLAGS'] = cflags
-  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
-
-
-def wrap_compiled(name, directory):
-  sys.path.append(directory)
-  mod = __import__(name)
-  return mod.ffi, mod.lib

common/file_helpers.py

@@ -1,60 +1,7 @@
 import os
-import shutil
 import tempfile
-from atomicwrites import AtomicWriter
-
-
-def mkdirs_exists_ok(path):
-  if path.startswith(('http://', 'https://')):
-    raise ValueError('URL path')
-  try:
-    os.makedirs(path)
-  except OSError:
-    if not os.path.isdir(path):
-      raise
-
-
-def rm_not_exists_ok(path):
-  try:
-    os.remove(path)
-  except OSError:
-    if os.path.exists(path):
-      raise
-
-
-def rm_tree_or_link(path):
-  if os.path.islink(path):
-    os.unlink(path)
-  elif os.path.isdir(path):
-    shutil.rmtree(path)
-
-
-def get_tmpdir_on_same_filesystem(path):
-  normpath = os.path.normpath(path)
-  parts = normpath.split("/")
-  if len(parts) > 1 and parts[1] == "scratch":
-    return "/scratch/tmp"
-  elif len(parts) > 2 and parts[2] == "runner":
-    return f"/{parts[1]}/runner/tmp"
-  return "/tmp"
-
-
-class NamedTemporaryDir():
-  def __init__(self, temp_dir=None):
-    self._path = tempfile.mkdtemp(dir=temp_dir)
-
-  @property
-  def name(self):
-    return self._path
-
-  def close(self):
-    shutil.rmtree(self._path)
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
+import contextlib
+from typing import Optional
 
 
 class CallbackReader:
@@ -76,24 +23,16 @@ class CallbackReader:
     return chunk
 
 
-def _get_fileobject_func(writer, temp_dir):
-  def _get_fileobject():
-    return writer.get_fileobject(dir=temp_dir)
-  return _get_fileobject
+@contextlib.contextmanager
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None,
+                        overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)
 
-def atomic_write_on_fs_tmp(path, **kwargs):
-  """Creates an atomic writer using a temporary file in a temporary directory
-     on the same filesystem as path.
-  """
-  # TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
-  #                 directory.
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
+  if not overwrite and os.path.exists(path):
+    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
 
-
-def atomic_write_in_dir(path, **kwargs):
-  """Creates an atomic writer using a temporary file in the same directory
-     as the destination file.
-  """
-  writer = AtomicWriter(path, **kwargs)
-  return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
+  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
+    yield tmp_file
+    tmp_file_name = tmp_file.name
+  os.replace(tmp_file_name, path)

common/kalman/.gitignore

@@ -1 +0,0 @@
-simple_kalman_impl.c

common/kalman/SConscript

@@ -1,5 +0,0 @@
-Import('envCython')
-
-simple_kalman_python = envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
-
-Export('simple_kalman_python')

common/kalman/simple_kalman.py

@@ -1,12 +0,0 @@
-from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
-assert KF1D
-import numpy as np
-
-def get_kalman_gain(dt, A, C, Q, R, iterations=100):
-  P = np.zeros_like(Q)
-  for _ in range(iterations):
-    P = A.dot(P).dot(A.T) + dt * Q
-    S = C.dot(P).dot(C.T) + R
-    K = P.dot(C.T).dot(np.linalg.inv(S))
-    P = (np.eye(len(P)) - K.dot(C)).dot(P)
-  return K

common/kalman/simple_kalman_impl.pxd

@@ -1,18 +0,0 @@
-# cython: language_level = 3
-
-cdef class KF1D:
-  cdef public:
-    double x0_0
-    double x1_0
-    double K0_0
-    double K1_0
-    double A0_0
-    double A0_1
-    double A1_0
-    double A1_1
-    double C0_0
-    double C0_1
-    double A_K_0
-    double A_K_1
-    double A_K_2
-    double A_K_3

common/kalman/simple_kalman_impl.pyx

@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-
-cdef class KF1D:
-  def __init__(self, x0, A, C, K):
-    self.x0_0 = x0[0][0]
-    self.x1_0 = x0[1][0]
-    self.A0_0 = A[0][0]
-    self.A0_1 = A[0][1]
-    self.A1_0 = A[1][0]
-    self.A1_1 = A[1][1]
-    self.C0_0 = C[0]
-    self.C0_1 = C[1]
-    self.K0_0 = K[0][0]
-    self.K1_0 = K[1][0]
-
-    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
-    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
-    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
-    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
-
-  def update(self, meas):
-    cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
-    cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
-    self.x0_0 = x0_0
-    self.x1_0 = x1_0
-
-    return [self.x0_0, self.x1_0]
-
-  @property
-  def x(self):
-    return [[self.x0_0], [self.x1_0]]
-
-  @x.setter
-  def x(self, x):
-    self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]

common/kalman/simple_kalman_old.py

@@ -1,23 +0,0 @@
-import numpy as np
-
-
-class KF1D:
-  # this EKF assumes constant covariance matrix, so calculations are much simpler
-  # the Kalman gain also needs to be precomputed using the control module
-
-  def __init__(self, x0, A, C, K):
-    self.x = x0
-    self.A = A
-    self.C = np.atleast_2d(C)
-    self.K = K
-
-    self.A_K = self.A - np.dot(self.K, self.C)
-
-    # K matrix needs to  be pre-computed as follow:
-    # import control
-    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
-    # self.K = np.transpose(K)
-
-  def update(self, meas):
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
-    return self.x

common/kalman/tests/test_simple_kalman.py

@@ -1,87 +0,0 @@
-import unittest
-import random
-import timeit
-import numpy as np
-
-from openpilot.common.kalman.simple_kalman import KF1D
-from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-
-class TestSimpleKalman(unittest.TestCase):
-  def setUp(self):
-    dt = 0.01
-    x0_0 = 0.0
-    x1_0 = 0.0
-    A0_0 = 1.0
-    A0_1 = dt
-    A1_0 = 0.0
-    A1_1 = 1.0
-    C0_0 = 1.0
-    C0_1 = 0.0
-    K0_0 = 0.12287673
-    K1_0 = 0.29666309
-
-    self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
-                           A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
-                           C=np.array([C0_0, C0_1]),
-                           K=np.array([[K0_0], [K1_0]]))
-
-    self.kf = KF1D(x0=[[x0_0], [x1_0]],
-                   A=[[A0_0, A0_1], [A1_0, A1_1]],
-                   C=[C0_0, C0_1],
-                   K=[[K0_0], [K1_0]])
-
-  def test_getter_setter(self):
-    self.kf.x = [[1.0], [1.0]]
-    self.assertEqual(self.kf.x, [[1.0], [1.0]])
-
-  def update_returns_state(self):
-    x = self.kf.update(100)
-    self.assertEqual(x, self.kf.x)
-
-  def test_old_equal_new(self):
-    for _ in range(1000):
-      v_wheel = random.uniform(0, 200)
-
-      x_old = self.kf_old.update(v_wheel)
-      x = self.kf.update(v_wheel)
-
-      # Compare the output x, verify that the error is less than 1e-4
-      np.testing.assert_almost_equal(x_old[0], x[0])
-      np.testing.assert_almost_equal(x_old[1], x[1])
-
-  def test_new_is_faster(self):
-    setup = """
-import numpy as np
-
-from openpilot.common.kalman.simple_kalman import KF1D
-from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
-
-dt = 0.01
-x0_0 = 0.0
-x1_0 = 0.0
-A0_0 = 1.0
-A0_1 = dt
-A1_0 = 0.0
-A1_1 = 1.0
-C0_0 = 1.0
-C0_1 = 0.0
-K0_0 = 0.12287673
-K1_0 = 0.29666309
-
-kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
-                  A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
-                  C=np.array([C0_0, C0_1]),
-                  K=np.array([[K0_0], [K1_0]]))
-
-kf = KF1D(x0=[[x0_0], [x1_0]],
-          A=[[A0_0, A0_1], [A1_0, A1_1]],
-          C=[C0_0, C0_1],
-          K=[[K0_0], [K1_0]])
-    """
-    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
-    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
-    self.assertTrue(kf_speed < kf_old_speed / 4)
-
-if __name__ == "__main__":
-  unittest.main()

common/logging_extra.py

@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record): # noqa: A003
+  def format(self, record):
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record): # noqa: A003
+  def format(self, record):
     if isinstance(record, str):
       v = json.loads(record)
     else:

common/model.h

@@ -1 +1 @@
-#define CURRENT_MODEL "Farmville (November 7, 2023)"
+#define CURRENT_MODEL "Los Angeles v2 (January 24, 2024)"

common/modeldata.h

@@ -1,38 +0,0 @@
-#pragma once
-
-#include <array>
-#include "common/mat.h"
-#include "system/hardware/hw.h"
-
-const int TRAJECTORY_SIZE = 33;
-const int LAT_MPC_N = 16;
-const int LON_MPC_N = 32;
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
-
-const float RYG_GREEN = 0.01165;
-const float RYG_YELLOW = 0.06157;
-
-template <typename T, size_t size>
-constexpr std::array<T, size> build_idxs(float max_val) {
-  std::array<T, size> result{};
-  for (int i = 0; i < size; ++i) {
-    result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
-  }
-  return result;
-}
-
-constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
-constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
-constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
-constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
-
-const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};
-
-// tici ecam focal probably wrong? magnification is not consistent across frame
-// Need to retrain model before this can be changed
-const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};

common/params.h

@@ -1,21 +1,28 @@
 #pragma once
 
+#include <future>
 #include <map>
 #include <string>
+#include <tuple>
+#include <utility>
 #include <vector>
 
+#include "common/queue.h"
+
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
   CLEAR_ON_ONROAD_TRANSITION = 0x08,
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
+  DEVELOPMENT_ONLY = 0x40,
   ALL = 0xFFFFFFFF
 };
 
 class Params {
 public:
   explicit Params(const std::string &path = {});
+  ~Params();
   // Not copyable.
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
@@ -24,7 +31,7 @@ public:
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
-    return params_path + prefix + (key.empty() ? "" : "/" + key);
+    return params_path + params_prefix + (key.empty() ? "" : "/" + key);
   }
 
   // Delete a value
@@ -46,8 +53,18 @@ public:
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  void putNonBlocking(const std::string &key, const std::string &val);
+  inline void putBoolNonBlocking(const std::string &key, bool val) {
+    putNonBlocking(key, val ? "1" : "0");
+  }
 
 private:
+  void asyncWriteThread();
+
   std::string params_path;
-  std::string prefix;
+  std::string params_prefix;
+
+  // for nonblocking write
+  std::future<void> future;
+  SafeQueue<std::pair<std::string, std::string>> queue;
 };

common/params.py

@@ -1,10 +1,7 @@
-from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \
-                                        put_bool_nonblocking
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
-assert put_nonblocking
-assert put_bool_nonblocking
 
 if __name__ == "__main__":
   import sys

common/params_pyx.pyx

@@ -3,7 +3,6 @@
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-import threading
 
 cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
@@ -11,6 +10,7 @@ cdef extern from "common/params.h":
     CLEAR_ON_MANAGER_START
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
+    DEVELOPMENT_ONLY
     ALL
 
   cdef cppclass c_Params "Params":
@@ -19,6 +19,8 @@ cdef extern from "common/params.h":
     bool getBool(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
+    void putNonBlocking(string, string) nogil
+    void putBoolNonBlocking(string, bool) nogil
     int putBool(string, bool) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
@@ -27,7 +29,7 @@ cdef extern from "common/params.h":
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+  return v.encode() if isinstance(v, str) else v
 
 class UnknownKeyName(Exception):
   pass
@@ -79,7 +81,7 @@ cdef class Params:
     """
     Warning: This function blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking helper function in time sensitive code, but
+    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
     in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
@@ -92,6 +94,17 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_nonblocking(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.putNonBlocking(k, dat_bytes)
+
+  def put_bool_nonblocking(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBoolNonBlocking(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
@@ -103,9 +116,3 @@ cdef class Params:
 
   def all_keys(self):
     return self.p.allKeys()
-
-def put_nonblocking(key, val, d=""):
-  threading.Thread(target=lambda: Params(d).put(key, val)).start()
-
-def put_bool_nonblocking(key, bool val, d=""):
-  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()

common/prefix.py

@@ -0,0 +1,52 @@
+import os
+import shutil
+import uuid
+
+from typing import Optional
+
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+
+class OpenpilotPrefix:
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
+    self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.clean_dirs_on_exit = clean_dirs_on_exit
+    self.shared_download_cache = shared_download_cache
+
+  def __enter__(self):
+    self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
+    os.environ['OPENPILOT_PREFIX'] = self.prefix
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+
+    if self.shared_download_cache:
+      os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
+
+    return self
+
+  def __exit__(self, exc_type, exc_obj, exc_tb):
+    if self.clean_dirs_on_exit:
+      self.clean_dirs()
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+      if self.original_prefix is not None:
+        os.environ['OPENPILOT_PREFIX'] = self.original_prefix
+    except KeyError:
+      pass
+    return False
+
+  def clean_dirs(self):
+    symlink_path = Params().get_param_path()
+    if os.path.exists(symlink_path):
+      shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
+      os.remove(symlink_path)
+    shutil.rmtree(self.msgq_path, ignore_errors=True)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    if not os.environ.get("COMMA_CACHE", False):
+      shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/profiler.py

@@ -1,45 +0,0 @@
-import time
-
-class Profiler():
-  def __init__(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-    self.tot = 0.
-
-  def reset(self, enabled=False):
-    self.enabled = enabled
-    self.cp = {}
-    self.cp_ignored = []
-    self.iter = 0
-    self.start_time = time.time()
-    self.last_time = self.start_time
-
-  def checkpoint(self, name, ignore=False):
-    # ignore flag needed when benchmarking threads with ratekeeper
-    if not self.enabled:
-      return
-    tt = time.time()
-    if name not in self.cp:
-      self.cp[name] = 0.
-      if ignore:
-        self.cp_ignored.append(name)
-    self.cp[name] += tt - self.last_time
-    if not ignore:
-      self.tot += tt - self.last_time
-    self.last_time = tt
-
-  def display(self):
-    if not self.enabled:
-      return
-    self.iter += 1
-    print("******* Profiling %d *******" % self.iter)
-    for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
-      if n in self.cp_ignored:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f   IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-      else:
-        print("%30s: %9.2f  avg: %7.2f  percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
-    print(f"Iter clock: {self.tot / self.iter:2.6f}   TOTAL: {self.tot:2.2f}")

common/realtime.py

@@ -88,7 +88,7 @@ class Ratekeeper:
       time.sleep(self._remaining)
     return lagged
 
-  # this only monitor the cumulative lag, but does not enforce a rate
+  # Monitors the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
     prev = self._last_monitor_time
     self._last_monitor_time = time.monotonic()

common/retry.py

@@ -0,0 +1,30 @@
+import time
+import functools
+
+from openpilot.common.swaglog import cloudlog
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          cloudlog.exception(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        cloudlog.error(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator
+
+
+if __name__ == "__main__":
+  @retry(attempts=10)
+  def abc():
+    raise ValueError("abc failed :(")
+  abc()

common/simple_kalman.py

@@ -0,0 +1,54 @@
+import numpy as np
+
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K
+
+
+class KF1D:
+  # this EKF assumes constant covariance matrix, so calculations are much simpler
+  # the Kalman gain also needs to be precomputed using the control module
+
+  def __init__(self, x0, A, C, K):
+    self.x0_0 = x0[0][0]
+    self.x1_0 = x0[1][0]
+    self.A0_0 = A[0][0]
+    self.A0_1 = A[0][1]
+    self.A1_0 = A[1][0]
+    self.A1_1 = A[1][1]
+    self.C0_0 = C[0]
+    self.C0_1 = C[1]
+    self.K0_0 = K[0][0]
+    self.K1_0 = K[1][0]
+
+    self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
+    self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
+    self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
+    self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
+
+    # K matrix needs to  be pre-computed as follow:
+    # import control
+    # (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
+    # self.K = np.transpose(K)
+
+  def update(self, meas):
+    #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
+    x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
+    self.x0_0 = x0_0
+    self.x1_0 = x1_0
+    return [self.x0_0, self.x1_0]
+
+  @property
+  def x(self):
+    return [[self.x0_0], [self.x1_0]]
+
+  def set_x(self, x):
+    self.x0_0 = x[0][0]
+    self.x1_0 = x[1][0]

common/statlog.h

@@ -1,10 +0,0 @@
-#pragma once
-
-#define STATLOG_GAUGE "g"
-#define STATLOG_SAMPLE "sa"
-
-void statlog_log(const char* metric_type, const char* metric, int value);
-void statlog_log(const char* metric_type, const char* metric, float value);
-
-#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value)
-#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value)

common/time.py

@@ -1,6 +1,6 @@
 import datetime
 
-MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > MIN_DATE

common/transformations/transformations.pxd

@@ -1,4 +1,4 @@
-#cython: language_level=3
+# cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":

common/transformations/transformations.pyx

@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
 from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
-import cython
 import numpy as np
 cimport numpy as np
 
@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     return Matrix3(<double*>m.data)
 
 cdef ECEF list2ecef(ecef):
-    cdef ECEF e;
+    cdef ECEF e
     e.x = ecef[0]
     e.y = ecef[1]
     e.z = ecef[2]
     return e
 
 cdef NED list2ned(ned):
-    cdef NED n;
+    cdef NED n
     n.n = ned[0]
     n.e = ned[1]
     n.d = ned[2]
@@ -61,7 +60,7 @@ def euler2quat_single(euler):
 
 def quat2euler_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q);
+    cdef Vector3 e = quat2euler_c(q)
     return [e(0), e(1), e(2)]
 
 def quat2rot_single(quat):

common/util.h

@@ -3,7 +3,6 @@
 #include <fcntl.h>
 #include <sys/stat.h>
 #include <unistd.h>
-#include <zmq.h>
 
 #include <algorithm>
 #include <atomic>
@@ -180,36 +179,3 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
   while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
-
-class LogState {
- public:
-  bool initialized = false;
-  std::mutex lock;
-  void *zctx = nullptr;
-  void *sock = nullptr;
-  int print_level;
-  std::string endpoint;
-
-  LogState(std::string _endpoint) {
-    endpoint = _endpoint;
-  }
-
-  inline void initialize() {
-    zctx = zmq_ctx_new();
-    sock = zmq_socket(zctx, ZMQ_PUSH);
-
-    // Timeout on shutdown for messages to be received by the logging process
-    int timeout = 100;
-    zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
-
-    zmq_connect(sock, endpoint.c_str());
-    initialized = true;
-  }
-
-  ~LogState() {
-    if (initialized) {
-      zmq_close(sock);
-      zmq_ctx_destroy(zctx);
-    }
-  }
-};

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.5.3-release"
+#define COMMA_VERSION "0.9.6.1-release"

docs/CARS.md

@@ -4,37 +4,40 @@
 
 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.
 
-# 267 Supported Cars
+# 279 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
 |Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
 |Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
 |Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=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 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
 |Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2018|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-23">Buy Here</a></sub></details>||
 |Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
@@ -60,7 +63,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback 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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-20|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-20">Buy Here</a></sub></details>||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
@@ -71,8 +74,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|25 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
@@ -96,25 +100,26 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|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 O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 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 L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
 |Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
@@ -130,10 +135,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in 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 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
@@ -143,18 +151,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
 |Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
 |Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
+|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
 |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
+|Lexus|LC 2024|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=LC 2024">Buy Here</a></sub></details>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
@@ -168,35 +178,35 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">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 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|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 B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
 |Nissan|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 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|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 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|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 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 2019-21|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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 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 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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 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 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=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>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -206,11 +216,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -234,47 +244,49 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
 |Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 2023-24|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-24">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2023-24|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-22">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
@@ -284,12 +296,13 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</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>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>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>12</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>13</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>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</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>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>13</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>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/CONTRIBUTING.md

@@ -1,26 +1,50 @@
 # How to contribute
 
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
-
-Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
 
 ### Getting Started
 
- * Setup your [development environment](../tools/)
- * Join our [Discord](https://discord.comma.ai)
- * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
+* Setup your [development environment](../tools/)
+* Read about the [development workflow](WORKFLOW.md)
+* Join our [Discord](https://discord.comma.ai)
+* Docs are at https://docs.comma.ai and https://blog.comma.ai
+
+## What contributions are we looking for?
+
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. 
+
+### What gets merged?
+
+The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
+If a PR offers *some* value but will take lots of time to get merged, it will be closed.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+
+All of these are examples of good PRs:
+* typo fix: https://github.com/commaai/openpilot/pull/30678
+* removing unused code: https://github.com/commaai/openpilot/pull/30573
+* simple car model port: https://github.com/commaai/openpilot/pull/30245
+* car brand port: https://github.com/commaai/openpilot/pull/23331
+
+### What doesn't get merged?
+
+* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
+* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
+* **PRs without a clear goal**: every PR must have a singular and clear goal
+* **UI design changes**: we do not have a good review process for this yet
+* **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
 
 ### First contribution
-Try out some of these first pull requests ideas to dive into the codebase:
 
-* Increase our [mypy](http://mypy-lang.org/) coverage
-* Write some documentation
-* Tackle an open [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22)
+Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
+
+### What do I need to contribute?
+
+A lot of openpilot work requires only a PC, and some requires a comma device.
+Most car-related contributions require access to that car, plus a comma device installed in the car.
 
 ## Pull Requests
 
-Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
 
 A good pull request has all of the following:
 * a clearly stated purpose
@@ -31,18 +55,11 @@ A good pull request has all of the following:
   * if you've improved your car's tuning, post before and after plots
 * passes the CI tests
 
-### Car Ports
+## Contributing without Code
 
-We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
-
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
-
-## Testing
-
-### Automated Testing
-
-All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
-
-### Code Style and Linting
-
-Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
+* Report bugs in GitHub issues.
+* Report driving issues in the `#driving-feedback` Discord channel.
+* Consider opting into driver camera uploads to improve the driver monitoring model.
+* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
+* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
+* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k).

laika/__init__.py

@@ -1,9 +0,0 @@
-import logging
-import os
-
-from .astro_dog import AstroDog
-assert AstroDog is not None
-
-# setup logging
-LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
-logging.basicConfig(level=LOGLEVEL, format='%(message)s')

laika/astro_dog.py

@@ -1,396 +0,0 @@
-from collections import defaultdict
-from concurrent.futures import ThreadPoolExecutor
-from typing import DefaultDict, Dict, Iterable, List, Optional, Union
-
-from .constants import SECS_IN_DAY, SECS_IN_HR
-from .helpers import ConstellationId, get_constellation, get_closest, get_el_az, TimeRangeHolder
-from .ephemeris import Ephemeris, EphemerisType, GLONASSEphemeris, GPSEphemeris, PolyEphemeris, parse_sp3_orbits, parse_rinex_nav_msg_gps, \
-  parse_rinex_nav_msg_glonass
-from .downloader import download_orbits_gps, download_orbits_russia_src, download_nav, download_ionex, download_dcb, download_prediction_orbits_russia_src
-from .downloader import download_cors_station
-from .trop import saast
-from .iono import IonexMap, parse_ionex, get_slant_delay
-from .dcb import DCB, parse_dcbs
-from .gps_time import GPSTime
-from .dgps import get_closest_station_names, parse_dgps
-from . import constants
-
-MAX_DGPS_DISTANCE = 100_000  # in meters, because we're not barbarians
-
-
-class AstroDog:
-  '''
-  auto_update: flag indicating whether laika should fetch files from web automatically
-  cache_dir:   directory where data files are downloaded to and cached
-  dgps:        flag indicating whether laika should use dgps (CORS)
-               data to calculate pseudorange corrections
-  valid_const: list of constellation identifiers laika will try process
-  valid_ephem_types: set of ephemeris types that are allowed to use and download.
-                Default is set to use all orbit ephemeris types
-  clear_old_ephemeris: flag indicating if ephemeris for an individual satellite should be overwritten when new ephemeris is added.
-  '''
-
-  def __init__(self, auto_update=True,
-               cache_dir='/tmp/gnss/',
-               dgps=False,
-               valid_const=(ConstellationId.GPS, ConstellationId.GLONASS),
-               valid_ephem_types=EphemerisType.all_orbits(),
-               clear_old_ephemeris=False):
-
-    for const in valid_const:
-      if not isinstance(const, ConstellationId):
-        raise TypeError(f"valid_const must be a list of ConstellationId, got {const}")
-
-    self.auto_update = auto_update
-    self.cache_dir = cache_dir
-    self.clear_old_ephemeris = clear_old_ephemeris
-    self.dgps = dgps
-    if not isinstance(valid_ephem_types, Iterable):
-      valid_ephem_types = [valid_ephem_types]
-    self.pull_orbit = len(set(EphemerisType.all_orbits()) & set(valid_ephem_types)) > 0
-    self.pull_nav = EphemerisType.NAV in valid_ephem_types
-    self.use_qcom_poly = EphemerisType.QCOM_POLY in valid_ephem_types
-    self.valid_const = valid_const
-    self.valid_ephem_types = valid_ephem_types
-
-    self.orbit_fetched_times = TimeRangeHolder()
-    self.navs_fetched_times = TimeRangeHolder()
-    self.dcbs_fetched_times = TimeRangeHolder()
-
-    self.dgps_delays = []
-    self.ionex_maps: List[IonexMap] = []
-    self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
-    self.qcom_polys: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
-    self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
-    self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list)
-
-    self.cached_ionex: Optional[IonexMap] = None
-    self.cached_dgps = None
-    self.cached_orbit: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
-    self.cached_qcom_polys: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
-    self.cached_nav: DefaultDict[str, Union[GPSEphemeris, GLONASSEphemeris, None]] = defaultdict(lambda: None)
-    self.cached_dcb: DefaultDict[str, Optional[DCB]] = defaultdict(lambda: None)
-
-  def get_ionex(self, time) -> Optional[IonexMap]:
-    ionex: Optional[IonexMap] = self._get_latest_valid_data(self.ionex_maps, self.cached_ionex, self.get_ionex_data, time)
-    if ionex is None:
-      if self.auto_update:
-        raise RuntimeError("Pulled ionex, but still can't get valid for time " + str(time))
-    else:
-      self.cached_ionex = ionex
-    return ionex
-
-  def get_nav(self, prn, time):
-    skip_download = time in self.navs_fetched_times
-    nav = self._get_latest_valid_data(self.navs[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
-    if nav is not None:
-      self.cached_nav[prn] = nav
-    return nav
-
-  @staticmethod
-  def _select_valid_temporal_items(item_dict, time, cache):
-    '''Returns only valid temporal item for specific time from currently fetched
-    data.'''
-    result = {}
-    for prn, temporal_objects in item_dict.items():
-      cached = cache[prn]
-      if cached is not None and cached.valid(time):
-        obj = cached
-      else:
-        obj = get_closest(time, temporal_objects)
-        if obj is None or not obj.valid(time):
-          continue
-        cache[prn] = obj
-      result[prn] = obj
-    return result
-
-  def get_all_ephem_prns(self):
-    return set(self.orbits.keys()).union(set(self.navs.keys())).union(set(self.qcom_polys.keys()))
-
-  def get_navs(self, time):
-    if time not in self.navs_fetched_times:
-      self.get_nav_data(time)
-    return AstroDog._select_valid_temporal_items(self.navs, time, self.cached_nav)
-
-  def get_orbit(self, prn: str, time: GPSTime):
-    skip_download = time in self.orbit_fetched_times
-    orbit = self._get_latest_valid_data(self.orbits[prn], self.cached_orbit[prn], self.get_orbit_data, time, skip_download)
-    if orbit is not None:
-      self.cached_orbit[prn] = orbit
-    return orbit
-
-  def get_qcom_poly(self, prn: str, time: GPSTime):
-    poly = self._get_latest_valid_data(self.qcom_polys[prn], self.cached_qcom_polys[prn], None, time, True)
-    if poly is not None:
-      self.cached_qcom_polys[prn] = poly
-    return poly
-
-  def get_orbits(self, time):
-    if time not in self.orbit_fetched_times:
-      self.get_orbit_data(time)
-    return AstroDog._select_valid_temporal_items(self.orbits, time, self.cached_orbit)
-
-  def get_dcb(self, prn, time):
-    skip_download = time in self.dcbs_fetched_times
-    dcb = self._get_latest_valid_data(self.dcbs[prn], self.cached_dcb[prn], self.get_dcb_data, time, skip_download)
-    if dcb is not None:
-      self.cached_dcb[prn] = dcb
-    return dcb
-
-  def get_dgps_corrections(self, time, recv_pos):
-    latest_data = self._get_latest_valid_data(self.dgps_delays, self.cached_dgps, self.get_dgps_data, time, recv_pos=recv_pos)
-    if latest_data is None:
-      if self.auto_update:
-        raise RuntimeError("Pulled dgps, but still can't get valid for time " + str(time))
-    else:
-      self.cached_dgps = latest_data
-    return latest_data
-
-  def add_qcom_polys(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.qcom_polys)
-
-  def add_orbits(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.orbits)
-
-  def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.navs)
-
-  def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict):
-    for k, v in new_ephems.items():
-      if len(v) > 0:
-        if self.clear_old_ephemeris:
-          ephems_dict[k] = v
-        else:
-          ephems_dict[k].extend(v)
-
-  def add_ephem_fetched_time(self, ephems, fetched_times):
-    min_epochs = []
-    max_epochs = []
-    for v in ephems.values():
-      if len(v) > 0:
-        min_ephem, max_ephem = self.get_epoch_range(v)
-        min_epochs.append(min_ephem)
-        max_epochs.append(max_ephem)
-    if len(min_epochs) > 0:
-      min_epoch = min(min_epochs)
-      max_epoch = max(max_epochs)
-      fetched_times.add(min_epoch, max_epoch)
-
-  def get_nav_data(self, time):
-    def download_and_parse(constellation, parse_rinex_nav_func):
-      file_path = download_nav(time, cache_dir=self.cache_dir, constellation=constellation)
-      return parse_rinex_nav_func(file_path) if file_path else {}
-
-    fetched_ephems = {}
-
-    if ConstellationId.GPS in self.valid_const:
-      fetched_ephems = download_and_parse(ConstellationId.GPS, parse_rinex_nav_msg_gps)
-    if ConstellationId.GLONASS in self.valid_const:
-      for k, v in download_and_parse(ConstellationId.GLONASS, parse_rinex_nav_msg_glonass).items():
-        fetched_ephems.setdefault(k, []).extend(v)
-    self.add_navs(fetched_ephems)
-
-    if sum([len(v) for v in fetched_ephems.values()]) == 0:
-      begin_day = GPSTime(time.week, SECS_IN_DAY * (time.tow // SECS_IN_DAY))
-      end_day = GPSTime(time.week, SECS_IN_DAY * (1 + (time.tow // SECS_IN_DAY)))
-      self.navs_fetched_times.add(begin_day, end_day)
-
-  def download_parse_orbit(self, gps_time: GPSTime, skip_before_epoch=None) -> Dict[str, List[PolyEphemeris]]:
-    # Download multiple days to be able to polyfit at the start-end of the day
-    time_steps = [gps_time - SECS_IN_DAY, gps_time, gps_time + SECS_IN_DAY]
-    with ThreadPoolExecutor() as executor:
-      futures_other = [executor.submit(download_orbits_russia_src, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
-      futures_gps = None
-      if ConstellationId.GPS in self.valid_const:
-        futures_gps = [executor.submit(download_orbits_gps, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
-
-      ephems_other = parse_sp3_orbits([f.result() for f in futures_other if f.result()], self.valid_const, skip_before_epoch)
-      ephems_us = parse_sp3_orbits([f.result() for f in futures_gps if f.result()], self.valid_const, skip_before_epoch) if futures_gps else {}
-
-    return {k: ephems_other.get(k, []) + ephems_us.get(k, []) for k in set(list(ephems_other.keys()) + list(ephems_us.keys()))}
-
-  def download_parse_prediction_orbit(self, gps_time: GPSTime):
-    assert EphemerisType.ULTRA_RAPID_ORBIT in self.valid_ephem_types
-    skip_until_epoch = gps_time - 2 * SECS_IN_HR
-
-    result = download_prediction_orbits_russia_src(gps_time, self.cache_dir)
-    if result is not None:
-      result = [result]
-    elif ConstellationId.GPS in self.valid_const:
-      # Slower fallback. Russia src prediction orbits are published from 2022
-      result = [download_orbits_gps(t, self.cache_dir, self.valid_ephem_types) for t in [gps_time - SECS_IN_DAY, gps_time]]
-    if result is None:
-      return {}
-    return parse_sp3_orbits(result, self.valid_const, skip_until_epoch=skip_until_epoch)
-
-  def get_orbit_data(self, time: GPSTime, only_predictions=False):
-    if only_predictions:
-      ephems_sp3 = self.download_parse_prediction_orbit(time)
-    else:
-      ephems_sp3 = self.download_parse_orbit(time)
-    if sum([len(v) for v in ephems_sp3.values()]) < 5:
-      raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}')
-    self.add_ephem_fetched_time(ephems_sp3, self.orbit_fetched_times)
-    self.add_orbits(ephems_sp3)
-
-  def get_dcb_data(self, time):
-    file_path_dcb = download_dcb(time, cache_dir=self.cache_dir)
-    dcbs = parse_dcbs(file_path_dcb, self.valid_const)
-    for dcb in dcbs:
-      self.dcbs[dcb.prn].append(dcb)
-
-    if len(dcbs) != 0:
-      min_epoch, max_epoch = self.get_epoch_range(dcbs)
-      self.dcbs_fetched_times.add(min_epoch, max_epoch)
-
-  def get_epoch_range(self, new_ephems):
-    min_ephem = min(new_ephems, key=lambda e: e.epoch)
-    max_ephem = max(new_ephems, key=lambda e: e.epoch)
-    min_epoch = min_ephem.epoch - min_ephem.max_time_diff
-    max_epoch = max_ephem.epoch + max_ephem.max_time_diff
-    return min_epoch, max_epoch
-
-  def get_ionex_data(self, time):
-    file_path_ionex = download_ionex(time, cache_dir=self.cache_dir)
-    ionex_maps = parse_ionex(file_path_ionex)
-    for im in ionex_maps:
-      self.ionex_maps.append(im)
-
-  def get_dgps_data(self, time, recv_pos):
-    station_names = get_closest_station_names(recv_pos, k=8, max_distance=MAX_DGPS_DISTANCE, cache_dir=self.cache_dir)
-    for station_name in station_names:
-      file_path_station = download_cors_station(time, station_name, cache_dir=self.cache_dir)
-      if file_path_station:
-        dgps = parse_dgps(station_name, file_path_station,
-                          self, max_distance=MAX_DGPS_DISTANCE,
-                          required_constellations=self.valid_const)
-        if dgps is not None:
-          self.dgps_delays.append(dgps)
-          break
-
-  def get_tgd_from_nav(self, prn, time):
-    if get_constellation(prn) not in self.valid_const:
-      return None
-
-    eph = self.get_nav(prn, time)
-
-    if eph:
-      return eph.get_tgd()
-    return None
-
-  def get_eph(self, prn, time):
-    if get_constellation(prn) not in self.valid_const:
-      return None
-    eph = None
-    if self.pull_orbit:
-      eph = self.get_orbit(prn, time)
-    if not eph and self.pull_nav:
-      eph = self.get_nav(prn, time)
-    if not eph and self.use_qcom_poly:
-      eph = self.get_qcom_poly(prn, time)
-    return eph
-
-  def get_sat_info(self, prn, time):
-    eph = self.get_eph(prn, time)
-    if eph:
-      return eph.get_sat_info(time)
-    return None
-
-  def get_all_sat_info(self, time):
-    ephs = {}
-    if self.pull_orbit:
-      ephs = self.get_orbits(time)
-    if len(ephs) == 0 and self.pull_nav:
-      ephs = self.get_navs(time)
-
-    return {prn: eph.get_sat_info(time) for prn, eph in ephs.items()}
-
-  def get_glonass_channel(self, prn, time):
-    nav = self.get_nav(prn, time)
-    if nav:
-      return nav.channel
-    return None
-
-  def get_frequency(self, prn, time, signal='C1C'):
-    if get_constellation(prn) == ConstellationId.GPS:
-      switch = {'1': constants.GPS_L1,
-                '2': constants.GPS_L2,
-                '5': constants.GPS_L5,
-                '6': constants.GALILEO_E6,
-                '7': constants.GALILEO_E5B,
-                '8': constants.GALILEO_E5AB}
-      freq = switch.get(signal[1])
-      if freq:
-        return freq
-      raise NotImplementedError("Dont know this GPS frequency: ", signal, prn)
-    elif get_constellation(prn) == ConstellationId.GLONASS:
-      n = self.get_glonass_channel(prn, time)
-      if n is None:
-        return None
-      switch = {'1': constants.GLONASS_L1 + n * constants.GLONASS_L1_DELTA,
-                '2': constants.GLONASS_L2 + n * constants.GLONASS_L2_DELTA,
-                '5': constants.GLONASS_L5 + n * constants.GLONASS_L5_DELTA,
-                '6': constants.GALILEO_E6,
-                '7': constants.GALILEO_E5B,
-                '8': constants.GALILEO_E5AB}
-      freq = switch.get(signal[1])
-      if freq:
-        return freq
-      raise NotImplementedError("Dont know this GLONASS frequency: ", signal, prn)
-
-  def get_delay(self, prn, time, rcv_pos, no_dgps=False, signal='C1C', freq=None):
-    sat_info = self.get_sat_info(prn, time)
-    if sat_info is None:
-      return None
-    sat_pos = sat_info[0]
-    el, az = get_el_az(rcv_pos, sat_pos)
-    if el < 0.2:
-      return None
-    if self.dgps and not no_dgps:
-      return self._get_delay_dgps(prn, rcv_pos, time)
-
-    ionex = self.get_ionex(time)
-    if not freq and ionex is not None:
-      freq = self.get_frequency(prn, time, signal)
-    dcb = self.get_dcb(prn, time)
-    # When using internet we expect all data or return None
-    if self.auto_update and (ionex is None or dcb is None or freq is None):
-      return None
-    if ionex is not None:
-      iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq)
-    else:
-      # 5m vertical delay is a good default
-      iono_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay=5.0)
-    trop_delay = saast(rcv_pos, el)
-    code_bias = dcb.get_delay(signal) if dcb is not None else 0.
-    return iono_delay + trop_delay + code_bias
-
-  def _get_delay_dgps(self, prn, rcv_pos, time):
-    dgps_corrections = self.get_dgps_corrections(time, rcv_pos)
-    if dgps_corrections is None:
-      return None
-    return dgps_corrections.get_delay(prn, time)
-
-  def _get_latest_valid_data(self, data, latest_data, download_data_func, time, skip_download=False, recv_pos=None):
-    def is_valid(latest_data):
-      if recv_pos is None:
-        return latest_data is not None and latest_data.valid(time)
-      else:
-        return latest_data is not None and latest_data.valid(time, recv_pos)
-
-    if is_valid(latest_data):
-      return latest_data
-
-    latest_data = get_closest(time, data, recv_pos=recv_pos)
-    if is_valid(latest_data):
-      return latest_data
-    if skip_download or not self.auto_update:
-      return None
-    if recv_pos is not None:
-      download_data_func(time, recv_pos)
-    else:
-      download_data_func(time)
-    latest_data = get_closest(time, data, recv_pos=recv_pos)
-    if is_valid(latest_data):
-      return latest_data
-    return None

laika/constants.py

@@ -1,34 +0,0 @@
-# These are all from IS-GPS-200G unless otherwise noted
-
-SPEED_OF_LIGHT = 2.99792458e8  # m/s
-
-# Physical parameters of the Earth
-EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
-EARTH_RADIUS = 6.3781e6  # m
-EARTH_ROTATION_RATE = 7.2921151467e-005  # rad/s (WGS84 earth rotation rate)
-
-# GPS system parameters:
-GPS_L1 = l1 = 1.57542e9  # Hz
-GPS_L2 = l2 = 1.22760e9  # Hz
-GPS_L5 = l5 = 1.17645e9  # Hz Also E5
-
-#GLONASS system parameters
-#TODO this is old convention
-GLONASS_L1 = 1.602e9
-GLONASS_L1_DELTA = 0.5625e6
-GLONASS_L2 = 1.246e9
-GLONASS_L2_DELTA = 0.4375e6
-GLONASS_L5 = 1.201e9
-GLONASS_L5_DELTA = 0.4375e6
-
-#Galileo system parameters:  # Has additional frequencies on E6
-#Source RINEX 2.11 document
-GALILEO_E5B = 1.207140e9  # Hz
-GALILEO_E5AB = 1.191795e9  # Hz
-GALILEO_E6 = 1.27875e9  # Hz
-
-SECS_IN_MIN = 60
-SECS_IN_HR = 60*SECS_IN_MIN
-SECS_IN_DAY = 24*SECS_IN_HR
-SECS_IN_WEEK = 7*SECS_IN_DAY
-SECS_IN_YEAR = 365*SECS_IN_DAY

laika/dcb.py

@@ -1,84 +0,0 @@
-from datetime import datetime
-from .constants import SECS_IN_HR, SECS_IN_WEEK, \
-                      SPEED_OF_LIGHT, GPS_L1, GPS_L2
-from .gps_time import GPSTime
-from .helpers import get_constellation
-import warnings
-
-
-class DCB:
-  def __init__(self, prn, data):
-    self.max_time_diff = 2*SECS_IN_WEEK
-    self.prn = prn
-    self.epoch = data['epoch']
-    self.healthy = True
-    if 'C1W_C2W' in data:
-      self.C1W_C2W = data['C1W_C2W']
-    elif 'C1P_C2P' in data:
-      self.C1W_C2W = data['C1P_C2P']
-    else:
-      self.healthy = False
-    if 'C1C_C1W' in data:
-      self.C1C_C1W = data['C1C_C1W']
-    elif 'C1C_C1P' in data:
-      self.C1C_C1W = data['C1C_C1P']
-    else:
-      self.healthy = False
-
-  def valid(self, time):
-    return abs(time - self.epoch) <= self.max_time_diff and self.healthy
-
-  def get_delay(self, signal):
-    if signal == 'C1C':
-      return (- SPEED_OF_LIGHT*1e-9*self.C1W_C2W*GPS_L2**2/(GPS_L1**2 - GPS_L2**2)
-              + SPEED_OF_LIGHT*1e-9*self.C1C_C1W)
-    if signal == 'C2P':
-      return (- SPEED_OF_LIGHT*1e-9*self.C1W_C2W*GPS_L1**2/(GPS_L1**2 - GPS_L2**2))
-    if signal == 'C1P':
-      return (SPEED_OF_LIGHT*1e-9*self.C1C_C1W)
-    ## Todo: update dcb database and get delay to include additional signals
-    if signal == 'C2C':
-      warnings.warn("Differential code bias not implemented for signal C2C", UserWarning)
-      return 0
-    if signal == 'C5C':
-      warnings.warn("Differential code bias not implemented for signal C5C", UserWarning)
-      return 0
-    if signal == 'C6C':
-      warnings.warn("Differential code bias not implemented for signal C6C", UserWarning)
-      return 0
-    if signal == 'C7C':
-      warnings.warn("Differential code bias not implemented for signal C7C", UserWarning)
-      return 0
-    if signal == 'C8C':
-      warnings.warn("Differential code bias not implemented for signal C8C", UserWarning)
-      return 0
-
-
-def parse_dcbs(file_name, SUPPORTED_CONSTELLATIONS):
-  with open(file_name, 'r+') as DCB_file:
-    contents = DCB_file.readlines()
-  data_started = False
-  dcbs_dict = {}
-  for line in contents:
-    if not data_started:
-      if line[1:4] == 'DSB':
-        data_started = True
-      else:
-        continue
-    line_components = line.split()
-    if len(line_components[2]) < 3:
-      break
-    prn = line_components[2]
-    if get_constellation(prn) not in SUPPORTED_CONSTELLATIONS:
-      continue
-    dcb_type = line_components[3] + '_' + line_components[4]
-    epoch = GPSTime.from_datetime(datetime.strptime(line_components[5], '%Y:%j:%f')) + 12*SECS_IN_HR
-    if prn not in dcbs_dict:
-      dcbs_dict[prn] = {}
-    dcbs_dict[prn][dcb_type] = float(line_components[8])
-    dcbs_dict[prn]['epoch'] = epoch
-
-  dcbs = []
-  for prn in dcbs_dict:
-    dcbs.append(DCB(prn, dcbs_dict[prn]))
-  return dcbs

laika/dgps.py

@@ -1,161 +0,0 @@
-import os
-import numpy as np
-from datetime import datetime
-
-from .gps_time import GPSTime
-from .constants import SECS_IN_YEAR
-from . import raw_gnss as raw
-from . import opt
-from .rinex_file import RINEXFile
-from .downloader import download_cors_coords
-from .helpers import get_constellation, ConstellationId
-
-def mean_filter(delay):
-  d2 = delay.copy()
-  max_step = 10
-  for i in range(max_step, len(delay) - max_step):
-    finite_idxs = np.where(np.isfinite(delay[i - max_step:i + max_step]))
-    if max_step in finite_idxs[0]:
-      step = min([max_step, finite_idxs[0][-1] - max_step, max_step - finite_idxs[0][0]])
-      d2[i] = np.nanmean(delay[i - step:i + step + 1])
-  return d2
-
-
-def download_and_parse_station_postions(cors_station_positions_path, cache_dir):
-  if not os.path.isfile(cors_station_positions_path):
-    cors_stations = {}
-    coord_file_paths = download_cors_coords(cache_dir=cache_dir)
-    for coord_file_path in coord_file_paths:
-      try:
-        station_id = coord_file_path.split('/')[-1][:4]
-        with open(coord_file_path, 'r+') as coord_file:
-          contents = coord_file.readlines()
-        phase_center = False
-        for line_number in range(len(contents)):
-          if 'L1 Phase Center' in contents[line_number]:
-            phase_center = True
-          if not phase_center and 'ITRF2014 POSITION' in contents[line_number]:
-            velocity = [float(contents[line_number+8].split()[3]),
-                        float(contents[line_number+9].split()[3]),
-                        float(contents[line_number+10].split()[3])]
-          if phase_center and 'ITRF2014 POSITION' in contents[line_number]:
-            epoch = GPSTime.from_datetime(datetime(2005,1,1))
-            position = [float(contents[line_number+2].split()[3]),
-                        float(contents[line_number+3].split()[3]),
-                        float(contents[line_number+4].split()[3])]
-            cors_stations[station_id] = [epoch, position, velocity]
-            break
-      except ValueError:
-        pass
-    cors_station_positions_file = open(cors_station_positions_path, 'wb')
-    np.save(cors_station_positions_file, cors_stations)
-    cors_station_positions_file.close()
-
-
-def get_closest_station_names(pos, k=5, max_distance=100000, cache_dir='/tmp/gnss/'):
-  from scipy.spatial import cKDTree
-
-  cors_station_positions_dict = load_cors_station_positions(cache_dir)
-  station_ids = list(cors_station_positions_dict.keys())
-  station_positions = []
-  for station_id in station_ids:
-    station_positions.append(cors_station_positions_dict[station_id][1])
-  tree = cKDTree(station_positions)
-  distances, idxs = tree.query(pos, k=k, distance_upper_bound=max_distance)
-  return np.array(station_ids)[idxs]
-
-
-def load_cors_station_positions(cache_dir):
-  cors_station_positions_path = cache_dir + 'cors_coord/cors_station_positions'
-  download_and_parse_station_postions(cors_station_positions_path, cache_dir)
-  with open(cors_station_positions_path, 'rb') as f:
-    return np.load(f, allow_pickle=True).item()  # pylint: disable=unexpected-keyword-arg
-
-
-def get_station_position(station_id, cache_dir='/tmp/gnss/', time=GPSTime.from_datetime(datetime.utcnow())):
-  cors_station_positions_dict = load_cors_station_positions(cache_dir)
-  epoch, pos, vel = cors_station_positions_dict[station_id]
-  return ((time - epoch)/SECS_IN_YEAR)*np.array(vel) + np.array(pos)
-
-
-def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=[ConstellationId.GPS]):
-  station_pos = get_station_position(station_id, cache_dir=dog.cache_dir)
-  obsdata = RINEXFile(station_obs_file_path)
-  measurements = raw.read_rinex_obs(obsdata)
-
-  # if not all constellations in first 100 epochs bail
-  detected_constellations = set()
-  for m in sum(measurements[:100],[]):
-    detected_constellations.add(get_constellation(m.prn))
-  for constellation in required_constellations:
-    if constellation not in detected_constellations:
-      return None
-
-  proc_measurements = []
-  for measurement in measurements:
-    proc_measurements.append(raw.process_measurements(measurement, dog=dog))
-  # sample at 30s
-  if len(proc_measurements) > 2880:
-    proc_measurements = proc_measurements[::int(len(proc_measurements)/2880)]
-  if len(proc_measurements) != 2880:
-    return None
-
-  station_delays = {}
-  n = len(proc_measurements)
-  for signal in ['C1C', 'C2P']:
-    times = []
-    station_delays[signal] = {}
-    for i, proc_measurement in enumerate(proc_measurements):
-      times.append(proc_measurement[0].recv_time)
-      Fx_pos = opt.pr_residual(proc_measurement, signal=signal)
-      residual, _ = Fx_pos(list(station_pos) + [0,0])
-      residual = -np.array(residual)
-      for j, m in enumerate(proc_measurement):
-        prn = m.prn
-        if prn not in station_delays[signal]:
-          station_delays[signal][prn] = np.nan*np.ones(n)
-        station_delays[signal][prn][i] = residual[j]
-  assert len(times) == n
-
-  # TODO crude way to get dgps station's clock errors,
-  # could this be biased? Only use GPS for convenience.
-  model_delays = {}
-  for prn in station_delays['C1C']:
-    if get_constellation(prn) == ConstellationId.GPS:
-      model_delays[prn] = np.nan*np.zeros(n)
-      for i in range(n):
-        model_delays[prn][i] = dog.get_delay(prn, times[i], station_pos, no_dgps=True)
-  station_clock_errs = np.zeros(n)
-  for i in range(n):
-    station_clock_errs[i] = np.nanmean([(station_delays['C1C'][prn][i] - model_delays[prn][i]) for prn in model_delays])
-
-  # remove clock errors and smooth out signal
-  for prn in station_delays['C1C']:
-    station_delays['C1C'][prn] = mean_filter(station_delays['C1C'][prn] - station_clock_errs)
-  for prn in station_delays['C2P']:
-    station_delays['C2P'][prn] = station_delays['C2P'][prn] - station_clock_errs
-
-  return DGPSDelay(station_id, station_pos, station_delays,
-                   times, max_distance)
-
-
-class DGPSDelay:
-  def __init__(self, station_id, station_pos,
-               station_delays, station_delays_t, max_distance):
-    self.id = station_id
-    self.pos = station_pos
-    self.delays = station_delays
-    self.delays_t = station_delays_t
-    self.max_distance = max_distance
-
-  def get_delay(self, prn, time, signal='C1C'):
-    time_index = int((time - self.delays_t[0])/30)
-    assert abs(self.delays_t[time_index] - time) < 30
-    if prn in self.delays[signal] and np.isfinite(self.delays[signal][prn][time_index]):
-      return self.delays[signal][prn][time_index]
-    return None
-
-  def valid(self, time, recv_pos):
-    return (np.linalg.norm(recv_pos - self.pos) <= self.max_distance and
-            time - self.delays_t[0] > -30 and
-            self.delays_t[-1] - time > -30)

laika/downloader.py

@@ -1,473 +0,0 @@
-import certifi
-import ftplib
-import hatanaka
-import os
-import pycurl
-import re
-import time
-import socket
-import logging
-
-from datetime import datetime, timedelta
-from urllib.parse import urlparse
-from io import BytesIO
-from ftplib import FTP_TLS, FTP
-
-from atomicwrites import atomic_write
-
-from laika.ephemeris import EphemerisType
-from .constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
-from .gps_time import GPSTime, tow_to_datetime
-from .helpers import ConstellationId
-
-dir_path = os.path.dirname(os.path.realpath(__file__))
-
-class DownloadFailed(Exception):
-  pass
-
-
-def retryable(f):
-  """
-  Decorator to allow us to pass multiple URLs from which to download.
-  Automatically retry the request with the next URL on failure
-  """
-  def wrapped(url_bases, *args, **kwargs):
-    if isinstance(url_bases, str):
-      # only one url passed, don't do the retry thing
-      return f(url_bases, *args, **kwargs)
-
-    # not a string, must be a list of url_bases
-    for url_base in url_bases:
-      try:
-        return f(url_base, *args, **kwargs)
-      except DownloadFailed as e:
-        logging.warning(e)
-    # none of them succeeded
-    raise DownloadFailed("Multiple URL failures attempting to pull file(s)")
-  return wrapped
-
-
-def ftp_connect(url):
-  parsed = urlparse(url)
-  assert parsed.scheme == 'ftp'
-  try:
-    domain = parsed.netloc
-    ftp = ftplib.FTP(domain, timeout=10)
-    ftp.login()
-  except (OSError, ftplib.error_perm):
-    raise DownloadFailed("Could not connect/auth to: " + domain)
-  try:
-    ftp.cwd(parsed.path)
-  except ftplib.error_perm:
-    raise DownloadFailed("Permission failure with folder: " + url)
-  return ftp
-
-
-@retryable
-def list_dir(url):
-  parsed = urlparse(url)
-  if parsed.scheme == 'ftp':
-    try:
-      ftp = ftp_connect(url)
-      return ftp.nlst()
-    except ftplib.error_perm:
-      raise DownloadFailed("Permission failure listing folder: " + url)
-  else:
-    # just connect and do simple url parsing
-    listing = https_download_file(url)
-    urls = re.findall(b"<a href=\"([^\"]+)\">", listing)
-    # decode the urls to normal strings. If they are complicated paths, ignore them
-    return [name.decode("latin1") for name in urls if name and b"/" not in name[1:]]
-
-
-def ftp_download_files(url_base, folder_path, cacheDir, filenames):
-  """
-  Like download file, but more of them. Keeps a persistent FTP connection open
-  to be more efficient.
-  """
-  folder_path_abs = os.path.join(cacheDir, folder_path)
-
-  ftp = ftp_connect(url_base + folder_path)
-
-  filepaths = []
-  for filename in filenames:
-    # os.path.join will be dumb if filename has a leading /
-    # if there is a / in the filename, then it's using a different folder
-    filename = filename.lstrip("/")
-    if "/" in filename:
-      continue
-    filepath = os.path.join(folder_path_abs, filename)
-    logging.debug("pulling from", url_base, "to", filepath)
-
-    if not os.path.isfile(filepath):
-      os.makedirs(folder_path_abs, exist_ok=True)
-      try:
-        ftp.retrbinary('RETR ' + filename, open(filepath, 'wb').write)
-      except (ftplib.error_perm):
-        raise DownloadFailed("Could not download file from: " + url_base + folder_path + filename)
-      except (socket.timeout):
-        raise DownloadFailed("Read timed out from: " + url_base + folder_path + filename)
-      filepaths.append(filepath)
-    else:
-      filepaths.append(filepath)
-  return filepaths
-
-
-def http_download_files(url_base, folder_path, cacheDir, filenames):
-  """
-  Similar to ftp_download_files, attempt to download multiple files faster than
-  just downloading them one-by-one.
-  Returns a list of filepaths instead of the raw data
-  """
-  folder_path_abs = os.path.join(cacheDir, folder_path)
-
-  def write_function(disk_path, handle):
-    def do_write(data):
-      open(disk_path, "wb").write(data)
-
-    return do_write
-
-  fetcher = pycurl.CurlMulti()
-  fetcher.setopt(pycurl.M_PIPELINING, 3)
-  fetcher.setopt(pycurl.M_MAX_HOST_CONNECTIONS, 64)
-  fetcher.setopt(pycurl.M_MAX_TOTAL_CONNECTIONS, 64)
-  filepaths = []
-  for filename in filenames:
-    # os.path.join will be dumb if filename has a leading /
-    # if there is a / in the filename, then it's using a different folder
-    filename = filename.lstrip("/")
-    if "/" in filename:
-      continue
-    filepath = os.path.join(folder_path_abs, filename)
-    if not os.path.isfile(filepath):
-      logging.debug("pulling from", url_base, "to", filepath)
-      os.makedirs(folder_path_abs, exist_ok=True)
-      url_path = url_base + folder_path + filename
-      handle = pycurl.Curl()
-      handle.setopt(pycurl.URL, url_path)
-      handle.setopt(pycurl.CONNECTTIMEOUT, 10)
-      handle.setopt(pycurl.WRITEFUNCTION, write_function(filepath, handle))
-      fetcher.add_handle(handle)
-      filepaths.append(filepath)
-
-  requests_processing = len(filepaths)
-  timeout = 10.0  # after 10 seconds of nothing happening, restart
-  deadline = time.time() + timeout
-  while requests_processing and time.time() < deadline:
-    while True:
-      ret, cur_requests_processing = fetcher.perform()
-      if ret != pycurl.E_CALL_MULTI_PERFORM:
-        _, success, failed = fetcher.info_read()
-        break
-    if requests_processing > cur_requests_processing:
-      deadline = time.time() + timeout
-      requests_processing = cur_requests_processing
-
-    if fetcher.select(1) < 0:
-      continue
-
-  # if there are downloads left to be done, repeat, and don't overwrite
-  _, requests_processing = fetcher.perform()
-  if requests_processing > 0:
-    logging.warning("some requests stalled, retrying them")
-    return http_download_files(url_base, folder_path, cacheDir, filenames)
-
-  return filepaths
-
-
-def https_download_file(url):
-  crl = pycurl.Curl()
-  crl.setopt(crl.CAINFO, certifi.where())
-  crl.setopt(crl.URL, url)
-  crl.setopt(crl.FOLLOWLOCATION, True)
-  crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1')
-  crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies')
-  crl.setopt(pycurl.CONNECTTIMEOUT, 10)
-
-  buf = BytesIO()
-  crl.setopt(crl.WRITEDATA, buf)
-  crl.perform()
-  response = crl.getinfo(pycurl.RESPONSE_CODE)
-  crl.close()
-
-  if response != 200:
-    raise DownloadFailed('HTTPS error ' + str(response))
-  return buf.getvalue()
-
-
-def ftp_download_file(url):
-  parsed = urlparse(url)
-  is_sftp = parsed.scheme == "sftp"
-  try:
-    buf = BytesIO()
-    with FTP_TLS(parsed.hostname) if is_sftp else FTP(parsed.hostname) as ftp:
-      ftp.login(user='anonymous')
-      if is_sftp:
-        ftp.prot_p()
-      ftp.retrbinary('RETR ' + parsed.path, buf.write)
-    return buf.getvalue()
-  except ftplib.all_errors as e:
-    raise DownloadFailed(e)
-
-
-@retryable
-def download_files(url_base, folder_path, cacheDir, filenames):
-  parsed = urlparse(url_base)
-  if parsed.scheme == 'ftp':
-    return ftp_download_files(url_base, folder_path, cacheDir, filenames)
-  else:
-    return http_download_files(url_base, folder_path, cacheDir, filenames)
-
-
-@retryable
-def download_file(url_base, folder_path, filename_zipped):
-  url = url_base + folder_path + filename_zipped
-  logging.debug('Downloading ' + url)
-  if url.startswith('https://'):
-    return https_download_file(url)
-  elif url.startswith(('ftp://', 'sftp://')):
-    return ftp_download_file(url)
-  raise NotImplementedError('Did not find supported url scheme')
-
-
-def download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir, compression='', overwrite=False, raise_error=False):
-  last_error = None
-  for folder_path, filename in folder_and_file_names:
-    try:
-      file = download_and_cache_file(url_bases, folder_path, cache_dir, filename, compression, overwrite)
-      return file
-    except DownloadFailed as e:
-      last_error = e
-
-  if last_error and raise_error:
-    raise last_error
-
-
-def download_and_cache_file(url_base, folder_path: str, cache_dir: str, filename: str, compression='', overwrite=False):
-  filename_zipped = filename + compression
-  folder_path_abs = os.path.join(cache_dir, folder_path)
-  filepath = str(hatanaka.get_decompressed_path(os.path.join(folder_path_abs, filename)))
-
-  filepath_attempt = filepath + '.attempt_time'
-
-  if os.path.exists(filepath_attempt):
-    with open(filepath_attempt, 'r') as rf:
-      last_attempt_time = float(rf.read())
-    if time.time() - last_attempt_time < SECS_IN_HR:
-      raise DownloadFailed(f"Too soon to try downloading {folder_path + filename_zipped} from {url_base} again since last attempt")
-  if not os.path.isfile(filepath) or overwrite:
-    try:
-      data_zipped = download_file(url_base, folder_path, filename_zipped)
-    except (DownloadFailed, pycurl.error, socket.timeout):
-      unix_time = time.time()
-      os.makedirs(folder_path_abs, exist_ok=True)
-      with atomic_write(filepath_attempt, mode='w', overwrite=True) as wf:
-        wf.write(str(unix_time))
-      raise DownloadFailed(f"Could not download {folder_path + filename_zipped} from {url_base} ")
-
-    os.makedirs(folder_path_abs, exist_ok=True)
-    ephem_bytes = hatanaka.decompress(data_zipped)
-    try:
-      with atomic_write(filepath, mode='wb', overwrite=overwrite) as f:
-        f.write(ephem_bytes)
-    except FileExistsError:
-      # Only happens when same file is downloaded in parallel by another process.
-      pass
-  return filepath
-
-
-# Currently, only GPS and Glonass are supported for daily and hourly data.
-CONSTELLATION_NASA_CHAR = {ConstellationId.GPS: 'n', ConstellationId.GLONASS: 'g'}
-
-
-def download_nav(time: GPSTime, cache_dir, constellation: ConstellationId):
-  t = time.as_datetime()
-  try:
-    if constellation not in CONSTELLATION_NASA_CHAR:
-      return None
-    c = CONSTELLATION_NASA_CHAR[constellation]
-    if GPSTime.from_datetime(datetime.utcnow()) - time > SECS_IN_DAY:
-      url_bases = (
-        'https://github.com/commaai/gnss-data/raw/master/gnss/data/daily/',
-        'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/daily/',
-      )
-      filename = t.strftime(f"brdc%j0.%y{c}")
-      folder_path = t.strftime(f'%Y/%j/%y{c}/')
-      compression = '.gz' if folder_path >= '2020/335/' else '.Z'
-      return download_and_cache_file(url_bases, folder_path, cache_dir+'daily_nav/', filename, compression)
-    else:
-      url_bases = (
-        'https://github.com/commaai/gnss-data-hourly/raw/master/',
-        'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/hourly/',
-      )
-      times = [t, (t - timedelta(hours=1))]
-      folder_and_filenames = [(t.strftime('%Y/%j/'), t.strftime(f"hour%j0.%y{c}")) for t in times]
-      compression = '.gz' if folder_and_filenames[0][0] >= '2020/336/' else '.Z'
-      # always overwrite as this file is appended
-      return download_and_cache_file_return_first_success(url_bases,
-        folder_and_filenames, cache_dir+'hourly_nav/', compression, overwrite=True)
-  except DownloadFailed:
-    pass
-
-
-def download_orbits_gps_cod0(time, cache_dir, ephem_types):
-  url_bases = (
-    'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
-    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
-  )
-
-  if EphemerisType.ULTRA_RAPID_ORBIT not in ephem_types:
-    # TODO: raise error here
-    return None
-
-  tm = tow_to_datetime(time.tow, time.week).timetuple()
-  doy = str(tm.tm_yday).zfill(3)
-  filename = f"COD0OPSULT_{tm.tm_year}{doy}0000_02D_05M_ORB.SP3"
-  # TODO: add hour management
-
-  folder_path = "%i/" % time.week
-  folder_file_names = [(folder_path, filename)]
-  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.gz')
-
-
-def download_orbits_gps(time, cache_dir, ephem_types):
-  url_bases = (
-    'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
-    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
-    'ftp://igs.ign.fr/pub/igs/products/',
-  )
-  folder_path = "%i/" % time.week
-  filenames = []
-  time_str = "%i%i" % (time.week, time.day)
-  # Download filenames in order of quality. Final -> Rapid -> Ultra-Rapid(newest first)
-  if EphemerisType.FINAL_ORBIT in ephem_types and GPSTime.from_datetime(datetime.utcnow()) - time > 3 * SECS_IN_WEEK:
-    filenames.append(f"igs{time_str}.sp3")
-  if EphemerisType.RAPID_ORBIT in ephem_types:
-    filenames.append(f"igr{time_str}.sp3")
-  if EphemerisType.ULTRA_RAPID_ORBIT in ephem_types:
-    filenames.extend([f"igu{time_str}_18.sp3",
-                      f"igu{time_str}_12.sp3",
-                      f"igu{time_str}_06.sp3",
-                      f"igu{time_str}_00.sp3"])
-  folder_file_names = [(folder_path, filename) for filename in filenames]
-  ret = download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
-  if ret is not None:
-    return ret
-
-  # fallback to COD0 Ultra Rapid Orbits
-  return download_orbits_gps_cod0(time, cache_dir, ephem_types)
-
-
-def download_prediction_orbits_russia_src(gps_time, cache_dir):
-  # Download single file that contains Ultra_Rapid predictions for GPS, GLONASS and other constellations
-  t = gps_time.as_datetime()
-  # Files exist starting at 29-01-2022
-  if t < datetime(2022, 1, 29):
-    return None
-  url_bases = 'https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/'
-  folder_path = t.strftime('%y%j/ultra/')
-  file_prefix = "Stark_1D_" + t.strftime('%y%m%d')
-
-  # Predictions are 24H so previous day can also be used.
-  prev_day = (t - timedelta(days=1))
-  file_prefix_prev = "Stark_1D_" + prev_day.strftime('%y%m%d')
-  folder_path_prev = prev_day.strftime('%y%j/ultra/')
-
-  current_day = GPSTime.from_datetime(datetime(t.year, t.month, t.day))
-  # Ultra-Orbit is published in gnss-data-alt every 10th minute past the 5,11,17,23 hour.
-  # Predictions published are delayed by around 10 hours.
-  # Download latest file that includes gps_time with 20 minutes margin.:
-  if gps_time > current_day + 23.5 * SECS_IN_HR:
-    prev_day, current_day = [], [6, 12]
-  elif gps_time > current_day + 17.5 * SECS_IN_HR:
-    prev_day, current_day = [], [0, 6]
-  elif gps_time > current_day + 11.5 * SECS_IN_HR:
-    prev_day, current_day = [18], [0]
-  elif gps_time > current_day + 5.5 * SECS_IN_HR:
-    prev_day, current_day = [12, 18], []
-  else:
-    prev_day, current_day = [6, 12], []
-  # Example: Stark_1D_22060100.sp3
-  folder_and_file_names = [(folder_path, file_prefix + f"{h:02}.sp3") for h in reversed(current_day)] + \
-                          [(folder_path_prev, file_prefix_prev + f"{h:02}.sp3") for h in reversed(prev_day)]
-  return download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir+'russian_products/', raise_error=True)
-
-
-def download_orbits_russia_src(time, cache_dir, ephem_types):
-  # Orbits from russian source. Contains GPS, GLONASS, GALILEO, BEIDOU
-  url_bases = (
-    'https://github.com/commaai/gnss-data-alt/raw/master/MCC/PRODUCTS/',
-    'ftp://ftp.glonass-iac.ru/MCC/PRODUCTS/',
-  )
-  t = time.as_datetime()
-  folder_paths = []
-  current_gps_time = GPSTime.from_datetime(datetime.utcnow())
-  filename = "Sta%i%i.sp3" % (time.week, time.day)
-  if EphemerisType.FINAL_ORBIT in ephem_types and current_gps_time - time > 2 * SECS_IN_WEEK:
-    folder_paths.append(t.strftime('%y%j/final/'))
-  if EphemerisType.RAPID_ORBIT in ephem_types:
-    folder_paths.append(t.strftime('%y%j/rapid/'))
-  if EphemerisType.ULTRA_RAPID_ORBIT in ephem_types:
-    folder_paths.append(t.strftime('%y%j/ultra/'))
-  folder_file_names = [(folder_path, filename) for folder_path in folder_paths]
-  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'russian_products/')
-
-
-def download_ionex(time, cache_dir):
-  t = time.as_datetime()
-  url_bases = (
-    'https://github.com/commaai/gnss-data/raw/master/gnss/products/ionex/',
-    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/ionex/',
-    'ftp://igs.ensg.ign.fr/pub/igs/products/ionosphere/',
-    'ftp://gssc.esa.int/gnss/products/ionex/',
-  )
-  folder_path = t.strftime('%Y/%j/')
-  filenames = [t.strftime("codg%j0.%yi"), t.strftime("c1pg%j0.%yi"), t.strftime("c2pg%j0.%yi")]
-
-  folder_file_names = [(folder_path, f) for f in filenames]
-  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'ionex/', compression='.Z', raise_error=True)
-
-
-def download_dcb(time, cache_dir):
-  filenames = []
-  folder_paths = []
-  url_bases = (
-    'https://github.com/commaai/gnss-data/raw/master/gnss/products/bias/',
-    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/bias/',
-    'ftp://igs.ign.fr/pub/igs/products/mgex/dcb/',
-  )
-  # seem to be a lot of data missing, so try many days
-  for time_step in [time - i * SECS_IN_DAY for i in range(14)]:
-    t = time_step.as_datetime()
-    folder_paths.append(t.strftime('%Y/'))
-    filenames.append(t.strftime("CAS0MGXRAP_%Y%j0000_01D_01D_DCB.BSX"))
-
-  return download_and_cache_file_return_first_success(url_bases, list(zip(folder_paths, filenames)), cache_dir+'dcb/', compression='.gz', raise_error=True)
-
-
-def download_cors_coords(cache_dir):
-  cache_subdir = cache_dir + 'cors_coord/'
-  url_bases = (
-    'https://geodesy.noaa.gov/corsdata/coord/coord_14/',
-    'https://alt.ngs.noaa.gov/corsdata/coord/coord_14/',
-  )
-  file_names = list_dir(url_bases)
-  file_names = [file_name for file_name in file_names if file_name.endswith('coord.txt')]
-  filepaths = download_files(url_bases, '', cache_subdir, file_names)
-  return filepaths
-
-
-def download_cors_station(time, station_name, cache_dir):
-  t = time.as_datetime()
-  folder_path = t.strftime('%Y/%j/') + station_name + '/'
-  filename = station_name + t.strftime("%j0.%yd")
-  url_bases = (
-    'https://geodesy.noaa.gov/corsdata/rinex/',
-    'https://alt.ngs.noaa.gov/corsdata/rinex/',
-  )
-  try:
-    filepath = download_and_cache_file(url_bases, folder_path, cache_dir+'cors_obs/', filename, compression='.gz')
-    return filepath
-  except DownloadFailed:
-    logging.warning("File not downloaded, check availability on server.")
-    return None

laika/ephemeris.capnp

@@ -1,106 +0,0 @@
-@0xb3ca6d2462778bb1;
-
-struct Ephemeris {
-  # This is according to the rinex (2?) format
-  svId @0 :UInt16;
-  year @1 :UInt16;
-  month @2 :UInt16;
-  day @3 :UInt16;
-  hour @4 :UInt16;
-  minute @5 :UInt16;
-  second @6 :Float32;
-  af0 @7 :Float64;
-  af1 @8 :Float64;
-  af2 @9 :Float64;
-
-  iode @10 :Float64;
-  crs @11 :Float64;
-  deltaN @12 :Float64;
-  m0 @13 :Float64;
-
-  cuc @14 :Float64;
-  ecc @15 :Float64;
-  cus @16 :Float64;
-  a @17 :Float64; # note that this is not the root!!
-
-  toe @18 :Float64;
-  cic @19 :Float64;
-  omega0 @20 :Float64;
-  cis @21 :Float64;
-
-  i0 @22 :Float64;
-  crc @23 :Float64;
-  omega @24 :Float64;
-  omegaDot @25 :Float64;
-
-  iDot @26 :Float64;
-  codesL2 @27 :Float64;
-  gpsWeekDEPRECATED @28 :Float64;
-  l2 @29 :Float64;
-
-  svAcc @30 :Float64;
-  svHealth @31 :Float64;
-  tgd @32 :Float64;
-  iodc @33 :Float64;
-
-  transmissionTime @34 :Float64;
-  fitInterval @35 :Float64;
-
-  toc @36 :Float64;
-
-  ionoCoeffsValid @37 :Bool;
-  ionoAlpha @38 :List(Float64);
-  ionoBeta @39 :List(Float64);
-
-  towCount @40 :UInt32;
-  toeWeek @41 :UInt16;
-  tocWeek @42 :UInt16;
-}
-
-struct GlonassEphemeris {
-  svId @0 :UInt16;
-  year @1 :UInt16;
-  dayInYear @2 :UInt16;
-  hour @3 :UInt16;
-  minute @4 :UInt16;
-  second @5 :Float32;
-
-  x @6 :Float64;
-  xVel @7 :Float64;
-  xAccel @8 :Float64;
-  y @9 :Float64;
-  yVel @10 :Float64;
-  yAccel @11 :Float64;
-  z @12 :Float64;
-  zVel @13 :Float64;
-  zAccel @14 :Float64;
-
-  svType @15 :UInt8;
-  svURA @16 :Float32;
-  age @17 :UInt8;
-
-  svHealth @18 :UInt8;
-  tkDEPRECATED @19 :UInt16;
-  tb @20 :UInt16;
-
-  tauN @21 :Float64;
-  deltaTauN @22 :Float64;
-  gammaN @23 :Float64;
-
-  p1 @24 :UInt8;
-  p2 @25 :UInt8;
-  p3 @26 :UInt8;
-  p4 @27 :UInt8;
-
-  freqNumDEPRECATED @28 :UInt32;
-
-  n4 @29 :UInt8;
-  nt @30 :UInt16;
-  freqNum @31 :Int16;
-  tkSeconds @32 :UInt32;
-}
-
-struct EphemerisCache {
-  gpsEphemerides @0 :List(Ephemeris);
-  glonassEphemerides @1 :List(GlonassEphemeris);
-}

laika/ephemeris.py

@@ -1,498 +0,0 @@
-import warnings
-from abc import ABC, abstractmethod
-from collections import defaultdict
-from enum import IntEnum
-from typing import Dict, List, Optional
-
-import numpy as np
-import numpy.polynomial.polynomial as poly
-from datetime import datetime
-from math import sin, cos, sqrt, fabs, atan2
-
-from .gps_time import GPSTime, utc_to_gpst
-from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
-                       EARTH_ROTATION_RATE, EARTH_GM
-from .helpers import get_constellation, get_prn_from_nmea_id
-
-import capnp
-import os
-capnp.remove_import_hook()
-capnp_path = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "ephemeris.capnp"))
-ephemeris_structs = capnp.load(capnp_path)
-
-
-def read4(f, rinex_ver):
-  line = f.readline()[:-1]
-  if rinex_ver == 2:
-    line = ' ' + line  # Shift 1 char to the right
-  line = line.replace('D', 'E')  # Handle bizarro float format
-  return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80])
-
-
-class EphemerisType(IntEnum):
-  # Matches the enum in log.capnp
-  NAV = 0
-  FINAL_ORBIT = 1
-  RAPID_ORBIT = 2
-  ULTRA_RAPID_ORBIT = 3
-  QCOM_POLY = 4
-
-  @staticmethod
-  def all_orbits():
-    return EphemerisType.FINAL_ORBIT, EphemerisType.RAPID_ORBIT, EphemerisType.ULTRA_RAPID_ORBIT
-
-  @classmethod
-  def from_file_name(cls, file_name: str):
-    if "/final" in file_name or "/igs" in file_name:
-      return EphemerisType.FINAL_ORBIT
-    if "/rapid" in file_name or "/igr" in file_name:
-      return EphemerisType.RAPID_ORBIT
-    if "/ultra" in file_name or "/igu" in file_name or "COD0OPSULT" in file_name:
-      return EphemerisType.ULTRA_RAPID_ORBIT
-    raise RuntimeError(f"Ephemeris type not found in filename: {file_name}")
-
-
-class Ephemeris(ABC):
-
-  def __init__(self, prn: str, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
-               file_epoch: Optional[GPSTime] = None, file_name=None):
-    self.prn = prn
-    self.epoch = epoch
-    self.eph_type = eph_type
-    self.healthy = healthy
-    self.max_time_diff = max_time_diff
-    self.file_epoch = file_epoch
-    self.file_name = file_name
-    self.file_source = '' if file_name is None else file_name.split('/')[-1][:3]  # File source for the ephemeris (e.g. igu, igr, Sta)
-
-  def valid(self, time):
-    return abs(time - self.epoch) <= self.max_time_diff
-
-  def __repr__(self):
-    time = self.epoch.as_datetime().strftime('%Y-%m-%dT%H:%M:%S.%f')
-    return f"<{self.__class__.__name__} from {self.prn} at {time}>"
-
-  def get_sat_info(self, time: GPSTime):
-    """
-    Returns: (pos, vel, clock_err, clock_rate_err, ephemeris)
-    """
-    if not self.healthy:
-      return None
-    return list(self._get_sat_info(time)) + [self]
-
-  @abstractmethod
-  def _get_sat_info(self, time):
-    pass
-
-
-class GLONASSEphemeris(Ephemeris):
-  def __init__(self, data, file_name=None):
-    self.epoch = GPSTime.from_glonass(data.n4, data.nt, data.tb*15*SECS_IN_MIN)
-    super().__init__('R%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
-    self.data = data
-    self.epoch =  GPSTime.from_glonass(data.n4, data.nt, data.tb*15 * SECS_IN_MIN)
-    self.channel = data.freqNum
-
-  def _get_sat_info(self, time: GPSTime):
-    # see the russian doc for this:
-    # http://gauss.gge.unb.ca/GLONASS.ICD.pdf
-
-    eph = self.data
-    tdiff = time - self.epoch
-    # Clock correction (except for general relativity which is applied later)
-    clock_err = -eph.tauN + tdiff * eph.gammaN
-    clock_rate_err = eph.gammaN
-
-    def glonass_diff_eq(state, acc):
-      J2 = 1.0826257e-3
-      mu = 3.9860044e14
-      omega = 7.292115e-5
-      ae = 6378136.0
-      r = np.sqrt(state[0]**2 + state[1]**2 + state[2]**2)
-      ders = np.zeros(6)
-      if r**2 < 0:
-        return ders
-      a = 1.5 * J2 * mu * (ae**2)/ (r**5)
-      b = 5 * (state[2]**2) / (r**2)
-      c = -mu/(r**3) - a*(1-b)
-
-      ders[0:3] = state[3:6]
-      ders[3] = (c + omega**2)*state[0] + 2*omega*state[4] + acc[0]
-      ders[4] = (c + omega**2)*state[1] - 2*omega*state[3] + acc[1]
-      ders[5] = (c - 2*a)*state[2] + acc[2]
-      return ders
-
-    init_state = np.empty(6)
-    init_state[0] = eph.x
-    init_state[1] = eph.y
-    init_state[2] = eph.z
-    init_state[3] = eph.xVel
-    init_state[4] = eph.yVel
-    init_state[5] = eph.zVel
-    init_state = 1000*init_state
-    acc = 1000*np.array([eph.xAccel, eph.yAccel, eph.zAccel])
-    state = init_state
-    tstep = 90
-    if tdiff < 0:
-      tt = -tstep
-    elif tdiff > 0:
-      tt = tstep
-    while abs(tdiff) > 1e-9:
-      if abs(tdiff) < tstep:
-        tt = tdiff
-      k1 = glonass_diff_eq(state, acc)
-      k2 = glonass_diff_eq(state + k1*tt/2, -acc)
-      k3 = glonass_diff_eq(state + k2*tt/2, -acc)
-      k4 = glonass_diff_eq(state + k3*tt, -acc)
-      state += (k1 + 2*k2 + 2*k3 + k4)*tt/6.0
-      tdiff -= tt
-
-    pos = state[0:3]
-    vel = state[3:6]
-    return pos, vel, clock_err, clock_rate_err
-
-
-class PolyEphemeris(Ephemeris):
-  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
-               file_epoch: Optional[GPSTime] = None, file_name: Optional[str] = None, healthy=True, tgd=0,
-               max_time_diff: int=SECS_IN_HR):
-    super().__init__(prn, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
-    self.data = data
-    self.tgd = tgd
-
-  def _get_sat_info(self, time: GPSTime):
-    dt = time - self.data['t0']
-    deg = self.data['deg']
-    deg_t = self.data['deg_t']
-    indices = np.arange(deg+1)[:,np.newaxis]
-    sat_pos = np.sum((dt**indices)*self.data['xyz'], axis=0)
-    indices = indices[1:]
-    sat_vel = np.sum(indices*(dt**(indices-1)*self.data['xyz'][1:]), axis=0)
-    time_err = sum((dt**p)*self.data['clock'][deg_t-p] for p in range(deg_t+1))
-    time_err_rate = sum(p*(dt**(p-1))*self.data['clock'][deg_t-p] for p in range(1,deg_t+1))
-    time_err_with_rel = time_err - 2*np.inner(sat_pos, sat_vel)/SPEED_OF_LIGHT**2
-    return sat_pos, sat_vel, time_err_with_rel, time_err_rate
-
-
-class GPSEphemeris(Ephemeris):
-  def __init__(self, data, file_name=None):
-    self.toe = GPSTime(data.toeWeek, data.toe)
-    self.toc = GPSTime(data.tocWeek, data.toc)
-    self.epoch = self.toc
-
-    super().__init__('G%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=2*SECS_IN_HR, file_name=file_name)
-    self.max_time_diff_tgd = SECS_IN_DAY
-    self.data = data
-    self.sqrta = np.sqrt(data.a)
-
-  def get_tgd(self):
-    return self.datatgd
-
-  def _get_sat_info(self, time: GPSTime):
-    eph = self.data
-    tdiff = time - self.toc  # Time of clock
-    clock_err = eph.af0 + tdiff * (eph.af1 + tdiff * eph.af2)
-    clock_rate_err = eph.af1 + 2 * tdiff * eph.af2\
-
-    # Orbit propagation
-    tdiff = time - self.toe  # Time of ephemeris (might be different from time of clock)
-
-    # Calculate position per IS-GPS-200D p 97 Table 20-IV
-    a = self.sqrta * self.sqrta # [m] Semi-major axis
-    ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph.deltaN  # [rad/sec] Corrected mean motion
-    ma = eph.m0 + ma_dot * tdiff  # [rad] Corrected mean anomaly
-
-    # Iteratively solve for the Eccentric Anomaly (from Keith Alter and David Johnston)
-    ea = ma  # Starting value for E
-
-    ea_old = 2222
-    while fabs(ea - ea_old) > 1.0E-14:
-      ea_old = ea
-      tempd1 = 1.0 - eph.ecc * cos(ea_old)
-      ea = ea + (ma - ea_old + eph.ecc * sin(ea_old)) / tempd1
-    ea_dot = ma_dot / tempd1
-
-    # Relativistic correction term
-    einstein = -4.442807633E-10 * eph.ecc * self.sqrta * sin(ea)
-
-    # Begin calc for True Anomaly and Argument of Latitude
-    tempd2 = sqrt(1.0 - eph.ecc * eph.ecc)
-    # [rad] Argument of Latitude = True Anomaly + Argument of Perigee
-    al = atan2(tempd2 * sin(ea), cos(ea) - eph.ecc) + eph.omega
-    al_dot = tempd2 * ea_dot / tempd1
-
-    # Calculate corrected argument of latitude based on position
-    cal = al + eph.cus * sin(2.0 * al) + eph.cuc * cos(2.0 * al)
-    cal_dot = al_dot * (1.0 + 2.0 * (eph.cus * cos(2.0 * al) -
-                                     eph.cuc * sin(2.0 * al)))
-
-    # Calculate corrected radius based on argument of latitude
-    r = a * tempd1 + eph.crc * cos(2.0 * al) + eph.crs * sin(2.0 * al)
-    r_dot = (a * eph.ecc * sin(ea) * ea_dot +
-             2.0 * al_dot * (eph.crs * cos(2.0 * al) -
-                             eph.crc * sin(2.0 * al)))
-
-    # Calculate inclination based on argument of latitude
-    inc = (eph.i0 + eph.iDot * tdiff +
-           eph.cic * cos(2.0 * al) +
-           eph.cis * sin(2.0 * al))
-    inc_dot = (eph.iDot +
-               2.0 * al_dot * (eph.cis * cos(2.0 * al) -
-                               eph.cic * sin(2.0 * al)))
-
-    # Calculate position and velocity in orbital plane
-    x = r * cos(cal)
-    y = r * sin(cal)
-    x_dot = r_dot * cos(cal) - y * cal_dot
-    y_dot = r_dot * sin(cal) + x * cal_dot
-
-    # Corrected longitude of ascending node
-    om_dot = eph.omegaDot - EARTH_ROTATION_RATE
-    om = eph.omega0 + tdiff * om_dot - EARTH_ROTATION_RATE * self.toe.tow
-
-    # Compute the satellite's position in Earth-Centered Earth-Fixed coordinates
-    pos = np.empty(3)
-    pos[0] = x * cos(om) - y * cos(inc) * sin(om)
-    pos[1] = x * sin(om) + y * cos(inc) * cos(om)
-    pos[2] = y * sin(inc)
-
-    tempd3 = y_dot * cos(inc) - y * sin(inc) * inc_dot
-
-    # Compute the satellite's velocity in Earth-Centered Earth-Fixed coordinates
-    vel = np.empty(3)
-    vel[0] = -om_dot * pos[1] + x_dot * cos(om) - tempd3 * sin(om)
-    vel[1] = om_dot * pos[0] + x_dot * sin(om) + tempd3 * cos(om)
-    vel[2] = y * cos(inc) * inc_dot + y_dot * sin(inc)
-
-    clock_err += einstein
-
-    return pos, vel, clock_err, clock_rate_err
-
-
-def parse_sp3_orbits(file_names, supported_constellations, skip_until_epoch: Optional[GPSTime] = None) -> Dict[str, List[PolyEphemeris]]:
-  if skip_until_epoch is None:
-    skip_until_epoch = GPSTime(0, 0)
-  data: Dict[str, List] = {}
-  for file_name in file_names:
-    if file_name is None:
-      continue
-    with open(file_name) as f:
-      ephem_type = EphemerisType.from_file_name(file_name)
-      file_epoch = None
-      while True:
-        line = f.readline()[:-1]
-        if not line:
-          break
-        # epoch header
-        if line[0:2] == '* ':
-          year = int(line[3:7])
-          month = int(line[8:10])
-          day = int(line[11:13])
-          hour = int(line[14:16])
-          minute = int(line[17:19])
-          second = int(float(line[20:31]))
-          epoch = GPSTime.from_datetime(datetime(year, month, day, hour, minute, second))
-          if file_epoch is None:
-            file_epoch = epoch
-        # pos line
-        elif line[0] == 'P':
-          # Skipping data can reduce the time significantly when parsing the ephemeris
-          if epoch < skip_until_epoch:
-            continue
-          prn = line[1:4].replace(' ', '0')
-          # In old SP3 files vehicle ID doesn't contain constellation
-          # identifier. We assume that constellation is GPS when missing.
-          if prn[0] == '0':
-            prn = 'G' + prn[1:]
-          if get_constellation(prn) not in supported_constellations:
-            continue
-          if prn not in data:
-            data[prn] = []
-          #TODO this is a crappy way to deal with overlapping ultra rapid
-          if len(data[prn]) < 1 or epoch - data[prn][-1][1] > 0:
-            parsed = [(ephem_type, file_epoch, file_name),
-                      epoch,
-                      1e3 * float(line[4:18]),
-                      1e3 * float(line[18:32]),
-                      1e3 * float(line[32:46]),
-                      1e-6 * float(line[46:60])]
-            if (np.array(parsed[2:]) != 0).all():
-              data[prn].append(parsed)
-  ephems = {}
-  for prn in data:
-    ephems[prn] = read_prn_data(data, prn)
-  return ephems
-
-
-def read_prn_data(data, prn, deg=16, deg_t=1):
-  np_data_prn = np.array(data[prn], dtype=object)
-  # Currently, don't even bother with satellites that have unhealthy times
-  if len(np_data_prn) == 0 or (np_data_prn[:, 5] > .99).any():
-    return []
-  ephems = []
-  for i in range(len(np_data_prn) - deg):
-    epoch_index = i + deg // 2
-    epoch = np_data_prn[epoch_index][1]
-    measurements = np_data_prn[i:i + deg + 1, 1:5]
-
-    times = (measurements[:, 0] - epoch).astype(float)
-    if not (np.diff(times) != 900).any() and not (np.diff(times) != 300).any():
-      continue
-
-    poly_data = {}
-    poly_data['t0'] = epoch
-    with warnings.catch_warnings():
-      warnings.simplefilter("ignore")  # Ignores: UserWarning: The value of the smallest subnormal for <class 'numpy.float64'> type is zero.
-      poly_data['xyz'] = poly.polyfit(times, measurements[:, 1:].astype(float), deg)
-    poly_data['clock'] = [(np_data_prn[epoch_index + 1][5] - np_data_prn[epoch_index - 1][5]) / 1800, np_data_prn[epoch_index][5]]
-    poly_data['deg'] = deg
-    poly_data['deg_t'] = deg_t
-    # It can happen that a mix of orbit ephemeris types are used in the polyfit.
-    ephem_type, file_epoch, file_name = np_data_prn[epoch_index][0]
-    ephems.append(PolyEphemeris(prn, poly_data, epoch, ephem_type, file_epoch, file_name, healthy=True))
-  return ephems
-
-
-def parse_rinex_nav_msg_gps(file_name):
-  ephems = defaultdict(list)
-  got_header = False
-  rinex_ver = None
-  #ion_alpha = None
-  #ion_beta = None
-  f = open(file_name)
-  while True:
-    line = f.readline()[:-1]
-    if not line:
-      break
-    if not got_header:
-      if rinex_ver is None:
-        if line[60:80] != "RINEX VERSION / TYPE":
-          raise RuntimeError("Doesn't appear to be a RINEX file")
-        rinex_ver = int(float(line[0:9]))
-        if line[20] != "N":
-          raise RuntimeError("Doesn't appear to be a Navigation Message file")
-      #if line[60:69] == "ION ALPHA":
-      #  line = line.replace('D', 'E')  # Handle bizarro float format
-      #  ion_alpha= [float(line[3:14]), float(line[15:26]), float(line[27:38]), float(line[39:50])]
-      #if line[60:68] == "ION BETA":
-      #  line = line.replace('D', 'E')  # Handle bizarro float format
-      #  ion_beta= [float(line[3:14]), float(line[15:26]), float(line[27:38]), float(line[39:50])]
-      if line[60:73] == "END OF HEADER":
-        #ion = ion_alpha + ion_beta
-        got_header = True
-      continue
-    if rinex_ver == 3:
-      if line[0] != 'G':
-        continue
-    if rinex_ver == 3:
-      sv_id = int(line[1:3])
-      epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S"))
-    elif rinex_ver == 2:
-      sv_id = int(line[0:2])
-      # 2000 year is in RINEX file as 0, but Python requires two digit year: 00
-      epoch_str = line[3:20]
-      if epoch_str[0] == ' ':
-        epoch_str = '0' + epoch_str[1:]
-      epoch = GPSTime.from_datetime(datetime.strptime(epoch_str, "%y %m %d %H %M %S"))
-      line = ' ' + line  # Shift 1 char to the right
-
-    line = line.replace('D', 'E')  # Handle bizarro float format
-    e = {'svId': sv_id}
-    # TODO are TOC and TOE the same?
-    e['toc'] = epoch.tow
-    e['tocWeek'] = epoch.week
-    e['af0'] = float(line[23:42])
-    e['af1'] = float(line[42:61])
-    e['af2'] = float(line[61:80])
-
-    e['iode'], e['crs'], e['deltaN'], e['m0'] = read4(f, rinex_ver)
-    e['cuc'], e['ecc'], e['cus'], sqrta = read4(f, rinex_ver)
-    e['a'] = sqrta ** 2
-    e['toe'], e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
-    e['i0'], e['crc'], e['omega'], e['omegaDot'] = read4(f, rinex_ver)
-    e['iDot'], e['codesL2'], e['toeWeek'], l2_pflag = read4(f, rinex_ver)
-    e['svAcc'], e['svHealth'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
-    f.readline()  # Discard last row
-
-    data_struct = ephemeris_structs.Ephemeris.new_message(**e)
-
-    ephem = GPSEphemeris(data_struct, file_name=file_name)
-    ephems[ephem.prn].append(ephem)
-  f.close()
-  return ephems
-
-
-def parse_rinex_nav_msg_glonass(file_name):
-  ephems = defaultdict(list)
-  f = open(file_name)
-  got_header = False
-  rinex_ver = None
-  while True:
-    line = f.readline()[:-1]
-    if not line:
-      break
-    if not got_header:
-      if rinex_ver is None:
-        if line[60:80] != "RINEX VERSION / TYPE":
-          raise RuntimeError("Doesn't appear to be a RINEX file")
-        rinex_ver = int(float(line[0:9]))
-        if line[20] != "G":
-          raise RuntimeError("Doesn't appear to be a Navigation Message file")
-      if line[60:73] == "END OF HEADER":
-        got_header = True
-      continue
-    if rinex_ver == 3:
-      sv_id = int(line[1:3])
-
-      epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")))
-    elif rinex_ver == 2:
-      sv_id = int(line[0:2])
-      epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S")))
-      line = ' ' + line  # Shift 1 char to the right
-
-    line = line.replace('D', 'E')  # Handle bizarro float format
-    e = {'svId': sv_id}
-    e['n4'], e['nt'], toe_seconds = epoch.as_glonass()
-    tb = toe_seconds / (15 * SECS_IN_MIN)
-
-
-    e['tb'] = tb
-
-    e['tauN'] = -float(line[23:42])
-    e['gammaN'] = float(line[42:61])
-    e['tkSeconds'] = float(line[61:80])
-
-    e['x'], e['xVel'], e['xAccel'], e['svHealth'] = read4(f, rinex_ver)
-    e['y'], e['yVel'], e['yAccel'], e['freqNum'] = read4(f, rinex_ver)
-    e['z'], e['zVel'], e['zAccel'], e['age'] = read4(f, rinex_ver)
-
-    # TODO unclear why glonass sometimes has nav messages 3s after correct one
-    if abs(tb - int(tb)) > 1e-3:
-      continue
-
-
-    data_struct = ephemeris_structs.GlonassEphemeris.new_message(**e)
-    ephem = GLONASSEphemeris(data_struct, file_name=file_name)
-
-    ephems[ephem.prn].append(ephem)
-  f.close()
-  return ephems
-
-
-def parse_qcom_ephem(qcom_poly):
-  svId = qcom_poly.svId
-  prn = get_prn_from_nmea_id(svId)
-  epoch = GPSTime(qcom_poly.gpsWeek, qcom_poly.gpsTow)
-
-  data = qcom_poly
-  poly_data = {}
-  poly_data['t0'] = epoch
-  poly_data['xyz'] = np.array([
-                      [data.xyz0[0], data.xyzN[0], data.xyzN[1], data.xyzN[2]],
-                      [data.xyz0[1], data.xyzN[3], data.xyzN[4], data.xyzN[5]],
-                      [data.xyz0[2], data.xyzN[6], data.xyzN[7], data.xyzN[8]] ]).T
-
-  poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
-  poly_data['deg'] = 3
-  poly_data['deg_t'] = 3
-  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=300, file_name='qcom')

laika/gps_time.py

@@ -1,203 +0,0 @@
-import datetime
-
-
-def datetime_to_tow(t):
-    """
-    Convert a Python datetime object to GPS Week and Time Of Week.
-    Does *not* convert from UTC to GPST.
-    Fractional seconds are supported.
-
-    Parameters
-    ----------
-    t : datetime
-      A time to be converted, on the GPST timescale.
-    mod1024 : bool, optional
-      If True (default), the week number will be output in 10-bit form.
-
-    Returns
-    -------
-    week, tow : tuple (int, float)
-      The GPS week number and time-of-week.
-    """
-    # DateTime to GPS week and TOW
-    wk_ref = datetime.datetime(2014, 2, 16, 0, 0, 0, 0, None)
-    refwk = 1780
-    wk = (t - wk_ref).days // 7 + refwk
-    tow = ((t - wk_ref) - datetime.timedelta((wk - refwk) * 7.0)).total_seconds()
-    return wk, tow
-
-
-def tow_to_datetime(tow, week):
-    """
-    Convert a GPS Week and Time Of Week to Python datetime object.
-    Does *not* convert from GPST to UTC.
-    Fractional seconds are supported.
-
-    Parameters
-    ----------
-    tow : time of week in seconds
-
-    weeks : gps week
-
-
-    Returns
-    -------
-    t : datetime
-      Python datetime
-    """
-    #  GPS week and TOW to DateTime
-    t = datetime.datetime(1980, 1, 6, 0, 0, 0, 0, None)
-    t += datetime.timedelta(seconds=tow)
-    t += datetime.timedelta(weeks=week)
-    return t
-
-
-def get_leap_seconds(time):
-  # TODO use library for this
-  if time <= GPSTime.from_datetime(datetime.datetime(2006, 1, 1)):
-    raise ValueError("Don't know how many leap seconds to use before 2006")
-  elif time <= GPSTime.from_datetime(datetime.datetime(2009, 1, 1)):
-    return 14
-  elif time <= GPSTime.from_datetime(datetime.datetime(2012, 7, 1)):
-    return 15
-  elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)):
-    return 16
-  elif time <= GPSTime.from_datetime(datetime.datetime(2017, 1, 1)):
-    return 17
-  else:
-    return 18
-
-
-def gpst_to_utc(t_gpst):
-    t_utc = t_gpst - get_leap_seconds(t_gpst)
-    if utc_to_gpst(t_utc) - t_gpst != 0:
-      return t_utc + 1
-    else:
-      return t_utc
-
-
-def utc_to_gpst(t_utc):
-    t_gpst = t_utc + get_leap_seconds(t_utc)
-    return t_gpst
-
-
-class GPSTime:
-  """
-  GPS time class to add and subtract [week, tow]
-  """
-  def __init__(self, week, tow):
-    self.week = week
-    self.tow = tow
-    self.seconds_in_week = 604800
-
-  @classmethod
-  def from_datetime(cls, datetime):
-    week, tow = datetime_to_tow(datetime)
-    return cls(week, tow)
-
-  @classmethod
-  def from_glonass(cls, cycle, days, tow):
-    # https://en.wikipedia.org/wiki/GLONASS
-    # Day number (1 to 1461) within a four-year interval
-    # starting on 1 January of the last leap year
-    t = datetime.datetime(1992, 1, 1, 0, 0, 0, 0, None)
-    t += datetime.timedelta(days=cycle*(365*4+1)+(days-1))
-    # according to Moscow decree time.
-    t -= datetime.timedelta(hours=3)
-    t += datetime.timedelta(seconds=tow)
-    ret = cls.from_datetime(t)
-    return utc_to_gpst(ret)
-
-  @classmethod
-  def from_meas(cls, meas):
-    return cls(meas[1], meas[2])
-
-  def __sub__(self, other):
-    if isinstance(other, type(self)):
-      return (self.week - other.week)*self.seconds_in_week + self.tow - other.tow
-    elif isinstance(other, float) or isinstance(other, int):
-      new_week = self.week
-      new_tow = self.tow - other
-      while new_tow < 0:
-        new_tow += self.seconds_in_week
-        new_week -= 1
-      return GPSTime(new_week, new_tow)
-    raise NotImplementedError(f"subtracting {other} from {self}")
-
-  def __add__(self, other):
-    if isinstance(other, float) or isinstance(other, int):
-      new_week = self.week
-      new_tow = self.tow + other
-      while new_tow >= self.seconds_in_week:
-        new_tow -= self.seconds_in_week
-        new_week += 1
-      return GPSTime(new_week, new_tow)
-    raise NotImplementedError(f"adding {other} from {self}")
-
-  def __lt__(self, other):
-    return self - other < 0
-
-  def __gt__(self, other):
-    return self - other > 0
-
-  def __le__(self, other):
-    return self - other <= 0
-
-  def __ge__(self, other):
-    return self - other >= 0
-
-  def __eq__(self, other):
-    return self - other == 0
-
-  def as_datetime(self):
-    return tow_to_datetime(self.tow, self.week)
-
-  def as_glonass(self):
-    time_utc = gpst_to_utc(self)
-    datetime_utc = time_utc.as_datetime()
-    datetime_glonass = datetime_utc + datetime.timedelta(hours=3)
-
-    year = datetime_glonass.year
-    cycle = (year - 1992) // 4
-    days = (datetime_glonass - datetime.datetime(1992 + cycle*4, 1, 1)).days + 1
-    tod = (datetime_glonass - datetime_glonass.replace(hour=0, minute=0, second=0, microsecond=0)).total_seconds()
-    return cycle, days, tod
-
-  def as_unix_timestamp(self):
-    return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds()
-
-  @property
-  def day(self):
-    return int(self.tow/(24*3600))
-
-  def __repr__(self):
-    return f"GPSTime(week={self.week}, tow={self.tow})"
-
-
-class TimeSyncer:
-  """
-  Converts logmonotime to gps_time and vice versa
-  """
-  def __init__(self, mono_time, gps_time):
-    self.ref_mono_time = mono_time
-    self.ref_gps_time = gps_time
-
-  @classmethod
-  def from_datetime(cls, datetime):
-    week, tow = datetime_to_tow(datetime)
-    return cls(week, tow)
-
-  @classmethod
-  def from_logs(cls, raw_qcom_measurement_report, clocks):
-    #TODO
-    #return cls(week, mono_time, gps_time)
-    return None
-
-  def mono2gps(self, mono_time):
-    return self.ref_gps_time + mono_time - self.ref_mono_time
-
-  def gps2mono(self, gps_time):
-    return gps_time - self.ref_gps_time + self.ref_mono_time
-
-  def __str__(self):
-      return f"Reference mono time: {self.ref_mono_time} \n  Reference gps time: {self.ref_gps_time}"

laika/helpers.py

@@ -1,221 +0,0 @@
-from enum import IntEnum
-from typing import Dict
-
-import numpy as np
-from .lib.coordinates import LocalCoord
-
-
-class ConstellationId(IntEnum):
-  # Int values match Ublox gnssid version 8
-  GPS = 0
-  SBAS = 1
-  GALILEO = 2
-  BEIDOU = 3
-  IMES = 4
-  QZNSS = 5
-  GLONASS = 6
-  # Not supported by Ublox:
-  IRNSS = 7
-
-  def to_rinex_char(self) -> str:
-    # returns single character id
-    return RINEX_CONSTELLATION_TO_ID[self]
-
-  @classmethod
-  def from_rinex_char(cls, c: str):
-    if c in RINEX_ID_TO_CONSTELLATION:
-      return RINEX_ID_TO_CONSTELLATION[c]
-    else:
-      raise ValueError("Unknown rinex constellation id: ", c)
-
-  @classmethod
-  def from_qcom_source(cls, report_source: int):
-    if report_source == 0:
-      return ConstellationId.GPS
-    if report_source == 1:
-      return ConstellationId.GLONASS
-    if report_source == 2:
-      return ConstellationId.BEIDOU
-    if report_source == 6:
-      return ConstellationId.SBAS
-    raise NotImplementedError('Only GPS (0), GLONASS (1), BEIDOU (2) and SBAS (6) are supported from qcom, not:', {report_source})
-
-
-# From https://gpsd.gitlab.io/gpsd/NMEA.html#_satellite_ids
-# NmeaId is the unique 3 digits id for every satellite globally. (Example: 001, 201)
-# SvId is the 2 digits satellite id that is unique within a constellation. (Get the unique satellite with the constellation id. Examples: G01, R01)
-CONSTELLATION_TO_NMEA_RANGES = {
-  # NmeaId ranges for each constellation with its svId offset.
-  # constellation: [(start, end, svIdOffset)]
-  # svId = nmeaId + offset
-  ConstellationId.GPS: [(1, 32, 0)],  # svId [1,32]
-  ConstellationId.SBAS: [(33, 64, -32), (120, 158, -87)],  # svId [1,71]
-  ConstellationId.GLONASS: [(65, 96, -64)],  # svId [1,31]
-  ConstellationId.IMES: [(173, 182, -172)],  # svId [1,9]
-  ConstellationId.QZNSS: [(193, 200, -192)],  # svId [1,28]  # todo should be QZSS
-  ConstellationId.BEIDOU: [(201, 235, -200), (401, 437, -365)],  # svId 1-72
-  ConstellationId.GALILEO: [(301, 336, -300)]  # svId 1-36
-}
-#
-# # Source: RINEX 3.04
-RINEX_CONSTELLATION_TO_ID: Dict[ConstellationId, str] = {
-  ConstellationId.GPS: 'G',
-  ConstellationId.GLONASS: 'R',
-  ConstellationId.SBAS: 'S',
-  ConstellationId.GALILEO: 'E',
-  ConstellationId.BEIDOU: 'C',
-  ConstellationId.QZNSS: 'J',
-  ConstellationId.IRNSS: 'I'
-}
-
-# Make above dictionary bidirectional map:
-# Now you can ask for constellation using:
-# >>> RINEX_CONSTELLATION_IDENTIFIERS['R']
-#     "GLONASS"
-RINEX_ID_TO_CONSTELLATION: Dict[str, ConstellationId] = {con_id: con for con, con_id in RINEX_CONSTELLATION_TO_ID.items()}
-
-
-def get_el_az(pos, sat_pos):
-  converter = LocalCoord.from_ecef(pos)
-  sat_ned = converter.ecef2ned(sat_pos)
-  sat_range = np.linalg.norm(sat_ned)
-
-  el = np.arcsin(-sat_ned[2] / sat_range)  # pylint: disable=unsubscriptable-object
-  az = np.arctan2(sat_ned[1], sat_ned[0])  # pylint: disable=unsubscriptable-object
-  return el, az
-
-
-def get_closest(time, candidates, recv_pos=None):
-  if recv_pos is None:
-    # Takes a list of object that have an epoch(GPSTime) value
-    # and return the one that is closest the given time (GPSTime)
-    return min(candidates, key=lambda candidate: abs(time - candidate.epoch), default=None)
-
-  return min(
-    (candidate for candidate in candidates if candidate.valid(time, recv_pos)),
-    key=lambda candidate: np.linalg.norm(recv_pos - candidate.pos),
-    default=None,
-  )
-
-def get_constellation(prn: str):
-  identifier = prn[0]
-  return ConstellationId.from_rinex_char(identifier)
-
-def get_sv_id(prn: str):
-  return int(prn[1:])
-
-def get_constellation_and_sv_id(nmea_id):
-  for c, ranges in CONSTELLATION_TO_NMEA_RANGES.items():
-    for (start, end, sv_id_offset) in ranges:
-      if start <= nmea_id <= end:
-        sv_id = nmea_id + sv_id_offset
-        return c, sv_id
-
-  raise ValueError(f"constellation not found for nmeaid {nmea_id}")
-
-
-def get_prn_from_nmea_id(nmea_id: int):
-  c_id, sv_id = get_constellation_and_sv_id(nmea_id)
-  return "%s%02d" % (c_id.to_rinex_char(), sv_id)
-
-
-def get_nmea_id_from_prn(prn: str):
-  constellation = get_constellation(prn)
-  sv_id = int(prn[1:])  # satellite id
-  return get_nmea_id_from_constellation_and_svid(constellation, sv_id)
-
-
-def get_nmea_id_from_constellation_and_svid(constellation: ConstellationId, sv_id: int):
-  ranges = CONSTELLATION_TO_NMEA_RANGES[constellation]
-  for (start, end, sv_id_offset) in ranges:
-    new_nmea_id = sv_id - sv_id_offset
-    if start <= new_nmea_id <= end:
-      return new_nmea_id
-
-  raise ValueError(f"NMEA ID not found for constellation {constellation.name} with satellite id {sv_id}")
-
-
-def rinex3_obs_from_rinex2_obs(observable):
-  if observable == 'P2':
-    return 'C2P'
-  if len(observable) == 2:
-    return observable + 'C'
-  raise NotImplementedError("Don't know this: " + observable)
-
-
-class TimeRangeHolder:
-  '''Class to support test if date is in any of the multiple, sparse ranges'''
-
-  def __init__(self):
-    # Sorted list
-    self._ranges = []
-
-  def _previous_and_contains_index(self, time):
-    prev = None
-    current = None
-
-    for idx, (start, end) in enumerate(self._ranges):
-      # Time may be in next range
-      if time > end:
-        continue
-
-      # Time isn't in any next range
-      if time < start:
-        prev = idx - 1
-        current = None
-      # Time is in current range
-      else:
-        prev = idx - 1
-        current = idx
-      break
-
-    # Break in last loop
-    if prev is None:
-      prev = len(self._ranges) - 1
-
-    return prev, current
-
-  def add(self, start_time, end_time):
-    prev_start, current_start = self._previous_and_contains_index(start_time)
-    _, current_end = self._previous_and_contains_index(end_time)
-
-    # Merge ranges
-    if current_start is not None and current_end is not None:
-      # If ranges are different then merge
-      if current_start != current_end:
-        new_start, _ = self._ranges[current_start]
-        _, new_end = self._ranges[current_end]
-        new_range = (new_start, new_end)
-        # Required reversed order to correct remove
-        del self._ranges[current_end]
-        del self._ranges[current_start]
-        self._ranges.insert(current_start, new_range)
-    # Extend range - left
-    elif current_start is not None:
-      new_start, _ = self._ranges[current_start]
-      new_range = (new_start, end_time)
-      del self._ranges[current_start]
-      self._ranges.insert(current_start, new_range)
-    # Extend range - right
-    elif current_end is not None:
-      _, new_end = self._ranges[current_end]
-      new_range = (start_time, new_end)
-      del self._ranges[current_end]
-      self._ranges.insert(prev_start + 1, new_range)
-    # Create new range
-    else:
-      new_range = (start_time, end_time)
-      self._ranges.insert(prev_start + 1, new_range)
-
-  def __contains__(self, time):
-    for start, end in self._ranges:
-      # Time may be in next range
-      if time > end:
-        continue
-
-      # Time isn't in any next range
-      if time < start:
-        return False
-      # Time is in current range
-      return True
-    return False

laika/iono.py

@@ -1,256 +0,0 @@
-import datetime as dt
-import numpy as np
-import re
-from math import cos, sin, pi, floor
-from .constants import SECS_IN_MIN, SECS_IN_HR, EARTH_RADIUS
-from .lib.coordinates import LocalCoord
-from .gps_time import GPSTime
-
-# Altitude of Ionospheric-pierce-point
-IPP_ALT = 6821000
-
-def get_alpha_beta(rcv_pos, el):
-    geocentric_alt = np.linalg.norm(rcv_pos)
-    alpha = np.pi/2 + el
-    arcsin_arg = geocentric_alt*np.sin(alpha)/IPP_ALT
-    beta = np.arcsin(np.clip(arcsin_arg, -1, 1))
-    return alpha, beta
-
-def get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay):
-    alpha, beta = get_alpha_beta(rcv_pos, el)
-    slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
-                                          (EARTH_RADIUS + 3.5e5))**2)**(-0.5))
-    return slant_delay
-
-def closest_in_list(lst, val, num=2):
-  """
-    Returns two (`num` in general) closest values of `val` in list `lst`
-    """
-  idxs = sorted(lst, key=lambda x: abs(x - val))[:num]
-  return sorted(list(lst).index(x) for x in idxs)
-
-
-def get_header_line(headr, proprty):
-    """
-    :param headr: the header of the RINEX-file
-    :param proprty: string-like property to search for (e.g. 'delta-utc')
-    :return: the string of the ``headr`` containing ``property``
-    """
-    pattern = re.compile(proprty, re.IGNORECASE)
-    for d in headr:
-        if pattern.search(d):
-            return d
-
-
-def get_header_body(file_path):
-    """
-    Opens `file_path`, reads file and returns header and body
-    separated with "END OF HEADER"
-    :param file_path: path to RINEX-like file
-    :return: header, body (arrays of lines)
-    """
-    with open(file_path) as fd:
-        data = fd.readlines()
-        for j, d in enumerate(data):
-            if "END OF HEADER" in d:
-                header_end = j
-                break
-    return data[:header_end], data[header_end + 1:]
-
-
-def get_int_from_header(hdr, seq):
-    """
-    Returns the first int from the line that contains `seq` of lines `hdr`.
-    In fact, _header_ here may not be header of RINEX/IONEX, just some set of lines.
-    """
-    return int(get_header_line(hdr, seq).split()[0])
-
-def compute_grid_lats_lons(data):
-  grid = np.array([], dtype='uint16')
-  lats = np.array([])
-  for j, line in enumerate(data[1:]):
-    if "LAT" in line:
-      lat, lon1, lon2, dlon, h = (float(line[x:x + 6]) for x in range(2, 32, 6))
-      lats = np.append(lats, lat)
-      row_length = (lon2 - lon1) / dlon + 1  # total number of values of longitudes
-      next_lines_with_numbers = int(np.ceil(row_length / 16))
-      elems_in_row = [
-        min(16, int(row_length - i * 16)) for i in range(next_lines_with_numbers)
-      ]
-      row = np.array([], dtype='int16')
-      for i, elem in enumerate(elems_in_row):
-        row = np.append(
-          row,
-          np.array(
-            [int(data[j + 2 + i][5 * x:5 * x + 5]) for x in range(elem)],
-            dtype='int16',
-          ),
-        )
-      if len(grid) > 0:
-        grid = np.vstack((grid, row))
-      else:
-        grid = np.append(grid, row)
-  lons = np.linspace(lon1, lon2, int(row_length))
-  return (grid, lats, lons)
-
-
-class IonexMap:
-  def __init__(self, exp, data1, data2):
-    self.exp = exp
-    self.t1 = GPSTime.from_datetime(dt.datetime(*[int(d) for d in data1[0].split()[:6]]))
-    self.t2 = GPSTime.from_datetime(dt.datetime(*[int(d) for d in data2[0].split()[:6]]))
-    assert self.t2 - self.t1 == SECS_IN_HR
-    assert len(data1) == len(data2)
-
-    self.max_time_diff = SECS_IN_MIN*30
-    self.epoch = self.t1 + self.max_time_diff
-
-    self.grid_TEC1, self.lats, self.lons = compute_grid_lats_lons(data1)
-    self.grid_TEC2, self.lats, self.lons = compute_grid_lats_lons(data2)
-
-  def valid(self, time):
-    return abs(time - self.epoch) <= self.max_time_diff
-
-  @staticmethod
-  def find_nearest(lst, val):
-    return (np.abs(lst - val)).argmin()
-
-  def get_TEC(self, pos, time):
-    """
-        Returns TEC in a position `pos`  of ionosphere
-        :param pos: (lat, lon) [deg, deg]
-        :return:
-        """
-    if pos[0] in self.lats and pos[1] in self.lons:
-      lat = self.find_nearest(self.lats, pos[0])
-      lon = self.find_nearest(self.lons, pos[1])
-      E = self.grid_TEC1[lat][lon] + self.grid_TEC2[lat][lon]
-      return E
-    lat_idxs = closest_in_list(self.lats, pos[0])
-    lon_idxs = closest_in_list(self.lons, pos[1])
-    lat0, lat1 = self.lats[lat_idxs[0]], self.lats[lat_idxs[1]]
-    lon0, lon1 = self.lons[lon_idxs[0]], self.lons[lon_idxs[1]]
-    dlat = lat1 - lat0
-    dlon = lon1 - lon0
-    p = float(pos[0] - lat0) / dlat
-    q = float(pos[1] - lon0) / dlon
-
-    (E00, E10), (E01, E11) = self.grid_TEC1[lat_idxs[0]:lat_idxs[1] + 1, lon_idxs[0]:lon_idxs[1] + 1]
-    TEC_1 = ((1 - p) * (1 - q) * E00 + p * (1 - q) * E01 + (1 - p) * q * E10 + p * q * E11)
-    (E00, E10), (E01, E11) = self.grid_TEC2[lat_idxs[0]:lat_idxs[1] + 1, lon_idxs[0]:lon_idxs[1] + 1]
-    TEC_2 = ((1 - p) * (1 - q) * E00 + p * (1 - q) * E01 + (1 - p) * q * E10 + p * q * E11)
-
-    return (1 - (time - self.t1)/SECS_IN_HR)*TEC_1 + ((time - self.t1)/SECS_IN_HR)*TEC_2
-
-  def get_delay(self, rcv_pos, az, el, sat_pos, time, freq):
-    # To get a delay from a TEC map, we need to calculate
-    # the ionospheric pierce point, geometry described here
-    # https://en.wikipedia.org/wiki/Ionospheric_pierce_point
-    alpha, beta = get_alpha_beta(rcv_pos, el)
-    conv = LocalCoord.from_ecef(rcv_pos)
-    gamma = np.pi - alpha - beta
-    geocentric_alt = np.linalg.norm(rcv_pos)
-    ipp_dist = geocentric_alt*np.sin(gamma)/np.sin(beta)
-    ipp_ned = conv.ecef2ned(sat_pos)*(ipp_dist)/np.linalg.norm(sat_pos)
-    ipp_geo = conv.ned2geodetic(ipp_ned)
-    factor = 40.30E16 / (freq**2) * 10**(self.exp)
-    vertical_delay = self.get_TEC(ipp_geo, time) * factor
-    slant_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay)
-    return slant_delay
-
-  @staticmethod
-  def round_to_grid(number, base):
-    return int(base * round(float(number) / base))
-
-
-def parse_ionex(ionex_file):
-  """
-    :param ionex_file: path to the IONEX file
-    :return: TEC interpolation function `f( (lat,lon), datetime )`
-    """
-  header, body = get_header_body(ionex_file)
-
-  exponent = get_int_from_header(header, "EXPONENT")
-  maps_count = get_int_from_header(header, "MAPS IN FILE")
-  # =============
-  # Separate maps
-  # =============
-  map_start_idx = []
-  map_end_idx = []
-
-  for j, line in enumerate(body):
-    if "START OF TEC MAP" in line:
-      map_start_idx += [j]
-    elif "END OF TEC MAP" in line:
-      map_end_idx += [j]
-  if maps_count != len(map_start_idx):
-    raise LookupError("Parsing error: the number of maps in the header " +
-                      "is not equal to the number of maps in the body.")
-  if len(map_start_idx) != len(map_end_idx):
-    raise IndexError("Starts end ends numbers are not equal.")
-  map_dates = []
-  for i in range(maps_count):
-    date_components = body[map_start_idx[i] + 1].split()[:6]
-    map_dates.append(dt.datetime(*[int(d) for d in date_components]))
-
-  maps = []
-  iono_map = iono_map_prev = None
-  for m in range(maps_count):
-    iono_map_prev = iono_map
-    iono_map = body[map_start_idx[m] + 1:map_end_idx[m]]
-    if iono_map and iono_map_prev:
-      maps += [IonexMap(exponent, iono_map_prev, iono_map)]
-  return maps
-
-
-def klobuchar(pos, az, el, time, iono_coeffs):
-  """
-    Details are taken from [5]: IS-GPS-200H, Fig. 20-4
-    Note: result is referred to the GPS L₁ frequency;
-    if the user is operating on the GPS L₂ frequency, the correction term must
-    be multiplied by γ = f₂²/f₁¹ = 0.6071850227694382
-    :param pos: [lat, lon, alt] in radians and meters
-    """
-
-  tow = time.tow
-  if pos[2] < -1E3 or el < 0:
-    return 0.0
-  if len(iono_coeffs) < 8:
-    return None
-
-  # earth centered angle (semi-circle)
-  psi = 0.0137 / (el / pi + 0.11) - 0.022
-
-  # subionospheric latitude/longitude (semi-circle)
-  phi = pos[0] / pi + psi * cos(az)
-  if phi > 0.416:
-    phi = 0.416
-  elif phi < -0.416:
-    phi = -0.416
-  lam = pos[1] / pi + psi * sin(az) / cos(phi * pi)
-
-  # geomagnetic latitude (semi-circle) */
-  phi += 0.064 * cos((lam - 1.617) * pi)
-
-  # local time (s)
-  tt = 43200.0 * lam + tow
-  tt -= floor(tt / 86400.0) * 86400.0  # 0<=tt<86400
-
-  # slant factor
-  f = 1.0 + 16.0 * pow(0.53 - el / pi, 3.0)
-
-  # ionospheric delay
-  amp = iono_coeffs[0] + phi * (iono_coeffs[1] + phi *
-                                (iono_coeffs[2] + phi * iono_coeffs[3]))
-  per = iono_coeffs[4] + phi * (iono_coeffs[5] + phi *
-                                (iono_coeffs[6] + phi * iono_coeffs[7]))
-  if amp < 0.0:
-    amp = 0.
-  if per < 72000.0:
-    per = 72000.0
-  x = 2.0 * pi * (tt - 50400.0) / per
-
-  mul = 5E-9
-  if abs(x) < 1.57:
-    mul = (5E-9 + amp * (1.0 + x * x * (-0.5 + x * x / 24.0)))
-  return 2.99792458E8 * f * mul

laika/lib/coordinates.py

@@ -1,106 +0,0 @@
-import numpy as np
-"""
-Coordinate transformation module. All methods accept arrays as input
-with each row as a position.
-"""
-
-
-a = 6378137
-b = 6356752.3142
-esq = 6.69437999014 * 0.001
-e1sq = 6.73949674228 * 0.001
-
-
-def geodetic2ecef(geodetic, radians=False):
-  geodetic = np.array(geodetic)
-  input_shape = geodetic.shape
-  geodetic = np.atleast_2d(geodetic)
-
-  ratio = 1.0 if radians else (np.pi / 180.0)
-  lat = ratio*geodetic[:,0]
-  lon = ratio*geodetic[:,1]
-  alt = geodetic[:,2]
-
-  xi = np.sqrt(1 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1 - esq) + alt) * np.sin(lat)
-  ecef = np.array([x, y, z]).T
-  return ecef.reshape(input_shape)
-
-
-def ecef2geodetic(ecef, radians=False):
-  """
-  Convert ECEF coordinates to geodetic using ferrari's method
-  """
-  # Save shape and export column
-  ecef = np.atleast_1d(ecef)
-  input_shape = ecef.shape
-  ecef = np.atleast_2d(ecef)
-  x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
-
-  ratio = 1.0 if radians else (180.0 / np.pi)
-
-  # Conver from ECEF to geodetic using Ferrari's methods
-  # https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  r = np.sqrt(x * x + y * y)
-  Esq = a * a - b * b
-  F = 54 * b * b * z * z
-  G = r * r + (1 - esq) * z * z - esq * Esq
-  C = (esq * esq * F * r * r) / (pow(G, 3))
-  S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
-  P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
-  Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) -
-                                           P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
-  U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
-  V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
-  Z_0 = b * b * z / (a * V)
-  h = U * (1 - b * b / (a * V))
-  lat = ratio*np.arctan((z + e1sq * Z_0) / r)
-  lon = ratio*np.arctan2(y, x)
-
-  # stack the new columns and return to the original shape
-  geodetic = np.column_stack((lat, lon, h))
-  return geodetic.reshape(input_shape)
-
-class LocalCoord:
-  """
-   Allows conversions to local frames. In this case NED.
-   That is: North East Down from the start position in
-   meters.
-  """
-  def __init__(self, init_geodetic, init_ecef):
-    self.init_ecef = init_ecef
-    lat, lon, _ = (np.pi/180)*np.array(init_geodetic)
-    self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
-                                     [-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
-                                     [np.cos(lat), 0, -np.sin(lat)]])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-
-  @classmethod
-  def from_geodetic(cls, init_geodetic):
-    init_ecef = geodetic2ecef(init_geodetic)
-    return LocalCoord(init_geodetic, init_ecef)
-
-  @classmethod
-  def from_ecef(cls, init_ecef):
-    init_geodetic = ecef2geodetic(init_ecef)
-    return LocalCoord(init_geodetic, init_ecef)
-
-  def ecef2ned(self, ecef):
-    ecef = np.array(ecef)
-    return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T
-
-  def ned2ecef(self, ned):
-    ned = np.array(ned)
-    # Transpose so that init_ecef will broadcast correctly for 1d or 2d ned.
-    return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef)
-
-  def geodetic2ned(self, geodetic):
-    ecef = geodetic2ecef(geodetic)
-    return self.ecef2ned(ecef)
-
-  def ned2geodetic(self, ned):
-    ecef = self.ned2ecef(ned)
-    return ecef2geodetic(ecef)

laika/lib/orientation.py

@@ -1,291 +0,0 @@
-import numpy as np
-from numpy import dot, inner, array, linalg
-from .coordinates import LocalCoord
-
-
-'''
-Vectorized functions that transform between
-rotation matrices, euler angles and quaternions.
-All support lists, array or array of arrays as inputs.
-Supports both x2y and y_from_x format (y_from_x preferred!).
-'''
-
-def euler2quat(eulers):
-  eulers = array(eulers)
-  if len(eulers.shape) > 1:
-    output_shape = (-1,4)
-  else:
-    output_shape = (4,)
-  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
-
-  cos_half_gamma = np.cos(gamma / 2)
-  cos_half_theta = np.cos(theta / 2)
-  cos_half_psi = np.cos(psi / 2)
-  sin_half_gamma = np.sin(gamma / 2)
-  sin_half_theta = np.sin(theta / 2)
-  sin_half_psi = np.sin(psi / 2)
-  q0 = cos_half_gamma * cos_half_theta * cos_half_psi + sin_half_gamma * sin_half_theta * sin_half_psi
-  q1 = sin_half_gamma * cos_half_theta * cos_half_psi - cos_half_gamma * sin_half_theta * sin_half_psi
-  q2 = cos_half_gamma * sin_half_theta * cos_half_psi + sin_half_gamma * cos_half_theta * sin_half_psi
-  q3 = cos_half_gamma * cos_half_theta * sin_half_psi - sin_half_gamma * sin_half_theta * cos_half_psi
-
-  quats = array([q0, q1, q2, q3]).T
-  for i in range(len(quats)):
-    if quats[i,0] < 0:
-      quats[i] = -quats[i]
-  return quats.reshape(output_shape)
-
-
-def quat2euler(quats):
-  quats = array(quats)
-  if len(quats.shape) > 1:
-    output_shape = (-1,3)
-  else:
-    output_shape = (3,)
-  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
-
-  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
-  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
-  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
-
-  eulers = array([gamma, theta, psi]).T
-  return eulers.reshape(output_shape)
-
-
-def quat2rot(quats):
-  quats = array(quats)
-  input_shape = quats.shape
-  quats = np.atleast_2d(quats)
-  Rs = np.zeros((quats.shape[0], 3, 3))
-  q0 = quats[:, 0]
-  q1 = quats[:, 1]
-  q2 = quats[:, 2]
-  q3 = quats[:, 3]
-  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
-  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
-  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
-  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
-  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
-  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
-  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
-  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
-  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
-
-  if len(input_shape) < 2:
-    return Rs[0]
-  return Rs
-
-
-def rot2quat(rots):
-  input_shape = rots.shape
-  if len(input_shape) < 3:
-    rots = array([rots])
-  K3 = np.empty((len(rots), 4, 4))
-  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
-  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
-  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
-  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
-  K3[:, 1, 0] = K3[:, 0, 1]
-  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
-  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
-  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
-  K3[:, 2, 0] = K3[:, 0, 2]
-  K3[:, 2, 1] = K3[:, 1, 2]
-  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
-  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
-  K3[:, 3, 0] = K3[:, 0, 3]
-  K3[:, 3, 1] = K3[:, 1, 3]
-  K3[:, 3, 2] = K3[:, 2, 3]
-  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
-  q = np.empty((len(rots), 4))
-  for i in range(len(rots)):
-    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
-    q[i, 0] = eigvecs[-1]
-    q[i, 1:] = -eigvecs[:-1].flatten()
-    if q[i, 0] < 0:
-      q[i] = -q[i]
-
-  if len(input_shape) < 3:
-    return q[0]
-  return q
-
-
-def euler2rot(eulers):
-  return rotations_from_quats(euler2quat(eulers))
-
-
-def rot2euler(rots):
-  return quat2euler(quats_from_rotations(rots))
-
-
-quats_from_rotations = rot2quat
-quat_from_rot = rot2quat
-rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
-euler_from_rot = rot2euler
-euler_from_quat = quat2euler
-rot_from_euler = euler2rot
-quat_from_euler = euler2quat
-
-
-'''
-Random helpers below
-'''
-
-
-def quat_product(q, r):
-  t = np.zeros(4)
-  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
-  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
-  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
-  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
-  return t
-
-
-def rot_matrix(roll, pitch, yaw):
-  cr, sr = np.cos(roll), np.sin(roll)
-  cp, sp = np.cos(pitch), np.sin(pitch)
-  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
-  return ry.dot(rp.dot(rr))
-
-
-def rot(axis, angle):
-  # Rotates around an arbitrary axis
-  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
-    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
-  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
-  ret_2 = np.cos(angle) * np.eye(3)
-  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
-                              [-axis[1], axis[0], 0]])
-  return ret_1 + ret_2 + ret_3
-
-
-def ecef_euler_from_ned(ned_ecef_init, ned_pose):
-  '''
-  Got it from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-  '''
-  converter = LocalCoord.from_ecef(ned_ecef_init)
-  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-  x1 = rot(z0, ned_pose[2]).dot(x0)
-  y1 = rot(z0, ned_pose[2]).dot(y0)
-  z1 = rot(z0, ned_pose[2]).dot(z0)
-
-  x2 = rot(y1, ned_pose[1]).dot(x1)
-  y2 = rot(y1, ned_pose[1]).dot(y1)
-  z2 = rot(y1, ned_pose[1]).dot(z1)
-
-  x3 = rot(x2, ned_pose[0]).dot(x2)
-  y3 = rot(x2, ned_pose[0]).dot(y2)
-  #z3 = rot(x2, ned_pose[0]).dot(z2)
-
-  x0 = array([1, 0, 0])
-  y0 = array([0, 1, 0])
-  z0 = array([0, 0, 1])
-
-  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-  y2 = rot(z0, psi).dot(y0)
-  z2 = rot(y2, theta).dot(z0)
-  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-
-  ret = array([phi, theta, psi])
-  return ret
-
-
-def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
-  '''
-  Got the math from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-
-  Also accepts array of ecef_poses and array of ned_ecef_inits.
-  Where each row is a pose and an ecef_init.
-  '''
-  ned_ecef_init = array(ned_ecef_init)
-  ecef_poses = array(ecef_poses)
-  output_shape = ecef_poses.shape
-  ned_ecef_init = np.atleast_2d(ned_ecef_init)
-  if ned_ecef_init.shape[0] == 1:
-    ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
-  ecef_poses = np.atleast_2d(ecef_poses)
-
-  ned_poses = np.zeros(ecef_poses.shape)
-  for i, ecef_pose in enumerate(ecef_poses):
-    converter = LocalCoord.from_ecef(ned_ecef_init[i])
-    x0 = array([1, 0, 0])
-    y0 = array([0, 1, 0])
-    z0 = array([0, 0, 1])
-
-    x1 = rot(z0, ecef_pose[2]).dot(x0)
-    y1 = rot(z0, ecef_pose[2]).dot(y0)
-    z1 = rot(z0, ecef_pose[2]).dot(z0)
-
-    x2 = rot(y1, ecef_pose[1]).dot(x1)
-    y2 = rot(y1, ecef_pose[1]).dot(y1)
-    z2 = rot(y1, ecef_pose[1]).dot(z1)
-
-    x3 = rot(x2, ecef_pose[0]).dot(x2)
-    y3 = rot(x2, ecef_pose[0]).dot(y2)
-    #z3 = rot(x2, ecef_pose[0]).dot(z2)
-
-    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-    y2 = rot(z0, psi).dot(y0)
-    z2 = rot(y2, theta).dot(z0)
-    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-    ned_poses[i] = array([phi, theta, psi])
-
-  return ned_poses.reshape(output_shape)
-
-
-def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
-  """
-  TODO: add roll rotation
-  Converts an array of points in ecef coordinates into
-  x-forward, y-left, z-up coordinates
-  Parameters
-  ----------
-  psi: yaw, radian
-  theta: pitch, radian
-  Returns
-  -------
-  [x, y, z] coordinates in car frame
-  """
-
-  # input is an array of points in ecef cocrdinates
-  # output is an array of points in car's coordinate (x-front, y-left, z-up)
-
-  # convert points to NED
-  points_ned = []
-  for p in points_ecef:
-    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
-
-  points_ned = np.vstack(points_ned).T
-
-  # n, e, d -> x, y, z
-  # Calculate relative positions and rotate wrt to heading and pitch of car
-  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
-
-  c, s = np.cos(psi), np.sin(psi)
-  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
-
-  c, s = np.cos(theta), np.sin(theta)
-  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
-
-  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))

laika/opt.py

@@ -1,192 +0,0 @@
-import sympy
-import numpy as np
-from typing import List
-
-from .constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT
-from .helpers import ConstellationId
-from .raw_gnss import GNSSMeasurement
-
-
-def gauss_newton(fun, b, M, xtol=1e-8, max_n=25):
-
-  W = np.linalg.inv(M)
-  for _ in range(max_n):
-    # Compute function and jacobian on current estimate
-    r, J = fun(b)
-
-    # Update estimate, WLS https://en.wikipedia.org/wiki/Weighted_least_squares
-    delta = np.linalg.pinv(J.T.dot(W).dot(J)).dot(J.T).dot(W) @ r
-    b -= delta
-
-    # Check step size for stopping condition
-    if np.linalg.norm(delta) < xtol:
-      break
-
-  r, J = fun(b)
-  Mb = np.linalg.pinv(J.T.dot(W).dot(J))
-  x_std = np.sqrt(np.diagonal(Mb))
-  return b, r, x_std
-
-
-def calc_pos_fix(measurements, posfix_functions=None, x0=None, signal='C1C', min_measurements=5):
-  '''
-  Calculates gps fix using gauss newton method
-  To solve the problem a minimal of 4 measurements are required.
-    If Glonass is included 5 are required to solve for the additional free variable.
-  returns:
-  0 -> list with positions
-  1 -> pseudorange errs
-  '''
-  if x0 is None:
-    x0 = [0, 0, 0, 0, 0]
-
-  if len(measurements) < min_measurements:
-    return [],[],[]
-
-  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_nans=True)
-  meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
-
-  x, residual, x_std = gauss_newton(Fx_pos, x0, meas_cov)
-  return x.tolist(), residual.tolist(), x_std
-
-
-def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, signal='D1C', min_measurements=5):
-  '''
-  Calculates gps velocity fix using gauss newton method
-  returns:
-  0 -> list with velocities
-  1 -> pseudorange_rate errs
-  '''
-  if v0 is None:
-    v0 = [0, 0, 0, 0]
-
-  if len(measurements) < min_measurements:
-    return [], [], []
-
-  Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_nans=True)
-  meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
-
-  v, residual, x_std = gauss_newton(Fx_vel, v0, meas_cov)
-  return v.tolist(), residual.tolist(), x_std
-
-
-def get_posfix_sympy_fun(constellation):
-  # Unknowns
-  x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
-  bc = sympy.Symbol('bc')
-  bg = sympy.Symbol('bg')
-  zero_theta = sympy.Symbol('zero_theta')
-  var = [x, y, z, bc, bg]
-
-  # Knowns
-  pr = sympy.Symbol('pr')
-  sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
-
-  theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta
-  val = sympy.sqrt(
-    (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
-    (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
-    (sat_z - z) ** 2
-  )
-
-  if constellation == ConstellationId.GLONASS:
-    res = val - (pr - bc - bg)
-  elif constellation == ConstellationId.GPS:
-    res = val - (pr - bc)
-  else:
-    raise NotImplementedError(f"Constellation {constellation} not supported")
-
-  res = [res] + [sympy.diff(res, v) for v in var]
-
-  return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z], res, modules=["numpy"])
-
-
-def get_velfix_sympy_func():
-  # implementing this without sympy.Matrix gives a 2x speedup at generation
-
-  # knowns, receiver position, satellite position, satellite velocity
-  ep_x, ep_y, ep_z = sympy.Symbol('ep_x'), sympy.Symbol('ep_y'), sympy.Symbol('ep_z')
-  est_pos = np.array([ep_x, ep_y, ep_z])
-  sp_x, sp_y, sp_z = sympy.Symbol('sp_x'), sympy.Symbol('sp_y'), sympy.Symbol('sp_z')
-  sat_pos = np.array([sp_x, sp_y, sp_z])
-  sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z')
-  sat_vel = np.array([sv_x, sv_y, sv_z])
-  observables = sympy.Symbol('observables')
-
-  # unknown, receiver velocity
-  v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z')
-  vel = np.array([v_x, v_y, v_z])
-  vel_o = sympy.Symbol('vel_o')
-
-  loss = sat_pos - est_pos
-  loss /= sympy.sqrt(loss.dot(loss))
-  res = loss.dot(sat_vel - vel) - (observables - vel_o)
-
-  res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]]
-
-  return sympy.lambdify([
-      ep_x, ep_y, ep_z, sp_x, sp_y, sp_z,
-      sv_x, sv_y, sv_z, observables,
-      v_x, v_y, v_z, vel_o
-    ],
-    res, modules=["numpy"])
-
-
-def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_nans=False):
-
-  if posfix_functions is None:
-    posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
-
-  def Fx_pos(inp):
-    vals, gradients = [], []
-
-    for meas in measurements:
-      if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
-        pr = meas.observables_final[signal]
-        sat_pos = meas.sat_pos_final
-        zero_theta = 0
-      elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
-        pr = meas.observables[signal]
-        pr += meas.sat_clock_err * SPEED_OF_LIGHT
-        sat_pos = meas.sat_pos
-        zero_theta = 1
-      else:
-        if not no_nans:
-          vals.append(np.nan)
-          gradients.append(np.nan)
-        continue
-
-      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos)
-      vals.append(val)
-      gradients.append(gradient)
-    return np.asarray(vals), np.asarray(gradients)
-  return Fx_pos
-
-
-def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_nans=False):
-
-  if velfix_function is None:
-    velfix_function = get_velfix_sympy_func()
-
-  def Fx_vel(vel):
-    vals, gradients = [], []
-
-    for meas in measurements:
-      if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
-        if not no_nans:
-          vals.append(np.nan)
-          gradients.append(np.nan)
-        continue
-
-      sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos
-
-      val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2],
-                                       sat_pos[0], sat_pos[1], sat_pos[2],
-                                       meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2],
-                                       meas.observables[signal],
-                                       vel[0], vel[1], vel[2], vel[3])
-      vals.append(val)
-      gradients.append(gradient)
-
-    return np.asarray(vals), np.asarray(gradients)
-  return Fx_vel

laika/raw_gnss.py

@@ -1,381 +0,0 @@
-from math import sqrt
-from typing import Dict, List, Optional, Union
-
-import numpy as np
-import datetime
-import struct
-
-from . import constants
-from .ephemeris import Ephemeris
-from .lib.coordinates import LocalCoord
-from .gps_time import GPSTime
-from .helpers import ConstellationId, get_constellation_and_sv_id, get_nmea_id_from_constellation_and_svid, \
-  rinex3_obs_from_rinex2_obs
-
-
-def array_from_normal_meas(meas):
-  return np.concatenate(([meas.get_nmea_id()],
-                         [meas.recv_time_week],
-                         [meas.recv_time_sec],
-                         [meas.glonass_freq],
-                         [meas.observables['C1C']],
-                         [meas.observables_std['C1C']],
-                         [meas.observables['D1C']],
-                         [meas.observables_std['D1C']],
-                         [meas.observables['S1C']],
-                         [meas.observables['L1C']]))
-
-
-def normal_meas_from_array(arr):
-  observables, observables_std = {}, {}
-  observables['C1C'] = arr[4]
-  observables_std['C1C'] = arr[5]
-  observables['D1C'] = arr[6]
-  observables_std['D1C'] = arr[7]
-  observables['S1C'] = arr[8]
-  observables['L1C'] = arr[9]
-  constellation_id, sv_id = get_constellation_and_sv_id(nmea_id=arr[0])
-  return GNSSMeasurement(constellation_id, sv_id, arr[1], arr[2],
-                         observables, observables_std, arr[3])
-
-
-class GNSSMeasurement:
-  PRN = 0
-  RECV_TIME_WEEK = 1
-  RECV_TIME_SEC = 2
-  GLONASS_FREQ = 3
-
-  PR = 4
-  PR_STD = 5
-  PRR = 6
-  PRR_STD = 7
-
-  SAT_POS = slice(8, 11)
-  SAT_VEL = slice(11, 14)
-
-  def __init__(self, constellation_id: ConstellationId, sv_id: int, recv_time_week: int, recv_time_sec: float, observables: Dict[str, float],
-               observables_std: Dict[str, float], glonass_freq: Union[int, float, None] = None):
-    # Metadata
-    # prn: unique satellite id
-    self.prn = "%s%02d" % (constellation_id.to_rinex_char(), sv_id)  # satellite ID in rinex convention
-    self.constellation_id = constellation_id
-    self.sv_id = sv_id  # satellite id per constellation
-
-    self.recv_time_week = recv_time_week
-    self.recv_time_sec = recv_time_sec
-    self.recv_time = GPSTime(recv_time_week, recv_time_sec)
-    self.glonass_freq = glonass_freq  # glonass channel
-
-    # Measurements
-    self.observables = observables
-    self.observables_std = observables_std
-
-    # flags
-    self.processed = False
-    self.corrected = False
-
-    # sat info
-    self.sat_pos = np.array([np.nan, np.nan, np.nan])
-    self.sat_vel = np.array([np.nan, np.nan, np.nan])
-    self.sat_clock_err = np.nan
-    self.sat_ephemeris: Optional[Ephemeris] = None
-
-    self.sat_pos_final = np.array([np.nan, np.nan, np.nan])  # sat_pos in receiver time's ECEF frame instead of satellite time's ECEF frame
-    self.observables_final: Dict[str, float] = {}
-
-  def process(self, dog):
-    sat_time = self.recv_time - self.observables['C1C']/constants.SPEED_OF_LIGHT
-    sat_info = dog.get_sat_info(self.prn, sat_time)
-    if sat_info is None:
-      return False
-    self.sat_pos, self.sat_vel, self.sat_clock_err, _, self.sat_ephemeris = sat_info
-    self.processed = True
-    return True
-
-  def correct(self, est_pos, dog, correct_delay=True):
-    for obs in self.observables:
-      if obs[0] == 'C':  # or obs[0] == 'L':
-        if correct_delay:
-          delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
-        else:
-          delay = 0.0
-        if delay is not None:
-          self.observables_final[obs] = (self.observables[obs] +
-                                         self.sat_clock_err*constants.SPEED_OF_LIGHT -
-                                         delay)
-      else:
-        self.observables_final[obs] = self.observables[obs]
-    if 'C1C' in self.observables_final and 'C2P' in self.observables_final:
-      self.observables_final['IOF'] = (((constants.GPS_L1**2)*self.observables_final['C1C'] -
-                                        (constants.GPS_L2**2)*self.observables_final['C2P'])/
-                                       (constants.GPS_L1**2 - constants.GPS_L2**2))
-
-    geometric_range = np.linalg.norm(self.sat_pos - est_pos)
-    theta_1 = constants.EARTH_ROTATION_RATE * geometric_range / constants.SPEED_OF_LIGHT
-    self.sat_pos_final = np.array([self.sat_pos[0] * np.cos(theta_1) + self.sat_pos[1] * np.sin(theta_1),
-                                   self.sat_pos[1] * np.cos(theta_1) - self.sat_pos[0] * np.sin(theta_1),
-                                   self.sat_pos[2]])
-    if 'C1C' in self.observables_final and np.isfinite(self.observables_final['C1C']):
-      self.corrected = True
-      return True
-    return False
-
-  def as_array(self, only_corrected=True):
-    observables = self.observables_final
-    sat_pos = self.sat_pos_final
-    if not self.corrected:
-      if only_corrected:
-        raise NotImplementedError('Only corrected measurements can be put into arrays')
-      else:
-        observables = self.observables
-        sat_pos = self.sat_pos
-    ret = np.array([self.get_nmea_id(), self.recv_time_week, self.recv_time_sec, self.glonass_freq,
-                    observables['C1C'], self.observables_std['C1C'],
-                    observables['D1C'], self.observables_std['D1C']])
-    return np.concatenate((ret, sat_pos, self.sat_vel))
-
-  def __repr__(self):
-    time = self.recv_time.as_datetime().strftime('%Y-%m-%dT%H:%M:%S.%f')
-    return f"<GNSSMeasurement from {self.prn} at {time}>"
-
-  def get_nmea_id(self):
-    return get_nmea_id_from_constellation_and_svid(self.constellation_id, self.sv_id)
-
-
-def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSMeasurement]:
-  proc_measurements = []
-  for meas in measurements:
-    if meas.process(dog):
-      proc_measurements.append(meas)
-  return proc_measurements
-
-
-def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, correct_delay=True) -> List[GNSSMeasurement]:
-  corrected_measurements = []
-  for meas in measurements:
-    if meas.correct(est_pos, dog, correct_delay=correct_delay):
-      corrected_measurements.append(meas)
-  return corrected_measurements
-
-
-def group_measurements_by_epoch(measurements):
-  meas_filt_by_t = [[measurements[0]]]
-  for m in measurements[1:]:
-    if abs(m.recv_time - meas_filt_by_t[-1][-1].recv_time) > 1e-9:
-      meas_filt_by_t.append([])
-    meas_filt_by_t[-1].append(m)
-  return meas_filt_by_t
-
-
-def group_measurements_by_sat(measurements):
-  measurements_by_sat = {}
-  sats = {m.prn for m in measurements}
-  for sat in sats:
-    measurements_by_sat[sat] = [m for m in measurements if m.prn == sat]
-  return measurements_by_sat
-
-def gps_time_from_qcom_report(gnss_msg):
-  if gnss_msg.which() == 'measurementReport':
-    report = gnss_msg.measurementReport
-    constellation = ConstellationId.from_qcom_source(report.source)
-    if constellation in [ConstellationId.GPS, ConstellationId.SBAS]:
-      report_time = GPSTime(report.gpsWeek, report.milliseconds / 1000.0)
-    elif constellation == ConstellationId.GLONASS:
-      report_time = GPSTime.from_glonass(report.glonassCycleNumber,
-                                            report.glonassNumberOfDays,
-                                            report.milliseconds / 1000.0)
-    else:
-      raise NotImplementedError(f'Unknownconstellation {report.source}')
-  else:
-    report = gnss_msg.drMeasurementReport
-    constellation = ConstellationId.from_qcom_source(report.source)
-    if ConstellationId.from_qcom_source(report.source) in [ConstellationId.GPS, ConstellationId.SBAS]:
-      report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
-    elif constellation == ConstellationId.GLONASS:
-      report_time = GPSTime.from_glonass(report.glonassYear,
-                                            report.glonassDay,
-                                            report.glonassMilliseconds / 1000.0)
-    else:
-      raise NotImplementedError(f'Unknownconstellation {report.source}')
-  return report_time
-
-def get_measurements_from_qcom_reports(reports):
-  new_meas_dr = []
-  new_meas = []
-  for gnss_msg in reports:
-    if gnss_msg.which() == 'drMeasurementReport':
-      new_meas_dr.extend(read_raw_qcom(gnss_msg.drMeasurementReport))
-    else:
-      new_meas.extend(read_raw_qcom(gnss_msg.measurementReport))
-  sat_dict_dr = {meas.prn: meas for meas in new_meas_dr}
-  out_meas = []
-  for meas in new_meas:
-    if meas.prn in sat_dict_dr:
-      # Sometimes DR measurements are complete garbage, in those cases non-DR measurements are still sane, so cross-check
-      if abs(meas.observables['C1C'] - sat_dict_dr[meas.prn].observables['C1C']) < 1000:
-        meas.observables['C1C'] = sat_dict_dr[meas.prn].observables['C1C']
-        meas.observables_std['C1C'] = sat_dict_dr[meas.prn].observables_std['C1C']
-      out_meas.append(meas)
-  return out_meas
-
-def read_raw_qcom(report):
-  dr = 'DrMeasurementReport' in str(report.schema)
-  # Only gps/sbas and glonass are supported
-  constellation_id = ConstellationId.from_qcom_source(report.source)
-  if constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]:  # gps/sbas
-    if dr:
-      recv_tow = report.gpsMilliseconds / 1000.0  # seconds
-      time_bias_ms = struct.unpack("f", struct.pack("I", report.gpsTimeBiasMs))[0]
-    else:
-      recv_tow = report.milliseconds / 1000.0  # seconds
-      time_bias_ms = report.timeBias
-    recv_time = GPSTime(report.gpsWeek, recv_tow)
-  elif constellation_id == ConstellationId.GLONASS:
-    if dr:
-      recv_tow = report.glonassMilliseconds / 1000.0  # seconds
-      recv_time = GPSTime.from_glonass(report.glonassYear, report.glonassDay, recv_tow)
-      time_bias_ms = report.glonassTimeBias
-    else:
-      recv_tow = report.milliseconds / 1000.0  # seconds
-      recv_time = GPSTime.from_glonass(report.glonassCycleNumber, report.glonassNumberOfDays, recv_tow)
-      time_bias_ms = report.timeBias
-  else:
-    raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report.source})
-  # logging.debug(recv_time, report.source, time_bias_ms, dr)
-  measurements = []
-  for i in report.sv:
-    # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given
-    nmea_id = i.svId
-    if nmea_id == 255:
-      # TODO nmea_id is not valid. Fix publisher
-      continue
-    _, sv_id = get_constellation_and_sv_id(nmea_id)
-    if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown and i.measurementStatus.freshMeasurementIndicator:
-      observables, observables_std = {}, {}
-      if dr:
-        sat_tow = (i.filteredMeasurementIntegral + i.filteredMeasurementFraction + i.latency + time_bias_ms) / 1000
-      else:
-        sat_tow = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency + time_bias_ms) / 1000
-      observables['C1C'] = (recv_tow - sat_tow)*constants.SPEED_OF_LIGHT
-      observables_std['C1C'] = i.unfilteredTimeUncertainty * 1e-3 * constants.SPEED_OF_LIGHT # always use unfiltered std, filtered std is bigger?
-      if i.measurementStatus.fineOrCoarseVelocity:
-        # about 10x better, perhaps filtered with carrier phase?
-        observables['D1C'] = i.fineSpeed
-        observables_std['D1C'] = sqrt(i.fineSpeedUncertainty) # sqrt empirically makes performance much better, might be wrong
-      else:
-        observables['D1C'] = i.unfilteredSpeed
-        observables_std['D1C'] = i.unfilteredSpeedUncertainty
-      observables['S1C'] = (i.carrierNoise/100.) if i.carrierNoise != 0 else np.nan
-      observables['L1C'] = np.nan
-      # logging.debug("  %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
-      # observables['C1C'], observables_std['C1C'],
-      # observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
-      glonass_freq = (i.glonassFrequencyIndex - 7) if constellation_id == ConstellationId.GLONASS else np.nan
-      measurements.append(GNSSMeasurement(constellation_id, sv_id,
-                                          recv_time.week,
-                                          recv_time.tow,
-                                          observables,
-                                          observables_std,
-                                          glonass_freq))
-  return measurements
-
-
-def read_raw_ublox(report) -> List[GNSSMeasurement]:
-  recv_tow = report.rcvTow  # seconds
-  recv_week = report.gpsWeek
-  measurements = []
-  for i in report.measurements:
-    # only add Gps and Glonass fixes
-    if i.gnssId in [ConstellationId.GPS, ConstellationId.GLONASS]:
-      if i.svId > 32 or i.pseudorange > 2**32:
-        continue
-      observables = {}
-      observables_std = {}
-      if i.trackingStatus.pseudorangeValid and i.sigId == 0:
-        observables['C1C'] = i.pseudorange
-        # Empirically it seems obvious ublox's std is
-        # actually a variation
-        observables_std['C1C'] = sqrt(i.pseudorangeStdev)*10
-        if i.gnssId == ConstellationId.GLONASS:
-          glonass_freq = i.glonassFrequencyIndex - 7
-          observables['D1C'] = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq * constants.GLONASS_L1_DELTA)) * i.doppler
-        else:  # GPS
-          glonass_freq = np.nan
-          observables['D1C'] = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * i.doppler
-        observables_std['D1C'] = (constants.SPEED_OF_LIGHT / constants.GPS_L1) * i.dopplerStdev
-        observables['S1C'] = i.cno
-        if i.trackingStatus.carrierPhaseValid:
-          observables['L1C'] = i.carrierCycles
-        else:
-          observables['L1C'] = np.nan
-
-        measurements.append(GNSSMeasurement(ConstellationId(i.gnssId), i.svId, recv_week, recv_tow,
-                                            observables, observables_std, glonass_freq))
-  return measurements
-
-
-def read_rinex_obs(obsdata) -> List[List[GNSSMeasurement]]:
-  measurements: List[List[GNSSMeasurement]] = []
-  obsdata_keys = list(obsdata.data.keys())
-  first_sat = obsdata_keys[0]
-  n = len(obsdata.data[first_sat]['Epochs'])
-  for i in range(n):
-    recv_time_datetime = obsdata.data[first_sat]['Epochs'][i]
-    recv_time_datetime = recv_time_datetime.astype(datetime.datetime)
-    recv_time = GPSTime.from_datetime(recv_time_datetime)
-    measurements.append([])
-    for sat_str in obsdata_keys:
-      if np.isnan(obsdata.data[sat_str]['C1'][i]):
-        continue
-      observables, observables_std = {}, {}
-      for obs in obsdata.data[sat_str]:
-        if obs == 'Epochs':
-          continue
-        rinex3_obs_key = rinex3_obs_from_rinex2_obs(obs)
-        observables[rinex3_obs_key] = obsdata.data[sat_str][obs][i]
-        observables_std[rinex3_obs_key] = 1.
-
-      constellation_id, sv_id = get_constellation_and_sv_id(int(sat_str))
-      measurements[-1].append(GNSSMeasurement(constellation_id, sv_id,
-                                              recv_time.week, recv_time.tow,
-                                              observables, observables_std))
-  return measurements
-
-
-def get_Q(recv_pos, sat_positions):
-  local = LocalCoord.from_ecef(recv_pos)
-  sat_positions_rel = local.ecef2ned(sat_positions)
-  sat_distances = np.linalg.norm(sat_positions_rel, axis=1)
-  A = np.column_stack((sat_positions_rel[:,0]/sat_distances,  # pylint: disable=unsubscriptable-object
-                       sat_positions_rel[:,1]/sat_distances,  # pylint: disable=unsubscriptable-object
-                       sat_positions_rel[:,2]/sat_distances,  # pylint: disable=unsubscriptable-object
-                       -np.ones(len(sat_distances))))
-  if A.shape[0] < 4 or np.linalg.matrix_rank(A) < 4:
-    return np.inf*np.ones((4,4))
-  Q = np.linalg.inv(A.T.dot(A))
-  return Q
-
-
-def get_DOP(recv_pos, sat_positions):
-  Q = get_Q(recv_pos, sat_positions)
-  return np.sqrt(np.trace(Q))
-
-
-def get_HDOP(recv_pos, sat_positions):
-  Q = get_Q(recv_pos, sat_positions)
-  return np.sqrt(np.trace(Q[:2,:2]))
-
-
-def get_VDOP(recv_pos, sat_positions):
-  Q = get_Q(recv_pos, sat_positions)
-  return np.sqrt(Q[2,2])
-
-
-def get_TDOP(recv_pos, sat_positions):
-  Q = get_Q(recv_pos, sat_positions)
-  return np.sqrt(Q[3,3])
-
-
-def get_PDOP(recv_pos, sat_positions):
-  Q = get_Q(recv_pos, sat_positions)
-  return np.sqrt(np.trace(Q[:3,:3]))

laika/rinex_file.py

@@ -1,251 +0,0 @@
-
-# Copyright (C) 2014 Swift Navigation Inc.
-#
-# This source is subject to the license found in the file 'LICENSE' which must
-# be be distributed together with this source. All other rights reserved.
-#
-# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
-# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
-# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
-
-import datetime
-import numpy as np
-import logging
-
-def floatornan(x):
-  if x == '' or x[-1] == ' ':
-    return np.NaN
-  return float(x)
-
-
-def digitorzero(x):
-  if x == ' ' or x == '':
-    return 0
-  return int(x)
-
-
-def padline(l, n=16):
-  x = len(l)
-  x_ = n * ((x + n - 1) // n)
-  padded = l + ' ' * (x_ - x)
-  while len(padded) < 70:
-    padded += ' ' * 16
-  return padded
-
-
-TOTAL_SATS = 132  # Increased to support Galileo
-
-
-class DownloadError(Exception):
-  pass
-
-
-class RINEXFile:
-  def __init__(self, filename, rate=None):
-    self.rate = rate
-    try:
-      with open(filename) as f:
-        self._read_header(f)
-        self._read_data(f)
-    except TypeError:
-      logging.exception("TypeError, file likely not downloaded.")
-      raise DownloadError("file download failure")
-    except FileNotFoundError:
-      logging.exception("File not found in directory.")
-      raise DownloadError("file missing in download cache")
-  def _read_header(self, f):
-    version_line = padline(f.readline(), 80)
-
-    self.version = float(version_line[0:9])
-    if (self.version > 2.11):
-      raise ValueError(
-        f"RINEX file versions > 2.11 not supported (file version {self.version:f})")
-
-    self.filetype = version_line[20]
-    if self.filetype not in "ONGM":  # Check valid file type
-      raise ValueError(f"RINEX file type '{self.filetype}' not supported")
-    if self.filetype != 'O':
-      raise ValueError("Only 'OBSERVATION DATA' RINEX files are currently supported")
-
-    self.gnss = version_line[40]
-    if self.gnss not in " GRSEM":  # Check valid satellite system
-      raise ValueError(f"Satellite system '{self.filetype}' not supported")
-    if self.gnss == ' ':
-      self.gnss = 'G'
-    if self.gnss != 'G':
-      #raise ValueError("Only GPS data currently supported")
-      pass
-
-    self.comment = ""
-    while True:  # Read the rest of the header
-      line = padline(f.readline(), 80)
-      label = line[60:80].rstrip()
-      if label == "END OF HEADER":
-        break
-      if label == "COMMENT":
-        self.comment += line[:60] + '\n'
-      if label == "MARKER NAME":
-        self.marker_name = line[:60].rstrip()
-        if self.marker_name == '':
-          self.marker_name = 'UNKNOWN'
-      if label == "# / TYPES OF OBSERV":
-        # RINEX files can have multiple line headers
-        # This code handles the case
-        try:
-          n_obs = int(line[0:6])
-          self.obs_types = []
-        except ValueError:
-          pass
-
-        if n_obs <= 9:
-          for i in range(0, n_obs):
-            self.obs_types.append(line[10 + 6 * i:12 + 6 * i])
-        if n_obs > 9:
-          for i in range(0, 9):
-            self.obs_types.append(line[10 + 6 * i:12 + 6 * i])
-          n_obs -= 9
-
-  def _read_next_non_comment(self, f):
-    line = f.readline()
-    while line and line.find('COMMENT') != -1:
-      line = f.readline()
-    return line
-
-  def _read_epoch_header(self, f):
-    epoch_hdr = self._read_next_non_comment(f)
-    if epoch_hdr == '':
-      return None
-    # ignore any line with these three strings
-    skippable = ('0.0000000  4  5', 'MARKER NUMBER', '          4  1')
-    while any(skip in epoch_hdr for skip in skippable):
-      epoch_hdr = self._read_next_non_comment(f)
-
-    if epoch_hdr == '':
-      return None
-
-    year = int(epoch_hdr[1:3])
-    if year >= 80:
-      year += 1900
-    else:
-      year += 2000
-    month = int(epoch_hdr[4:6])
-    day = int(epoch_hdr[7:9])
-    hour = int(epoch_hdr[10:12])
-    minute = int(epoch_hdr[13:15])
-    second = int(epoch_hdr[15:18])
-    microsecond = int(
-      epoch_hdr[19:25])  # Discard the least sig. fig. (use microseconds only).
-    epoch = datetime.datetime(year, month, day, hour, minute, second, microsecond)
-
-    flag = int(epoch_hdr[28])
-    allowed_flags = {0, 3, 4}
-    if flag not in allowed_flags:
-      raise ValueError("Don't know how to handle epoch flag %d in epoch header:\n%s" %
-                       (flag, epoch_hdr))
-
-    n_sats = int(epoch_hdr[29:32])
-    if flag > 1:  # event flag: nsats is number of records
-      for i in range(n_sats):
-        f.readline()
-      return None
-
-    sats = []
-    for i in range(0, n_sats):
-      if ((i % 12) == 0) and (i > 0):
-        epoch_hdr = f.readline()
-      sats.append(epoch_hdr[(32 + (i % 12) * 3):(35 + (i % 12) * 3)])
-
-    return epoch, flag, sats
-
-  def _read_obs(self, f, n_sat, sat_map):
-    obs = np.empty((TOTAL_SATS, len(self.obs_types)), dtype=np.float64) * np.NaN
-    lli = np.zeros((TOTAL_SATS, len(self.obs_types)), dtype=np.uint8)
-    signal_strength = np.zeros((TOTAL_SATS, len(self.obs_types)), dtype=np.uint8)
-
-    for i in range(n_sat):
-      # Join together observations for a single satellite if split across lines.
-      obs_line = ''.join(
-        padline(f.readline()[:-1], 16) for _ in range((len(self.obs_types) + 4) // 5))
-      for j in range(len(self.obs_types)):
-        obs_record = obs_line[16 * j:16 * (j + 1)]
-        obs[int(sat_map[i]), j] = floatornan(obs_record[0:14])
-        lli[int(sat_map[i]), j] = digitorzero(obs_record[14:15])
-        signal_strength[int(sat_map[i]), j] = digitorzero(obs_record[15:16])
-
-    return obs, lli, signal_strength
-
-  def _skip_obs(self, f, n_sat):
-    for i in range(n_sat):
-      for _ in range((len(self.obs_types) + 4) // 5):
-        f.readline()
-
-  def _read_data_chunk(self, f, CHUNK_SIZE=10000):
-    obss = np.empty(
-      (CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.float64) * np.NaN
-    llis = np.zeros((CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.uint8)
-    signal_strengths = np.zeros(
-      (CHUNK_SIZE, TOTAL_SATS, len(self.obs_types)), dtype=np.uint8)
-    epochs = np.zeros(CHUNK_SIZE, dtype='datetime64[us]')
-    flags = np.zeros(CHUNK_SIZE, dtype=np.uint8)
-
-    i = 0
-    while True:
-      hdr = self._read_epoch_header(f)
-      if hdr is None:
-        break
-      # data faster than desired rate: ignore it
-      if self.rate and (hdr[0].microsecond or hdr[0].second % self.rate != 0):
-        self._skip_obs(f, len(hdr[2]))
-        continue
-      epoch, flags[i], sats = hdr
-      epochs[i] = np.datetime64(epoch)
-      sat_map = np.ones(len(sats)) * -1
-      for n, sat in enumerate(sats):
-        if sat[0] == 'G':
-          sat_map[n] = int(sat[1:]) - 1
-        if sat[0] == 'R':
-          sat_map[n] = int(sat[1:]) - 1 + 64
-      obss[i], llis[i], signal_strengths[i] = self._read_obs(f, len(sats), sat_map)
-      i += 1
-      if i >= CHUNK_SIZE:
-        break
-
-    return obss[:i], llis[:i], signal_strengths[:i], epochs[:i], flags[:i]
-
-  def _read_data(self, f):
-    self.data = {}
-    while True:
-      obss, llis, signal_strengths, epochs, flags = self._read_data_chunk(f)
-      if obss.shape[0] == 0:
-        break
-
-      for i, sv in enumerate(['%02d' % d for d in range(1, TOTAL_SATS+1)]):
-        if sv not in self.data:
-          self.data[sv] = {}
-        for j, obs_type in enumerate(self.obs_types):
-          if obs_type in self.data[sv]:
-            self.data[sv][obs_type] = np.append(self.data[sv][obs_type], obss[:, i, j])
-          else:
-            self.data[sv][obs_type] = obss[:, i, j]
-        if 'Epochs' in self.data[sv]:
-          self.data[sv]['Epochs'] = np.append(self.data[sv]['Epochs'], epochs)
-        else:
-          self.data[sv]['Epochs'] = epochs
-    for sat in list(self.data.keys()):
-      if np.all(np.isnan(self.data[sat]['C1'])):
-        del self.data[sat]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-

laika/trop.py

@@ -1,32 +0,0 @@
-from numpy import cos, exp, pi
-from .lib.coordinates import ecef2geodetic
-
-
-def saast(pos, el, humi=0.75, temp0=15.0):
-  """
-    Function from RTKlib: https://github.com/tomojitakasu/RTKLIB/blob/master/src/rtkcmn.c#L3362-3362
-        with no changes
-    :param time:    time
-    :param pos:     receiver position {ecef} m)
-    :param el:    azimuth/elevation angle {az,el} (rad) -- we do not use az
-    :param humi:    relative humidity
-    :param temp0:   temperature (Celsius)
-    :return:        tropospheric delay (m)
-    """
-  pos_rad = ecef2geodetic(pos, radians=True)
-  if pos_rad[2] < -1E3 or 1E4 < pos_rad[2] or el <= 0:
-    return 0.0
-
-  # /* standard atmosphere */
-  hgt = 0.0 if pos_rad[2] < 0.0 else pos_rad[2]
-
-  pres = 1013.25 * pow(1.0 - 2.2557E-5 * hgt, 5.2568)
-  temp = temp0 - 6.5E-3 * hgt + 273.16
-  e = 6.108 * humi * exp((17.15 * temp - 4684.0) / (temp - 38.45))
-
-  # /* saastamoninen model */
-  z = pi / 2.0 - el
-  trph = 0.0022768 * pres / (
-    1.0 - 0.00266 * cos(2.0 * pos_rad[0]) - 0.00028 * hgt / 1E3) / cos(z)
-  trpw = 0.002277 * (1255.0 / temp + 0.05) * e / cos(z)
-  return trph + trpw

launch_chffrplus.sh

@@ -9,17 +9,17 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function agnos_init {
-  # wait longer for weston to come up
-  if [ -f "$BASEDIR/prebuilt" ]; then
-    sleep 3
-  fi
-
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
   # set success flag for current boot slot
   sudo abctl --set_success
 
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
@@ -35,9 +35,6 @@ function launch {
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
 
-  # Pull time from panda
-  $DIR/selfdrive/boardd/set_time.py
-
   # Check to see if there's a valid overlay-based update available. Conditions
   # are as follows:
   #
@@ -77,14 +74,20 @@ function launch {
   export PYTHONPATH="$PWD"
 
   # hardware specific init
-  agnos_init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
 
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
   cd selfdrive/manager
-  ./build.py && ./mapd_installer.py && ./manager.py
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./mapd_installer.py && ./manager.py
+
   # if broken, keep on screen error
   while true; do sleep 1; done
 }

launch_env.sh

@@ -7,11 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="8.2"
-fi
-
-if [ -z "$PASSIVE" ]; then
-  export PASSIVE="1"
+  export AGNOS_VERSION="9.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,5 +1,3 @@
 #!/usr/bin/bash
 
-export PASSIVE="0"
 exec ./launch_chffrplus.sh
-

opendbc/can/common.h

@@ -54,7 +54,7 @@ public:
   bool ignore_checksum = false;
   bool ignore_counter = false;
 
-  bool parse(uint64_t sec, const std::vector<uint8_t> &dat);
+  bool parse(uint64_t nanos, const std::vector<uint8_t> &dat);
   bool update_counter_generic(int64_t v, int cnt_size);
 };
 
@@ -69,9 +69,9 @@ private:
 public:
   bool can_valid = false;
   bool bus_timeout = false;
-  uint64_t first_sec = 0;
-  uint64_t last_sec = 0;
-  uint64_t last_nonempty_sec = 0;
+  uint64_t first_nanos = 0;
+  uint64_t last_nanos = 0;
+  uint64_t last_nonempty_nanos = 0;
   uint64_t bus_timeout_threshold = 0;
   uint64_t can_invalid_cnt = CAN_INVALID_CNT;
 
@@ -81,10 +81,10 @@ public:
   #ifndef DYNAMIC_CAPNP
   void update_string(const std::string &data, bool sendcan);
   void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
-  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  void UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans);
   #endif
-  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
-  void UpdateValid(uint64_t sec);
+  void UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cans);
+  void UpdateValid(uint64_t nanos);
   void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
 };
 

opendbc/can/common.pxd

@@ -62,7 +62,7 @@ cdef extern from "common_dbc.h":
 
 
 cdef extern from "common.h":
-  cdef const DBC* dbc_lookup(const string)
+  cdef const DBC* dbc_lookup(const string) except +
 
   cdef cppclass CANParser:
     bool can_valid

opendbc/can/packer_pyx.pyx

@@ -26,6 +26,10 @@ cdef class CANPacker:
       msg = self.dbc[0].msgs[i]
       self.name_to_address[string(msg.name)] = msg.address
 
+  def __dealloc__(self):
+    if self.packer:
+      del self.packer
+
   cdef vector[uint8_t] pack(self, addr, values):
     cdef vector[SignalPackValue] values_thing
     values_thing.reserve(len(values))

opendbc/can/parser_pyx.pyx

@@ -66,6 +66,10 @@ cdef class CANParser:
     self.can = new cpp_CANParser(bus, dbc_name, message_v)
     self.update_strings([])
 
+  def __dealloc__(self):
+    if self.can:
+      del self.can
+
   def update_strings(self, strings, sendcan=False):
     for v in self.vl_all.values():
       for l in v.values():  # no-cython-lint

opendbc/chrysler_pacifica_2017_hybrid_generated.dbc

@@ -22,18 +22,47 @@ BO_ 280 ECM_TRQ: 8 XXX
 
 BO_ 284 ESP_8: 8 XXX
  SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
+ SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX
  SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 288 ECM_2: 7 XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX
+ SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 320 ESP_1: 8 XXX
+ SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX
  SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
+ SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
 
+BO_ 268 ESP_2: 8 ESC
+ SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX
+ SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
+ SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX
+ SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX
+ SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX
+ SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 344 ESP_6: 8 XXX
  SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
  SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
@@ -59,11 +88,9 @@ BO_ 500 DAS_3: 8 XXX
  SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
  SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
  SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
  SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
  SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
@@ -74,6 +101,11 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -103,12 +135,28 @@ BO_ 571 CRUISE_BUTTONS: 3 XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 669 EPB_1: 3 XXX
+ SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX
+ SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
  SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 720 BSM_1: 6 XXX
  SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
@@ -124,11 +172,14 @@ BO_ 820 BCM_1: 8 XXX
  SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
  SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
 
+VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE"
 VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
+VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ;
 
 CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
 CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
@@ -213,12 +264,6 @@ BO_ 729 LKAS_HEARTBIT: 5 XXX
  SG_ FORWARD_2 : 30|6@0+ (1,0) [0|127] "" XXX
  SG_ FORWARD_3 : 39|8@0+ (1,0) [0|255] "" XXX
 
-BO_ 288 ACCEL_RELATED_120: 7 XXX
- SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ ACCEL : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
-
 BO_ 257 ACCEL_RELATED_101: 5 XXX
  SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX
 
@@ -283,17 +328,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
-BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 268 ACC_10c: 8 XXX
- SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
-
 CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
 CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
 CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";