Disable log uploader since not really in use and it's wasting resources

sunnypilot v0.9.7.1
2026-07-08 12:12:05 +08:00 · 2024-07-06 20:58:14 +02:00 · 2024-07-02 01:20:51 +00:00
1131 changed files with 64477 additions and 22399 deletions
@@ -10,7 +10,6 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-.vscode*
 model2.png
 a.out
 .hypothesis
@@ -41,8 +40,9 @@ compile_commands.json
 compare_runtime*.html

 persist
-board/obj/
-selfdrive/boardd/boardd
+selfdrive/pandad/pandad
+cereal/services.h
+cereal/gen
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@@ -57,12 +57,8 @@ selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

-one
 notebooks
-xx
-yy
 hyperthneed
-panda_jungle
 provisioning

 .coverage*
@@ -1,3 +1,80 @@
+sunnypilot - 0.9.7.1 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit f8cb04e (June 10, 2024)
+* NEW❗: sunnylink (Alpha early access)
+  * NEW❗: Config/Settings Backup
+    * Remotely back up and restore sunnypilot settings easily
+    * Device registration with sunnylink ensures a secure, integrated experience across services
+    * AES encryption derived from the device's RSA private key is used for utmost security
+    * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
+    * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
+    * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
+  * GitHub account pairing from device settings scanning QR code
+    * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
+    * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
+* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
+  * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
+  * comma Prime support
+  * Personal Mapbox/Amap/Google Maps token support
+  * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
+* NEW❗: Forced Offroad mode
+  * Force sunnypilot in the offroad state even when the car is on
+  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
+  * To engage/disengage Force Offroad, go to Settings -> Device panel
+* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
+  * NEW❗: New "Off" option to disable lane change by blinker
+* UPDATED: Pause Lateral Below Speed with Blinker
+  * NEW❗: Customizable Pause Lateral Speed
+    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
+* UPDATED: Hyundai CAN Longitudinal
+  * Auto-enable radar tracks on platforms with applicable Mando radar
+* UPDATED: Hyundai CAN-FD Camera-based SCC
+  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
+    * Improve lead tracking when using openpilot longitudinal
+* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
+  * openpilot Longitudinal Control available cars
+  * Custom Stock Longitudinal Control available cars
+* UPDATED: Continued support for comma Pedal
+  * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
+* UPDATED: Driving Model Selector v4
+  * NEW❗: Driving Model additions
+    * North Dakota (April 29, 2024) - NDv2
+    * WD40 (April 09, 2024) - WD40
+    * Duck Amigo (March 18, 2024) - DA
+    * Recertified Herbalist (March 01, 2024) - CHLR
+  * Legacy Driving Models with Navigate on openpilot (NoO) support
+    * Includes Duck Amigo and all preceding models
+* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
+* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
+  * Reset self-service access tokens for Mapbox, Amap, and Google Maps
+* UPDATED: Upstream native support for Gap Adjust Cruise
+* UPDATED: Neural Network Lateral Control (NNLC)
+  * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
+  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
+* UI Updates
+  * Display Metrics Below Chevron
+    * NEW❗: Metrics is now being displayed below the chevron instead of above
+    * NEW❗: Display both Distance and Speed simultaneously
+    * NEW❗: View sunnylink connectivity status on the left sidebar!
+
+sunnypilot - 0.9.6.2 (2024-05-29)
+========================
+* REMOVED: Screen Recorder
+  * Screen Recorder is removed due to unnecessary resource usage
+  * An improved version will be available in the near future. Stay tuned!
+
 sunnypilot - 0.9.6.1 (2024-02-27)
 ========================
 * New driving model
@@ -98,7 +98,7 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```bit.ly/sp-release-c3``` [^4] (note: `https://` is not requirement on the comma three)
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai``` [^4] (note: `https://` is not requirement on the comma three)
  4. Complete the rest of the installation following the onscreen instructions.

 * sunnypilot already installed and you installed a version after 0.8.17?
@@ -107,6 +107,12 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
  4. Scroll to select the desired branch per [Recommended Branches](#-recommended-branches). Example: `release-c3`

+|    Branch    |         Installation URL         |
+|:------------:|:--------------------------------:|
+| `release-c3` | https://release-c3.sunnypilot.ai |
+| `staging-c3` | https://staging-c3.sunnypilot.ai |
+|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+
 Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.

 comma two
@@ -1,6 +1,17 @@
-Version 0.9.7 (2024-XX-XX)
+Version 0.9.8 (2024-XX-XX)
+========================
+* Always on driver monitoring toggle
+
+Version 0.9.7 (2024-06-11)
 ========================
 * New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* Adjust driving personality with the follow distance button
+* Added toggle to enable driver monitoring even when openpilot is not engaged
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars

 Version 0.9.6 (2024-02-27)
 ========================
@@ -10,6 +21,9 @@ Version 0.9.6 (2024-02-27)
  * Directly outputs curvature for lateral control
 * New driver monitoring model
  * Trained on larger dataset
+* Model path UI
+  * Shows where driving model wants to be
+  * Shows what model is seeing more clearly, but more jittery
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models
@@ -627,7 +641,7 @@ Version 0.5.13 (2019-05-31)
 * Reduce CPU utilization by 20% and improve stability
 * Temporarily remove mapd functionalities to improve stability
 * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
+ * Synchronize controlsd to pandad to reduce latency
 * Remove panda support for Subaru giraffe

 Version 0.5.12 (2019-05-16)
@@ -963,7 +977,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
 * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
+ * Fix ptr alignment issue in pandad
 * Fix brake error light, fix crash if too cold

 Version 0.2.6  (2017-01-31)
@@ -995,7 +1009,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
 * Performance improvements, removal of more numpy
- * Fix boardd process priority
+ * Fix pandad process priority
 * Make counter timer reset on use of steering wheel

 Version 0.2  (2016-12-12)
@@ -67,7 +67,7 @@ AddOption('--pc-thneed',
 AddOption('--minimal',
          action='store_false',
          dest='extras',
-          default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link)
+          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
          help='the minimum build to run openpilot. no tests, tools, etc.')

 ## Architecture name breakdown (arch)
@@ -96,8 +96,6 @@ lenv = {
 rpath = lenv["LD_LIBRARY_PATH"].copy()

 if arch == "larch64":
-  lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
-
  cpppath = [
    "#third_party/opencl/include",
  ]
@@ -195,6 +193,7 @@ env = Environment(
    "-Wno-c99-designator",
    "-Wno-reorder-init-list",
    "-Wno-error=unused-but-set-variable",
+    "-Wno-vla-cxx-extension",
  ] + cflags + ccflags,

  CPPPATH=cpppath + [
@@ -210,6 +209,7 @@ env = Environment(
    "#third_party/qrcode",
    "#third_party",
    "#cereal",
+    "#msgq",
    "#opendbc/can",
    "#third_party/maplibre-native-qt/include",
    f"#third_party/maplibre-native-qt/{arch}/include"
@@ -224,10 +224,9 @@ env = Environment(
  CFLAGS=["-std=gnu11"] + cflags,
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
-    "#cereal",
+    "#msgq_repo",
    "#third_party",
-    "#opendbc/can",
-    "#selfdrive/boardd",
+    "#selfdrive/pandad",
    "#common",
    "#rednose/helpers",
  ],
@@ -358,15 +357,13 @@ gpucommon = [_gpucommon]

 Export('common', 'gpucommon')

-# Build cereal and messaging
+# Build messaging (cereal + msgq + socketmaster + their dependencies)
+SConscript(['msgq_repo/SConscript'])
 SConscript(['cereal/SConscript'])
+Import('socketmaster', 'msgq')
+messaging = [socketmaster, msgq, 'zmq', 'capnp', 'kj',]
+Export('messaging')

-cereal = [File('#cereal/libcereal.a')]
-messaging = [File('#cereal/libmessaging.a')]
-visionipc = [File('#cereal/libvisionipc.a')]
-messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
-
-Export('cereal', 'messaging', 'messaging_python', 'visionipc')

 # Build other submodules
 SConscript([
@@ -386,25 +383,22 @@ SConscript([
 ])
 if arch != "Darwin":
  SConscript([
-    'system/camerad/SConscript',
    'system/sensord/SConscript',
    'system/logcatd/SConscript',
  ])

+if arch == "larch64":
+  SConscript(['system/camerad/SConscript'])
+
 # Build openpilot
 SConscript(['third_party/SConscript'])

-SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
-SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/navd/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/SConscript'])

-if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
-  SConscript(['tools/cabana/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])

 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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+
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+
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+
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+    (at your option) any later version.
+
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+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
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+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
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+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
@@ -0,0 +1 @@
+SConscript('board/SConscript')
@@ -0,0 +1,7 @@
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003"]
+line-length = 160
+target-version="py311"
+flake8-implicit-str-concat.allow-multiline=false
@@ -0,0 +1,5 @@
+cffi
+scons
+ruff
+pre-commit
+pycryptodome==3.9.8
@@ -1,13 +1,12 @@
-Import('env', 'envCython', 'arch', 'common')
+Import('env', 'envCython', 'arch', 'common', 'msgq')

 import shutil

 cereal_dir = Dir('.')
 gen_dir = Dir('gen')
-messaging_dir = Dir('messaging')
+other_dir = Dir('#msgq')

 # Build cereal
-
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
@@ -17,60 +16,16 @@ env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])

-env.Library('cereal', cereal_objects)
+cereal = env.Library('cereal', cereal_objects)
 env.SharedLibrary('cereal_shared', cereal_objects)

 # Build messaging

 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-
-messaging_objects = env.SharedObject([
-  'messaging/messaging.cc',
-  'messaging/event.cc',
-  'messaging/impl_zmq.cc',
-  'messaging/impl_msgq.cc',
-  'messaging/impl_fake.cc',
-  'messaging/msgq.cc',
-  'messaging/socketmaster.cc',
-])
-
-messaging_lib = env.Library('messaging', messaging_objects)
-Depends('messaging/impl_zmq.cc', services_h)
-
-env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
-Depends('messaging/bridge.cc', services_h)
-
-envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
+env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[msgq, 'zmq', common])


-# Build Vision IPC
-vipc_sources = [
-  'visionipc/ipc.cc',
-  'visionipc/visionipc_server.cc',
-  'visionipc/visionipc_client.cc',
-  'visionipc/visionbuf.cc',
-]
+socketmaster = env.SharedObject(['messaging/socketmaster.cc'])
+socketmaster = env.Library('socketmaster', socketmaster)

-if arch == "larch64":
-  vipc_sources += ['visionipc/visionbuf_ion.cc']
-else:
-  vipc_sources += ['visionipc/visionbuf_cl.cc']
-
-vipc_objects = env.SharedObject(vipc_sources)
-vipc = env.Library('visionipc', vipc_objects)
-
-
-vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
-if arch == "Darwin":
-  vipc_frameworks.append('OpenCL')
-else:
-  vipc_libs.append('OpenCL')
-envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
-                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
-
-if GetOption('extras'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
-
-  env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
-              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
+Export('cereal', 'socketmaster')
@@ -96,7 +96,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    fanMalfunction @91;
    cameraMalfunction @92;
    cameraFrameRate @110;
-    gpsMalfunction @94;
    processNotRunning @95;
    dashcamMode @96;
    controlsInitializing @98;
@@ -116,26 +115,27 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    locationdPermanentError @118;
    paramsdTemporaryError @50;
    paramsdPermanentError @119;
-    manualSteeringRequired @120;
-    manualLongitudinalRequired @121;
-    silentPedalPressed @122;
-    silentButtonEnable @123;
-    silentBrakeHold @124;
-    silentWrongGear @125;
-    spReverseGear @126;
-    preKeepHandsOnWheel @127;
-    promptKeepHandsOnWheel @128;
-    keepHandsOnWheel @129;
-    speedLimitActive @130;
-    speedLimitValueChange @131;
-    e2eLongStop @132;
-    e2eLongStart @133;
-    controlsMismatchLong @134;
-    cruiseEngageBlocked @135;
-    laneChangeRoadEdge @136;
-    speedLimitPreActive @137;
-    speedLimitConfirmed @138;
-    torqueNNLoad @139;
+    actuatorsApiUnavailable @120;
+    manualSteeringRequired @121;
+    manualLongitudinalRequired @122;
+    silentPedalPressed @123;
+    silentButtonEnable @124;
+    silentBrakeHold @125;
+    silentWrongGear @126;
+    spReverseGear @127;
+    preKeepHandsOnWheel @128;
+    promptKeepHandsOnWheel @129;
+    keepHandsOnWheel @130;
+    speedLimitActive @131;
+    speedLimitValueChange @132;
+    e2eLongStop @133;
+    e2eLongStart @134;
+    controlsMismatchLong @135;
+    cruiseEngageBlocked @136;
+    laneChangeRoadEdge @137;
+    speedLimitPreActive @138;
+    speedLimitConfirmed @139;
+    torqueNNLoad @140;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -162,6 +162,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    noTargetDEPRECATED @25;
    brakeUnavailableDEPRECATED @2;
    plannerErrorDEPRECATED @32;
+    gpsMalfunctionDEPRECATED @94;
  }
 }

@@ -174,6 +175,7 @@ struct CarState {
  # CAN health
  canValid @26 :Bool;       # invalid counter/checksums
  canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;

  # car speed
  vEgo @1 :Float32;          # best estimate of speed
@@ -232,16 +234,16 @@ struct CarState {
  # clutch (manual transmission only)
  clutchPressed @28 :Bool;

-  madsEnabled @48 :Bool;
-  leftBlinkerOn @49 :Bool;
-  rightBlinkerOn @50 :Bool;
-  disengageByBrake @51 :Bool;
-  belowLaneChangeSpeed @52 :Bool;
-  accEnabled @53 :Bool;
-  latActive @54 :Bool;
-  gapAdjustCruiseTr @55 :Int32;
-  endToEndLong @56 :Bool;
-  customStockLong @57 :CustomStockLong;
+  madsEnabled @51 :Bool;
+  leftBlinkerOn @52 :Bool;
+  rightBlinkerOn @53 :Bool;
+  disengageByBrake @54 :Bool;
+  belowLaneChangeSpeed @55 :Bool;
+  accEnabled @56 :Bool;
+  latActive @57 :Bool;
+  gapAdjustCruiseTr @58 :Int32;
+  endToEndLong @59 :Bool;
+  customStockLong @60 :CustomStockLong;

  struct CustomStockLong {
    cruiseButton @0 :Int16;
@@ -260,6 +262,9 @@ struct CarState {
  fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
  charging @43 :Bool;

+  # process meta
+  cumLagMs @50 :Float32;
+
  struct WheelSpeeds {
    # optional wheel speeds
    fl @0 :Float32;
@@ -318,6 +323,7 @@ struct CarState {
  brakeLightsDEPRECATED @19 :Bool;
  steeringRateLimitedDEPRECATED @29 :Bool;
  canMonoTimesDEPRECATED @12: List(UInt64);
+  canRcvTimeoutDEPRECATED @49 :Bool;
 }

 # ******* radar state @ 20hz *******
@@ -366,14 +372,12 @@ struct CarControl {
  # Actuator commands as computed by controlsd
  actuators @6 :Actuators;

+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
  leftBlinker @15: Bool;
  rightBlinker @16: Bool;

-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @10 :Actuators;
-
  orientationNED @13 :List(Float32);
  angularVelocity @14 :List(Float32);

@@ -423,6 +427,7 @@ struct CarControl {
    leftLaneVisible @7: Bool;
    rightLaneDepart @8: Bool;
    leftLaneDepart @9: Bool;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead

    enum VisualAlert {
      # these are the choices from the Honda
@@ -464,6 +469,13 @@ struct CarControl {
  pitchDEPRECATED @9 :Float32;
 }

+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
 # ****** car param ******

 struct CarParams {
@@ -473,7 +485,6 @@ struct CarParams {

  notCar @66 :Bool;  # flag for non-car robotics platforms

-  enableGasInterceptor @2 :Bool;
  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
  enableDsu @5 :Bool;        # driving support unit
  enableBsm @56 :Bool;       # blind spot monitoring
@@ -648,6 +659,7 @@ struct CarParams {
    hyundaiCanfd @28;
    volkswagenMqbEvo @29;
    chryslerCusw @30;
+    psa @31;
  }

  enum SteerControlType {
@@ -722,6 +734,7 @@ struct CarParams {
    gateway @1;    # Integration at vehicle's CAN gateway
  }

+  enableGasInterceptorDEPRECATED @2 :Bool;
  enableCameraDEPRECATED @4 :Bool;
  enableApgsDEPRECATED @6 :Bool;
  steerRateCostDEPRECATED @33 :Float32;
@@ -20,6 +20,7 @@ enum LongitudinalPersonalitySP {

 struct ControlsStateSP @0x81c2f05a394cf4af {
  lateralState @0 :Text;
+  personality @8 :LongitudinalPersonalitySP;

  lateralControlState :union {
    indiState @1 :LateralINDIState;
@@ -72,6 +73,7 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
  notSpeedLimit @14 :Int16;
  e2eX @15 :List(Float32);
  e2eBlended @18 :Text;
+  e2eStatus @22 :Bool;

  distToTurn @7 :Float32;
  turnSpeed @8 :Float32;
@@ -81,7 +83,7 @@ struct LongitudinalPlanSP @0xaedffd8f31e7b55d {
  events @19 :List(Car.CarEvent);
  longitudinalPlanSource @20 :LongitudinalPlanSource;

-  personality @21 :LongitudinalPersonalitySP;
+  personalityDEPRECATED @21 :LongitudinalPersonalitySP;

  enum SpeedLimitControlState {
    inactive @0; # No speed limit set or not enabled by parameter.
@@ -115,7 +115,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
  FAN_MALFUNCTION,
  CAMERA_MALFUNCTION,
  MODEL_LAG_WARNING_D_E_P_R_E_C_A_T_E_D,
-  GPS_MALFUNCTION,
+  GPS_MALFUNCTION_D_E_P_R_E_C_A_T_E_D,
  PROCESS_NOT_RUNNING,
  DASHCAM_MODE,
  STARTUP_FUZZY_FINGERPRINT_D_E_P_R_E_C_A_T_E_D,
@@ -141,6 +141,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
  CALIBRATION_RECALIBRATING,
  LOCATIOND_PERMANENT_ERROR,
  PARAMSD_PERMANENT_ERROR,
+  ACTUATORS_API_UNAVAILABLE,
  MANUAL_STEERING_REQUIRED,
  MANUAL_LONGITUDINAL_REQUIRED,
  SILENT_PEDAL_PRESSED,
@@ -247,6 +248,7 @@ enum class AudibleAlert_f5a5e26c954e339e: uint16_t {
  PROMPT_SINGLE_HIGH,
 };
 CAPNP_DECLARE_ENUM(AudibleAlert, f5a5e26c954e339e);
+CAPNP_DECLARE_SCHEMA(d817d6655115ca85);
 CAPNP_DECLARE_SCHEMA(8c69372490aaa9da);
 CAPNP_DECLARE_SCHEMA(e836349c6056b0c9);
 CAPNP_DECLARE_SCHEMA(b581b23b1c89dda3);
@@ -288,6 +290,7 @@ enum class SafetyModel_95551e5b1edaf451: uint16_t {
  HYUNDAI_CANFD,
  VOLKSWAGEN_MQB_EVO,
  CHRYSLER_CUSW,
+  PSA,
 };
 CAPNP_DECLARE_ENUM(SafetyModel, 95551e5b1edaf451);
 CAPNP_DECLARE_SCHEMA(d661512be2def77f);
@@ -387,7 +390,7 @@ struct CarState {
  struct ButtonEvent;

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(9da4fa09e052903c, 9, 7)
+    CAPNP_DECLARE_STRUCT_HEADER(9da4fa09e052903c, 10, 7)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -558,6 +561,21 @@ struct CarControl::HUDControl {
  };
 };

+struct CarOutput {
+  CarOutput() = delete;
+
+  class Reader;
+  class Builder;
+  class Pipeline;
+
+  struct _capnpPrivate {
+    CAPNP_DECLARE_STRUCT_HEADER(d817d6655115ca85, 0, 1)
+    #if !CAPNP_LITE
+    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
+    #endif  // !CAPNP_LITE
+  };
+};
+
 struct CarParams {
  CarParams() = delete;

@@ -982,6 +1000,12 @@ public:

  inline bool getCarFaultedNonCritical() const;

+  inline  ::uint32_t getCanErrorCounter() const;
+
+  inline bool getCanRcvTimeoutDEPRECATED() const;
+
+  inline float getCumLagMs() const;
+
  inline bool getMadsEnabled() const;

  inline bool getLeftBlinkerOn() const;
@@ -1201,6 +1225,15 @@ public:
  inline bool getCarFaultedNonCritical();
  inline void setCarFaultedNonCritical(bool value);

+  inline  ::uint32_t getCanErrorCounter();
+  inline void setCanErrorCounter( ::uint32_t value);
+
+  inline bool getCanRcvTimeoutDEPRECATED();
+  inline void setCanRcvTimeoutDEPRECATED(bool value);
+
+  inline float getCumLagMs();
+  inline void setCumLagMs(float value);
+
  inline bool getMadsEnabled();
  inline void setMadsEnabled(bool value);

@@ -1902,8 +1935,8 @@ public:

  inline float getPitchDEPRECATED() const;

-  inline bool hasActuatorsOutput() const;
-  inline  ::cereal::CarControl::Actuators::Reader getActuatorsOutput() const;
+  inline bool hasActuatorsOutputDEPRECATED() const;
+  inline  ::cereal::CarControl::Actuators::Reader getActuatorsOutputDEPRECATED() const;

  inline bool getLatActive() const;

@@ -1991,12 +2024,12 @@ public:
  inline float getPitchDEPRECATED();
  inline void setPitchDEPRECATED(float value);

-  inline bool hasActuatorsOutput();
-  inline  ::cereal::CarControl::Actuators::Builder getActuatorsOutput();
-  inline void setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value);
-  inline  ::cereal::CarControl::Actuators::Builder initActuatorsOutput();
-  inline void adoptActuatorsOutput(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value);
-  inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutput();
+  inline bool hasActuatorsOutputDEPRECATED();
+  inline  ::cereal::CarControl::Actuators::Builder getActuatorsOutputDEPRECATED();
+  inline void setActuatorsOutputDEPRECATED( ::cereal::CarControl::Actuators::Reader value);
+  inline  ::cereal::CarControl::Actuators::Builder initActuatorsOutputDEPRECATED();
+  inline void adoptActuatorsOutputDEPRECATED(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutputDEPRECATED();

  inline bool getLatActive();
  inline void setLatActive(bool value);
@@ -2050,7 +2083,7 @@ public:
  inline  ::cereal::CarControl::CruiseControl::Pipeline getCruiseControl();
  inline  ::cereal::CarControl::HUDControl::Pipeline getHudControl();
  inline  ::cereal::CarControl::Actuators::Pipeline getActuators();
-  inline  ::cereal::CarControl::Actuators::Pipeline getActuatorsOutput();
+  inline  ::cereal::CarControl::Actuators::Pipeline getActuatorsOutputDEPRECATED();
 private:
  ::capnp::AnyPointer::Pipeline _typeless;
  friend class ::capnp::PipelineHook;
@@ -2308,6 +2341,8 @@ public:

  inline bool getLeftLaneDepart() const;

+  inline  ::int8_t getLeadDistanceBars() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -2366,6 +2401,9 @@ public:
  inline bool getLeftLaneDepart();
  inline void setLeftLaneDepart(bool value);

+  inline  ::int8_t getLeadDistanceBars();
+  inline void setLeadDistanceBars( ::int8_t value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -2392,6 +2430,88 @@ private:
 };
 #endif  // !CAPNP_LITE

+class CarOutput::Reader {
+public:
+  typedef CarOutput Reads;
+
+  Reader() = default;
+  inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
+
+  inline ::capnp::MessageSize totalSize() const {
+    return _reader.totalSize().asPublic();
+  }
+
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const {
+    return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
+  }
+#endif  // !CAPNP_LITE
+
+  inline bool hasActuatorsOutput() const;
+  inline  ::cereal::CarControl::Actuators::Reader getActuatorsOutput() const;
+
+private:
+  ::capnp::_::StructReader _reader;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::List;
+  friend class ::capnp::MessageBuilder;
+  friend class ::capnp::Orphanage;
+};
+
+class CarOutput::Builder {
+public:
+  typedef CarOutput Builds;
+
+  Builder() = delete;  // Deleted to discourage incorrect usage.
+                       // You can explicitly initialize to nullptr instead.
+  inline Builder(decltype(nullptr)) {}
+  inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
+  inline operator Reader() const { return Reader(_builder.asReader()); }
+  inline Reader asReader() const { return *this; }
+
+  inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
+#if !CAPNP_LITE
+  inline ::kj::StringTree toString() const { return asReader().toString(); }
+#endif  // !CAPNP_LITE
+
+  inline bool hasActuatorsOutput();
+  inline  ::cereal::CarControl::Actuators::Builder getActuatorsOutput();
+  inline void setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value);
+  inline  ::cereal::CarControl::Actuators::Builder initActuatorsOutput();
+  inline void adoptActuatorsOutput(::capnp::Orphan< ::cereal::CarControl::Actuators>&& value);
+  inline ::capnp::Orphan< ::cereal::CarControl::Actuators> disownActuatorsOutput();
+
+private:
+  ::capnp::_::StructBuilder _builder;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+  friend class ::capnp::Orphanage;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::_::PointerHelpers;
+};
+
+#if !CAPNP_LITE
+class CarOutput::Pipeline {
+public:
+  typedef CarOutput Pipelines;
+
+  inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
+  inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
+      : _typeless(kj::mv(typeless)) {}
+
+  inline  ::cereal::CarControl::Actuators::Pipeline getActuatorsOutput();
+private:
+  ::capnp::AnyPointer::Pipeline _typeless;
+  friend class ::capnp::PipelineHook;
+  template <typename, ::capnp::Kind>
+  friend struct ::capnp::ToDynamic_;
+};
+#endif  // !CAPNP_LITE
+
 class CarParams::Reader {
 public:
  typedef CarParams Reads;
@@ -2415,7 +2535,7 @@ public:
  inline bool hasCarFingerprint() const;
  inline  ::capnp::Text::Reader getCarFingerprint() const;

-  inline bool getEnableGasInterceptor() const;
+  inline bool getEnableGasInterceptorDEPRECATED() const;

  inline bool getPcmCruise() const;

@@ -2612,8 +2732,8 @@ public:
  inline void adoptCarFingerprint(::capnp::Orphan< ::capnp::Text>&& value);
  inline ::capnp::Orphan< ::capnp::Text> disownCarFingerprint();

-  inline bool getEnableGasInterceptor();
-  inline void setEnableGasInterceptor(bool value);
+  inline bool getEnableGasInterceptorDEPRECATED();
+  inline void setEnableGasInterceptorDEPRECATED(bool value);

  inline bool getPcmCruise();
  inline void setPcmCruise(bool value);
@@ -5023,132 +5143,174 @@ inline void CarState::Builder::setCarFaultedNonCritical(bool value) {
      ::capnp::bounded<362>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getMadsEnabled() const {
+inline  ::uint32_t CarState::Reader::getCanErrorCounter() const {
+  return _reader.getDataField< ::uint32_t>(
+      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
+}
+
+inline  ::uint32_t CarState::Builder::getCanErrorCounter() {
+  return _builder.getDataField< ::uint32_t>(
+      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setCanErrorCounter( ::uint32_t value) {
+  _builder.setDataField< ::uint32_t>(
+      ::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::getCanRcvTimeoutDEPRECATED() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<363>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getMadsEnabled() {
+inline bool CarState::Builder::getCanRcvTimeoutDEPRECATED() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<363>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setMadsEnabled(bool value) {
+inline void CarState::Builder::setCanRcvTimeoutDEPRECATED(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<363>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getLeftBlinkerOn() const {
+inline float CarState::Reader::getCumLagMs() const {
+  return _reader.getDataField<float>(
+      ::capnp::bounded<17>() * ::capnp::ELEMENTS);
+}
+
+inline float CarState::Builder::getCumLagMs() {
+  return _builder.getDataField<float>(
+      ::capnp::bounded<17>() * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setCumLagMs(float value) {
+  _builder.setDataField<float>(
+      ::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::getMadsEnabled() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<364>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getLeftBlinkerOn() {
+inline bool CarState::Builder::getMadsEnabled() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<364>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setLeftBlinkerOn(bool value) {
+inline void CarState::Builder::setMadsEnabled(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<364>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getRightBlinkerOn() const {
+inline bool CarState::Reader::getLeftBlinkerOn() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<365>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getRightBlinkerOn() {
+inline bool CarState::Builder::getLeftBlinkerOn() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<365>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setRightBlinkerOn(bool value) {
+inline void CarState::Builder::setLeftBlinkerOn(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<365>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getDisengageByBrake() const {
+inline bool CarState::Reader::getRightBlinkerOn() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<366>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getDisengageByBrake() {
+inline bool CarState::Builder::getRightBlinkerOn() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<366>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setDisengageByBrake(bool value) {
+inline void CarState::Builder::setRightBlinkerOn(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<366>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getBelowLaneChangeSpeed() const {
+inline bool CarState::Reader::getDisengageByBrake() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<367>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getBelowLaneChangeSpeed() {
+inline bool CarState::Builder::getDisengageByBrake() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<367>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setBelowLaneChangeSpeed(bool value) {
+inline void CarState::Builder::setDisengageByBrake(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<367>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getAccEnabled() const {
+inline bool CarState::Reader::getBelowLaneChangeSpeed() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<368>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getAccEnabled() {
+inline bool CarState::Builder::getBelowLaneChangeSpeed() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<368>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setAccEnabled(bool value) {
+inline void CarState::Builder::setBelowLaneChangeSpeed(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<368>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarState::Reader::getLatActive() const {
+inline bool CarState::Reader::getAccEnabled() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<369>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getLatActive() {
+inline bool CarState::Builder::getAccEnabled() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<369>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setLatActive(bool value) {
+inline void CarState::Builder::setAccEnabled(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<369>() * ::capnp::ELEMENTS, value);
 }

-inline  ::int32_t CarState::Reader::getGapAdjustCruiseTr() const {
-  return _reader.getDataField< ::int32_t>(
-      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
-}
-
-inline  ::int32_t CarState::Builder::getGapAdjustCruiseTr() {
-  return _builder.getDataField< ::int32_t>(
-      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
-}
-inline void CarState::Builder::setGapAdjustCruiseTr( ::int32_t value) {
-  _builder.setDataField< ::int32_t>(
-      ::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
-}
-
-inline bool CarState::Reader::getEndToEndLong() const {
+inline bool CarState::Reader::getLatActive() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<370>() * ::capnp::ELEMENTS);
 }

-inline bool CarState::Builder::getEndToEndLong() {
+inline bool CarState::Builder::getLatActive() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<370>() * ::capnp::ELEMENTS);
 }
-inline void CarState::Builder::setEndToEndLong(bool value) {
+inline void CarState::Builder::setLatActive(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<370>() * ::capnp::ELEMENTS, value);
 }

+inline  ::int32_t CarState::Reader::getGapAdjustCruiseTr() const {
+  return _reader.getDataField< ::int32_t>(
+      ::capnp::bounded<18>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int32_t CarState::Builder::getGapAdjustCruiseTr() {
+  return _builder.getDataField< ::int32_t>(
+      ::capnp::bounded<18>() * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setGapAdjustCruiseTr( ::int32_t value) {
+  _builder.setDataField< ::int32_t>(
+      ::capnp::bounded<18>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarState::Reader::getEndToEndLong() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<371>() * ::capnp::ELEMENTS);
+}
+
+inline bool CarState::Builder::getEndToEndLong() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<371>() * ::capnp::ELEMENTS);
+}
+inline void CarState::Builder::setEndToEndLong(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<371>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool CarState::Reader::hasCustomStockLong() const {
  return !_reader.getPointerField(
      ::capnp::bounded<6>() * ::capnp::POINTERS).isNull();
@@ -5905,41 +6067,41 @@ inline void CarControl::Builder::setPitchDEPRECATED(float value) {
      ::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
 }

-inline bool CarControl::Reader::hasActuatorsOutput() const {
+inline bool CarControl::Reader::hasActuatorsOutputDEPRECATED() const {
  return !_reader.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
 }
-inline bool CarControl::Builder::hasActuatorsOutput() {
+inline bool CarControl::Builder::hasActuatorsOutputDEPRECATED() {
  return !_builder.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
 }
-inline  ::cereal::CarControl::Actuators::Reader CarControl::Reader::getActuatorsOutput() const {
+inline  ::cereal::CarControl::Actuators::Reader CarControl::Reader::getActuatorsOutputDEPRECATED() const {
  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
-inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::getActuatorsOutput() {
+inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::getActuatorsOutputDEPRECATED() {
  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
 #if !CAPNP_LITE
-inline  ::cereal::CarControl::Actuators::Pipeline CarControl::Pipeline::getActuatorsOutput() {
+inline  ::cereal::CarControl::Actuators::Pipeline CarControl::Pipeline::getActuatorsOutputDEPRECATED() {
  return  ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(3));
 }
 #endif  // !CAPNP_LITE
-inline void CarControl::Builder::setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value) {
+inline void CarControl::Builder::setActuatorsOutputDEPRECATED( ::cereal::CarControl::Actuators::Reader value) {
  ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS), value);
 }
-inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::initActuatorsOutput() {
+inline  ::cereal::CarControl::Actuators::Builder CarControl::Builder::initActuatorsOutputDEPRECATED() {
  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
-inline void CarControl::Builder::adoptActuatorsOutput(
+inline void CarControl::Builder::adoptActuatorsOutputDEPRECATED(
    ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) {
  ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarControl::Builder::disownActuatorsOutput() {
+inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarControl::Builder::disownActuatorsOutputDEPRECATED() {
  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField(
      ::capnp::bounded<3>() * ::capnp::POINTERS));
 }
@@ -6426,6 +6588,59 @@ inline void CarControl::HUDControl::Builder::setLeftLaneDepart(bool value) {
      ::capnp::bounded<6>() * ::capnp::ELEMENTS, value);
 }

+inline  ::int8_t CarControl::HUDControl::Reader::getLeadDistanceBars() const {
+  return _reader.getDataField< ::int8_t>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline  ::int8_t CarControl::HUDControl::Builder::getLeadDistanceBars() {
+  return _builder.getDataField< ::int8_t>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void CarControl::HUDControl::Builder::setLeadDistanceBars( ::int8_t value) {
+  _builder.setDataField< ::int8_t>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
+inline bool CarOutput::Reader::hasActuatorsOutput() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
+}
+inline bool CarOutput::Builder::hasActuatorsOutput() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarControl::Actuators::Reader CarOutput::Reader::getActuatorsOutput() const {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_reader.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline  ::cereal::CarControl::Actuators::Builder CarOutput::Builder::getActuatorsOutput() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::get(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+#if !CAPNP_LITE
+inline  ::cereal::CarControl::Actuators::Pipeline CarOutput::Pipeline::getActuatorsOutput() {
+  return  ::cereal::CarControl::Actuators::Pipeline(_typeless.getPointerField(0));
+}
+#endif  // !CAPNP_LITE
+inline void CarOutput::Builder::setActuatorsOutput( ::cereal::CarControl::Actuators::Reader value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::set(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarControl::Actuators::Builder CarOutput::Builder::initActuatorsOutput() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::init(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline void CarOutput::Builder::adoptActuatorsOutput(
+    ::capnp::Orphan< ::cereal::CarControl::Actuators>&& value) {
+  ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::adopt(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarControl::Actuators> CarOutput::Builder::disownActuatorsOutput() {
+  return ::capnp::_::PointerHelpers< ::cereal::CarControl::Actuators>::disown(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+
 inline bool CarParams::Reader::hasCarName() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -6494,16 +6709,16 @@ inline ::capnp::Orphan< ::capnp::Text> CarParams::Builder::disownCarFingerprint(
      ::capnp::bounded<1>() * ::capnp::POINTERS));
 }

-inline bool CarParams::Reader::getEnableGasInterceptor() const {
+inline bool CarParams::Reader::getEnableGasInterceptorDEPRECATED() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
 }

-inline bool CarParams::Builder::getEnableGasInterceptor() {
+inline bool CarParams::Builder::getEnableGasInterceptorDEPRECATED() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
 }
-inline void CarParams::Builder::setEnableGasInterceptor(bool value) {
+inline void CarParams::Builder::setEnableGasInterceptorDEPRECATED(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
 }
@@ -54,7 +54,7 @@ const ::capnp::_::RawSchema s_d92113aa7c18cdf6 = {
 };
 #endif  // !CAPNP_LITE
 CAPNP_DEFINE_ENUM(LongitudinalPersonalitySP_d92113aa7c18cdf6, d92113aa7c18cdf6);
-static const ::capnp::_::AlignedData<77> b_81c2f05a394cf4af = {
+static const ::capnp::_::AlignedData<93> b_81c2f05a394cf4af = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
    175, 244,  76,  57,  90, 240, 194, 129,
     13,   0,   0,   0,   1,   0,   1,   0,
@@ -64,7 +64,7 @@ static const ::capnp::_::AlignedData<77> b_81c2f05a394cf4af = {
     21,   0,   0,   0, 234,   0,   0,   0,
     33,   0,   0,   0, 119,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    161,   0,   0,   0, 119,   0,   0,   0,
+    161,   0,   0,   0, 175,   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,
@@ -105,21 +105,28 @@ static const ::capnp::_::AlignedData<77> b_81c2f05a394cf4af = {
     83, 116,  97, 116, 101,   0,   0,   0,
     76,  97, 116, 101, 114,  97, 108,  76,
     81,  82,  83, 116,  97, 116, 101,   0,
-      8,   0,   0,   0,   3,   0,   4,   0,
+     12,   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, 106,   0,   0,   0,
+     69,   0,   0,   0, 106,   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,   0,   0,   0,   0,
+     68,   0,   0,   0,   3,   0,   1,   0,
+     80,   0,   0,   0,   2,   0,   1,   0,
+      2,   0,   0,   0,   0,   0,   0,   0,
      1,   0,   0,   0,   0,   0,   0,   0,
     45,  92, 210, 165, 131,  44,  76, 142,
-     49,   0,   0,   0, 162,   0,   0,   0,
+     77,   0,   0,   0, 162,   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,   1,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     61,   0,   0,   0,  98,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     60,   0,   0,   0,   3,   0,   1,   0,
+     72,   0,   0,   0,   2,   0,   1,   0,
    108,  97, 116, 101, 114,  97, 108,  83,
    116,  97, 116, 101,   0,   0,   0,   0,
     12,   0,   0,   0,   0,   0,   0,   0,
@@ -131,18 +138,28 @@ static const ::capnp::_::AlignedData<77> b_81c2f05a394cf4af = {
      0,   0,   0,   0,   0,   0,   0,   0,
    108,  97, 116, 101, 114,  97, 108,  67,
    111, 110, 116, 114, 111, 108,  83, 116,
-     97, 116, 101,   0,   0,   0,   0,   0, }
+     97, 116, 101,   0,   0,   0,   0,   0,
+    112, 101, 114, 115, 111, 110,  97, 108,
+    105, 116, 121,   0,   0,   0,   0,   0,
+     15,   0,   0,   0,   0,   0,   0,   0,
+    246, 205,  24, 124, 170,  19,  33, 217,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     15,   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_81c2f05a394cf4af = b_81c2f05a394cf4af.words;
 #if !CAPNP_LITE
 static const ::capnp::_::RawSchema* const d_81c2f05a394cf4af[] = {
  &s_8e4c2c83a5d25c2d,
+  &s_d92113aa7c18cdf6,
 };
-static const uint16_t m_81c2f05a394cf4af[] = {1, 0};
-static const uint16_t i_81c2f05a394cf4af[] = {0, 1};
+static const uint16_t m_81c2f05a394cf4af[] = {1, 0, 2};
+static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2};
 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 }, false
+  0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 93, d_81c2f05a394cf4af, m_81c2f05a394cf4af,
+  2, 3, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<19> b_b6a9042bc207bf27 = {
@@ -518,7 +535,7 @@ const ::capnp::_::RawSchema s_8e4c2c83a5d25c2d = {
  8, 7, i_8e4c2c83a5d25c2d, nullptr, nullptr, { &s_8e4c2c83a5d25c2d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
-static const ::capnp::_::AlignedData<403> b_aedffd8f31e7b55d = {
+static const ::capnp::_::AlignedData<420> b_aedffd8f31e7b55d = {
  {   0,   0,   0,   0,   5,   0,   6,   0,
     93, 181, 231,  49, 143, 253, 223, 174,
     13,   0,   0,   0,   1,   0,   7,   0,
@@ -528,7 +545,7 @@ static const ::capnp::_::AlignedData<403> b_aedffd8f31e7b55d = {
     21,   0,   0,   0,   2,   1,   0,   0,
     33,   0,   0,   0,  55,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     93,   0,   0,   0, 215,   4,   0,   0,
+     93,   0,   0,   0,  15,   5,   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,
@@ -552,161 +569,168 @@ static const ::capnp::_::AlignedData<403> b_aedffd8f31e7b55d = {
     76, 111, 110, 103, 105, 116, 117, 100,
    105, 110,  97, 108,  80, 108,  97, 110,
     83, 111, 117, 114,  99, 101,   0,   0,
-     88,   0,   0,   0,   3,   0,   4,   0,
+     92,   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,
-     89,   2,   0,   0, 210,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     96,   2,   0,   0,   3,   0,   1,   0,
-    108,   2,   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,
-    105,   2,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    104,   2,   0,   0,   3,   0,   1,   0,
-    116,   2,   0,   0,   2,   0,   1,   0,
-      4,   0,   0,   0,   1,   0,   0,   0,
-      0,   0,   1,   0,   2,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    113,   2,   0,   0, 186,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    116,   2,   0,   0,   3,   0,   1,   0,
-    128,   2,   0,   0,   2,   0,   1,   0,
-      5,   0,   0,   0,   2,   0,   0,   0,
-      0,   0,   1,   0,   3,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    125,   2,   0,   0,  90,   0,   0,   0,
+    117,   2,   0,   0, 210,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    124,   2,   0,   0,   3,   0,   1,   0,
    136,   2,   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,
+    133,   2,   0,   0, 130,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    132,   2,   0,   0,   3,   0,   1,   0,
+    144,   2,   0,   0,   2,   0,   1,   0,
+      4,   0,   0,   0,   1,   0,   0,   0,
+      0,   0,   1,   0,   2,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    141,   2,   0,   0, 186,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    144,   2,   0,   0,   3,   0,   1,   0,
+    156,   2,   0,   0,   2,   0,   1,   0,
+      5,   0,   0,   0,   2,   0,   0,   0,
+      0,   0,   1,   0,   3,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    153,   2,   0,   0,  90,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    152,   2,   0,   0,   3,   0,   1,   0,
+    164,   2,   0,   0,   2,   0,   1,   0,
      6,   0,   0,   0,   3,   0,   0,   0,
      0,   0,   1,   0,   4,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    133,   2,   0,   0, 138,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    136,   2,   0,   0,   3,   0,   1,   0,
-    148,   2,   0,   0,   2,   0,   1,   0,
-      7,   0,   0,   0,   4,   0,   0,   0,
-      0,   0,   1,   0,   5,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    145,   2,   0,   0, 138,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    148,   2,   0,   0,   3,   0,   1,   0,
-    160,   2,   0,   0,   2,   0,   1,   0,
-      8,   0,   0,   0, 160,   0,   0,   0,
-      0,   0,   1,   0,   6,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    157,   2,   0,   0, 130,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    156,   2,   0,   0,   3,   0,   1,   0,
-    168,   2,   0,   0,   2,   0,   1,   0,
-     15,   0,   0,   0,   6,   0,   0,   0,
-      0,   0,   1,   0,   7,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    165,   2,   0,   0,  90,   0,   0,   0,
+    161,   2,   0,   0, 138,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    164,   2,   0,   0,   3,   0,   1,   0,
    176,   2,   0,   0,   2,   0,   1,   0,
-     16,   0,   0,   0,   7,   0,   0,   0,
-      0,   0,   1,   0,   8,   0,   0,   0,
+      7,   0,   0,   0,   4,   0,   0,   0,
+      0,   0,   1,   0,   5,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    173,   2,   0,   0,  82,   0,   0,   0,
+    173,   2,   0,   0, 138,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    172,   2,   0,   0,   3,   0,   1,   0,
-    184,   2,   0,   0,   2,   0,   1,   0,
-     17,   0,   0,   0,  11,   0,   0,   0,
-      0,   0,   1,   0,   9,   0,   0,   0,
+    176,   2,   0,   0,   3,   0,   1,   0,
+    188,   2,   0,   0,   2,   0,   1,   0,
+      8,   0,   0,   0, 160,   0,   0,   0,
+      0,   0,   1,   0,   6,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    181,   2,   0,   0, 178,   0,   0,   0,
+    185,   2,   0,   0, 130,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    184,   2,   0,   0,   3,   0,   1,   0,
    196,   2,   0,   0,   2,   0,   1,   0,
-     18,   0,   0,   0,  16,   0,   0,   0,
-      0,   0,   1,   0,  10,   0,   0,   0,
+     16,   0,   0,   0,   6,   0,   0,   0,
+      0,   0,   1,   0,   7,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    193,   2,   0,   0,  74,   0,   0,   0,
+    193,   2,   0,   0,  90,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    192,   2,   0,   0,   3,   0,   1,   0,
    204,   2,   0,   0,   2,   0,   1,   0,
+     17,   0,   0,   0,   7,   0,   0,   0,
+      0,   0,   1,   0,   8,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    201,   2,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    200,   2,   0,   0,   3,   0,   1,   0,
+    212,   2,   0,   0,   2,   0,   1,   0,
+     18,   0,   0,   0,  11,   0,   0,   0,
+      0,   0,   1,   0,   9,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    209,   2,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    212,   2,   0,   0,   3,   0,   1,   0,
+    224,   2,   0,   0,   2,   0,   1,   0,
+     19,   0,   0,   0,  16,   0,   0,   0,
+      0,   0,   1,   0,  10,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    221,   2,   0,   0,  74,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    220,   2,   0,   0,   3,   0,   1,   0,
+    232,   2,   0,   0,   2,   0,   1,   0,
      9,   0,   0,   0, 161,   0,   0,   0,
      0,   0,   1,   0,  11,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    201,   2,   0,   0, 170,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    204,   2,   0,   0,   3,   0,   1,   0,
-    216,   2,   0,   0,   2,   0,   1,   0,
-     10,   0,   0,   0,   9,   0,   0,   0,
-      0,   0,   1,   0,  12,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    213,   2,   0,   0, 178,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    216,   2,   0,   0,   3,   0,   1,   0,
-    228,   2,   0,   0,   2,   0,   1,   0,
-     11,   0,   0,   0,  10,   0,   0,   0,
-      0,   0,   1,   0,  13,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    225,   2,   0,   0,  82,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    224,   2,   0,   0,   3,   0,   1,   0,
-    236,   2,   0,   0,   2,   0,   1,   0,
-     12,   0,   0,   0,  17,   0,   0,   0,
-      0,   0,   1,   0,  14,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-    233,   2,   0,   0, 114,   0,   0,   0,
+    229,   2,   0,   0, 170,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    232,   2,   0,   0,   3,   0,   1,   0,
    244,   2,   0,   0,   2,   0,   1,   0,
+     10,   0,   0,   0,   9,   0,   0,   0,
+      0,   0,   1,   0,  12,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    241,   2,   0,   0, 178,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    244,   2,   0,   0,   3,   0,   1,   0,
+      0,   3,   0,   0,   2,   0,   1,   0,
+     11,   0,   0,   0,  10,   0,   0,   0,
+      0,   0,   1,   0,  13,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    253,   2,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    252,   2,   0,   0,   3,   0,   1,   0,
+      8,   3,   0,   0,   2,   0,   1,   0,
+     12,   0,   0,   0,  17,   0,   0,   0,
+      0,   0,   1,   0,  14,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      5,   3,   0,   0, 114,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      4,   3,   0,   0,   3,   0,   1,   0,
+     16,   3,   0,   0,   2,   0,   1,   0,
     13,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   1,   0,  15,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    241,   2,   0,   0,  42,   0,   0,   0,
+     13,   3,   0,   0,  42,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-    236,   2,   0,   0,   3,   0,   1,   0,
-      8,   3,   0,   0,   2,   0,   1,   0,
+      8,   3,   0,   0,   3,   0,   1,   0,
+     36,   3,   0,   0,   2,   0,   1,   0,
      2,   0,   0,   0,  11,   0,   0,   0,
      0,   0,   1,   0,  16,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-      5,   3,   0,   0, 162,   0,   0,   0,
+     33,   3,   0,   0, 162,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-      8,   3,   0,   0,   3,   0,   1,   0,
-     20,   3,   0,   0,   2,   0,   1,   0,
+     36,   3,   0,   0,   3,   0,   1,   0,
+     48,   3,   0,   0,   2,   0,   1,   0,
      3,   0,   0,   0,  12,   0,   0,   0,
      0,   0,   1,   0,  17,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     17,   3,   0,   0, 162,   0,   0,   0,
+     45,   3,   0,   0, 162,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     20,   3,   0,   0,   3,   0,   1,   0,
-     32,   3,   0,   0,   2,   0,   1,   0,
+     48,   3,   0,   0,   3,   0,   1,   0,
+     60,   3,   0,   0,   2,   0,   1,   0,
     14,   0,   0,   0,   1,   0,   0,   0,
      0,   0,   1,   0,  18,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     29,   3,   0,   0,  90,   0,   0,   0,
+     57,   3,   0,   0,  90,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     28,   3,   0,   0,   3,   0,   1,   0,
-     40,   3,   0,   0,   2,   0,   1,   0,
-     19,   0,   0,   0,   2,   0,   0,   0,
+     56,   3,   0,   0,   3,   0,   1,   0,
+     68,   3,   0,   0,   2,   0,   1,   0,
+     20,   0,   0,   0,   2,   0,   0,   0,
      0,   0,   1,   0,  19,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     37,   3,   0,   0,  58,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     32,   3,   0,   0,   3,   0,   1,   0,
-     60,   3,   0,   0,   2,   0,   1,   0,
-     20,   0,   0,   0,  26,   0,   0,   0,
-      0,   0,   1,   0,  20,   0,   0,   0,
-      0,   0,   0,   0,   0,   0,   0,   0,
-     57,   3,   0,   0, 186,   0,   0,   0,
+     65,   3,   0,   0,  58,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     60,   3,   0,   0,   3,   0,   1,   0,
-     72,   3,   0,   0,   2,   0,   1,   0,
-     21,   0,   0,   0,  27,   0,   0,   0,
+     88,   3,   0,   0,   2,   0,   1,   0,
+     21,   0,   0,   0,  26,   0,   0,   0,
+      0,   0,   1,   0,  20,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     85,   3,   0,   0, 186,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+     88,   3,   0,   0,   3,   0,   1,   0,
+    100,   3,   0,   0,   2,   0,   1,   0,
+     22,   0,   0,   0,  27,   0,   0,   0,
      0,   0,   1,   0,  21,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     69,   3,   0,   0,  98,   0,   0,   0,
+     97,   3,   0,   0, 178,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
-     68,   3,   0,   0,   3,   0,   1,   0,
-     80,   3,   0,   0,   2,   0,   1,   0,
+    100,   3,   0,   0,   3,   0,   1,   0,
+    112,   3,   0,   0,   2,   0,   1,   0,
+     15,   0,   0,   0, 162,   0,   0,   0,
+      0,   0,   1,   0,  22,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    109,   3,   0,   0,  82,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    108,   3,   0,   0,   3,   0,   1,   0,
+    120,   3,   0,   0,   2,   0,   1,   0,
    118, 105, 115, 105, 111, 110,  84, 117,
    114, 110,  67, 111, 110, 116, 114, 111,
    108, 108, 101, 114,  83, 116,  97, 116,
@@ -914,12 +938,22 @@ static const ::capnp::_::AlignedData<403> b_aedffd8f31e7b55d = {
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
    112, 101, 114, 115, 111, 110,  97, 108,
-    105, 116, 121,   0,   0,   0,   0,   0,
+    105, 116, 121,  68,  69,  80,  82,  69,
+     67,  65,  84,  69,  68,   0,   0,   0,
     15,   0,   0,   0,   0,   0,   0,   0,
    246, 205,  24, 124, 170,  19,  33, 217,
      0,   0,   0,   0,   0,   0,   0,   0,
      0,   0,   0,   0,   0,   0,   0,   0,
     15,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+      0,   0,   0,   0,   0,   0,   0,   0,
+    101,  50, 101,  83, 116,  97, 116, 117,
+    115,   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,
+      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, }
 };
@@ -932,11 +966,11 @@ static const ::capnp::_::RawSchema* const d_aedffd8f31e7b55d[] = {
  &s_d1124e845254aeda,
  &s_d92113aa7c18cdf6,
 };
-static const uint16_t m_aedffd8f31e7b55d[] = {13, 5, 7, 18, 15, 19, 6, 20, 14, 21, 3, 2, 4, 11, 12, 10, 8, 9, 16, 17, 0, 1};
-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};
+static const uint16_t m_aedffd8f31e7b55d[] = {13, 5, 7, 18, 22, 15, 19, 6, 20, 14, 21, 3, 2, 4, 11, 12, 10, 8, 9, 16, 17, 0, 1};
+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, 22};
 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 }, false
+  0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 420, d_aedffd8f31e7b55d, m_aedffd8f31e7b55d,
+  5, 23, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false
 };
 #endif  // !CAPNP_LITE
 static const ::capnp::_::AlignedData<45> b_9e7784369b990802 = {
@@ -420,6 +420,8 @@ public:

  inline typename LateralControlState::Reader getLateralControlState() const;

+  inline  ::cereal::LongitudinalPersonalitySP getPersonality() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -458,6 +460,9 @@ public:
  inline typename LateralControlState::Builder getLateralControlState();
  inline typename LateralControlState::Builder initLateralControlState();

+  inline  ::cereal::LongitudinalPersonalitySP getPersonality();
+  inline void setPersonality( ::cereal::LongitudinalPersonalitySP value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -1212,7 +1217,9 @@ public:

  inline  ::cereal::LongitudinalPlanSP::LongitudinalPlanSource getLongitudinalPlanSource() const;

-  inline  ::cereal::LongitudinalPersonalitySP getPersonality() const;
+  inline  ::cereal::LongitudinalPersonalitySP getPersonalityDEPRECATED() const;
+
+  inline bool getE2eStatus() const;

 private:
  ::capnp::_::StructReader _reader;
@@ -1318,8 +1325,11 @@ public:
  inline  ::cereal::LongitudinalPlanSP::LongitudinalPlanSource getLongitudinalPlanSource();
  inline void setLongitudinalPlanSource( ::cereal::LongitudinalPlanSP::LongitudinalPlanSource value);

-  inline  ::cereal::LongitudinalPersonalitySP getPersonality();
-  inline void setPersonality( ::cereal::LongitudinalPersonalitySP value);
+  inline  ::cereal::LongitudinalPersonalitySP getPersonalityDEPRECATED();
+  inline void setPersonalityDEPRECATED( ::cereal::LongitudinalPersonalitySP value);
+
+  inline bool getE2eStatus();
+  inline void setE2eStatus(bool value);

 private:
  ::capnp::_::StructBuilder _builder;
@@ -2187,6 +2197,20 @@ inline typename ControlsStateSP::LateralControlState::Builder ControlsStateSP::B
  _builder.getPointerField(::capnp::bounded<1>() * ::capnp::POINTERS).clear();
  return typename ControlsStateSP::LateralControlState::Builder(_builder);
 }
+inline  ::cereal::LongitudinalPersonalitySP ControlsStateSP::Reader::getPersonality() const {
+  return _reader.getDataField< ::cereal::LongitudinalPersonalitySP>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::LongitudinalPersonalitySP ControlsStateSP::Builder::getPersonality() {
+  return _builder.getDataField< ::cereal::LongitudinalPersonalitySP>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS);
+}
+inline void ControlsStateSP::Builder::setPersonality( ::cereal::LongitudinalPersonalitySP value) {
+  _builder.setDataField< ::cereal::LongitudinalPersonalitySP>(
+      ::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool ControlsStateSP::LateralTorqueState::Reader::hasNnLog() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -2970,20 +2994,34 @@ inline void LongitudinalPlanSP::Builder::setLongitudinalPlanSource( ::cereal::Lo
      ::capnp::bounded<26>() * ::capnp::ELEMENTS, value);
 }

-inline  ::cereal::LongitudinalPersonalitySP LongitudinalPlanSP::Reader::getPersonality() const {
+inline  ::cereal::LongitudinalPersonalitySP LongitudinalPlanSP::Reader::getPersonalityDEPRECATED() const {
  return _reader.getDataField< ::cereal::LongitudinalPersonalitySP>(
      ::capnp::bounded<27>() * ::capnp::ELEMENTS);
 }

-inline  ::cereal::LongitudinalPersonalitySP LongitudinalPlanSP::Builder::getPersonality() {
+inline  ::cereal::LongitudinalPersonalitySP LongitudinalPlanSP::Builder::getPersonalityDEPRECATED() {
  return _builder.getDataField< ::cereal::LongitudinalPersonalitySP>(
      ::capnp::bounded<27>() * ::capnp::ELEMENTS);
 }
-inline void LongitudinalPlanSP::Builder::setPersonality( ::cereal::LongitudinalPersonalitySP value) {
+inline void LongitudinalPlanSP::Builder::setPersonalityDEPRECATED( ::cereal::LongitudinalPersonalitySP value) {
  _builder.setDataField< ::cereal::LongitudinalPersonalitySP>(
      ::capnp::bounded<27>() * ::capnp::ELEMENTS, value);
 }

+inline bool LongitudinalPlanSP::Reader::getE2eStatus() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<162>() * ::capnp::ELEMENTS);
+}
+
+inline bool LongitudinalPlanSP::Builder::getE2eStatus() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<162>() * ::capnp::ELEMENTS);
+}
+inline void LongitudinalPlanSP::Builder::setE2eStatus(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<162>() * ::capnp::ELEMENTS, value);
+}
+
 inline float LateralPlanSP::Reader::getLaneWidth() const {
  return _reader.getDataField<float>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -41,6 +41,7 @@ enum class DeviceType_9d5d7238eba86608: uint16_t {
  TICI,
  PC,
  TIZI,
+  MICI,
 };
 CAPNP_DECLARE_ENUM(DeviceType, 9d5d7238eba86608);
 CAPNP_DECLARE_SCHEMA(e673e8725cdff0ad);
@@ -67,6 +68,13 @@ enum class ImageSensor_d810b1e7705dd69c: uint16_t {
 CAPNP_DECLARE_ENUM(ImageSensor, d810b1e7705dd69c);
 CAPNP_DECLARE_SCHEMA(bcc3efbac41d2048);
 CAPNP_DECLARE_SCHEMA(b65fce64120af7d3);
+CAPNP_DECLARE_SCHEMA(ce7b9bb221c070c2);
+enum class Encoding_ce7b9bb221c070c2: uint16_t {
+  UNKNOWN,
+  JPEG,
+  KEYFRAME,
+};
+CAPNP_DECLARE_ENUM(Encoding, ce7b9bb221c070c2);
 CAPNP_DECLARE_SCHEMA(9d291d7813ba4a88);
 CAPNP_DECLARE_SCHEMA(a2b29a69d44529a1);
 CAPNP_DECLARE_SCHEMA(a43429bd2bfc24fc);
@@ -98,6 +106,7 @@ enum class SensorSource_d3ff79f25c734863: uint16_t {
  UBLOX,
  TRIMBLE,
  QCOMDIAG,
+  UNICORE,
 };
 CAPNP_DECLARE_ENUM(SensorSource, d3ff79f25c734863);
 CAPNP_DECLARE_SCHEMA(ae674a34ba421466);
@@ -175,7 +184,7 @@ enum class FaultType_cd55c07f69249798: uint16_t {
  INTERRUPT_RATE_CAN2,
  INTERRUPT_RATE_CAN3,
  INTERRUPT_RATE_TACH,
-  INTERRUPT_RATE_GMLAN,
+  INTERRUPT_RATE_GMLAN_D_E_P_R_E_C_A_T_E_D,
  INTERRUPT_RATE_INTERRUPTS,
  INTERRUPT_RATE_SPI_DMA,
  INTERRUPT_RATE_SPI_CS,
@@ -331,32 +340,6 @@ CAPNP_DECLARE_SCHEMA(8cfeb072f5301000);
 CAPNP_DECLARE_SCHEMA(fc0c9bb05e3927c1);
 CAPNP_DECLARE_SCHEMA(e1e9318e2ae8b51e);
 CAPNP_DECLARE_SCHEMA(fdca7c675b7021c6);
-CAPNP_DECLARE_SCHEMA(bb53ef3fcf2a7f0d);
-enum class Desire_bb53ef3fcf2a7f0d: uint16_t {
-  NONE,
-  TURN_LEFT,
-  TURN_RIGHT,
-  LANE_CHANGE_LEFT,
-  LANE_CHANGE_RIGHT,
-  KEEP_LEFT,
-  KEEP_RIGHT,
-};
-CAPNP_DECLARE_ENUM(Desire, bb53ef3fcf2a7f0d);
-CAPNP_DECLARE_SCHEMA(fac297f195ce56d2);
-enum class LaneChangeState_fac297f195ce56d2: uint16_t {
-  OFF,
-  PRE_LANE_CHANGE,
-  LANE_CHANGE_STARTING,
-  LANE_CHANGE_FINISHING,
-};
-CAPNP_DECLARE_ENUM(LaneChangeState, fac297f195ce56d2);
-CAPNP_DECLARE_SCHEMA(f7396311bcbad303);
-enum class LaneChangeDirection_f7396311bcbad303: uint16_t {
-  NONE,
-  LEFT,
-  RIGHT,
-};
-CAPNP_DECLARE_ENUM(LaneChangeDirection, f7396311bcbad303);
 CAPNP_DECLARE_SCHEMA(ebc5703d1ee7c129);
 CAPNP_DECLARE_SCHEMA(8e4dc8cc4b51fc01);
 enum class Status_8e4dc8cc4b51fc01: uint16_t {
@@ -589,7 +572,7 @@ struct InitData {
  struct IosBuildInfo;

  struct _capnpPrivate {
-    CAPNP_DECLARE_STRUCT_HEADER(e71008caeb3fb65c, 2, 18)
+    CAPNP_DECLARE_STRUCT_HEADER(e71008caeb3fb65c, 2, 19)
    #if !CAPNP_LITE
    static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
    #endif  // !CAPNP_LITE
@@ -712,6 +695,8 @@ struct Thumbnail {
  class Reader;
  class Builder;
  class Pipeline;
+  typedef ::capnp::schemas::Encoding_ce7b9bb221c070c2 Encoding;
+

  struct _capnpPrivate {
    CAPNP_DECLARE_STRUCT_HEADER(b65fce64120af7d3, 2, 1)
@@ -1398,12 +1383,6 @@ struct LateralPlan {
  class Builder;
  class Pipeline;
  struct SolverState;
-  typedef ::capnp::schemas::Desire_bb53ef3fcf2a7f0d Desire;
-
-  typedef ::capnp::schemas::LaneChangeState_fac297f195ce56d2 LaneChangeState;
-
-  typedef ::capnp::schemas::LaneChangeDirection_f7396311bcbad303 LaneChangeDirection;
-

  struct _capnpPrivate {
    CAPNP_DECLARE_STRUCT_HEADER(e1e9318e2ae8b51e, 9, 9)
@@ -2493,7 +2472,7 @@ struct Event {
    ACCELEROMETER2,
    UI_DEBUG,
    MICROPHONE,
-    NAV_MODEL,
+    NAV_MODEL_D_E_P_R_E_C_A_T_E_D,
    MAP_RENDER_STATE,
    UI_PLAN,
    CONTROLS_STATE_S_P,
@@ -2516,6 +2495,7 @@ struct Event {
    CUSTOM_RESERVED_RAW_DATA0,
    CUSTOM_RESERVED_RAW_DATA1,
    CUSTOM_RESERVED_RAW_DATA2,
+    CAR_OUTPUT,
  };

  struct _capnpPrivate {
@@ -2809,6 +2789,9 @@ public:
  inline bool hasGitCommitDate() const;
  inline  ::capnp::Text::Reader getGitCommitDate() const;

+  inline bool hasBootlogId() const;
+  inline  ::capnp::Text::Reader getBootlogId() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -2976,6 +2959,13 @@ public:
  inline void adoptGitCommitDate(::capnp::Orphan< ::capnp::Text>&& value);
  inline ::capnp::Orphan< ::capnp::Text> disownGitCommitDate();

+  inline bool hasBootlogId();
+  inline  ::capnp::Text::Builder getBootlogId();
+  inline void setBootlogId( ::capnp::Text::Reader value);
+  inline  ::capnp::Text::Builder initBootlogId(unsigned int size);
+  inline void adoptBootlogId(::capnp::Orphan< ::capnp::Text>&& value);
+  inline ::capnp::Orphan< ::capnp::Text> disownBootlogId();
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -4150,6 +4140,8 @@ public:
  inline bool hasThumbnail() const;
  inline  ::capnp::Data::Reader getThumbnail() const;

+  inline  ::cereal::Thumbnail::Encoding getEncoding() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -4191,6 +4183,9 @@ public:
  inline void adoptThumbnail(::capnp::Orphan< ::capnp::Data>&& value);
  inline ::capnp::Orphan< ::capnp::Data> disownThumbnail();

+  inline  ::cereal::Thumbnail::Encoding getEncoding();
+  inline void setEncoding( ::cereal::Thumbnail::Encoding value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -4632,7 +4627,7 @@ public:

  inline float getBearingDeg() const;

-  inline float getAccuracy() const;
+  inline float getHorizontalAccuracy() const;

  inline  ::int64_t getUnixTimestampMillis() const;

@@ -4647,6 +4642,8 @@ public:

  inline float getSpeedAccuracy() const;

+  inline bool getHasFix() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -4693,8 +4690,8 @@ public:
  inline float getBearingDeg();
  inline void setBearingDeg(float value);

-  inline float getAccuracy();
-  inline void setAccuracy(float value);
+  inline float getHorizontalAccuracy();
+  inline void setHorizontalAccuracy(float value);

  inline  ::int64_t getUnixTimestampMillis();
  inline void setUnixTimestampMillis( ::int64_t value);
@@ -4719,6 +4716,9 @@ public:
  inline float getSpeedAccuracy();
  inline void setSpeedAccuracy(float value);

+  inline bool getHasFix();
+  inline void setHasFix(bool value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -4958,6 +4958,8 @@ public:

  inline float getMaxTempC() const;

+  inline  ::cereal::InitData::DeviceType getDeviceType() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -5167,6 +5169,9 @@ public:
  inline float getMaxTempC();
  inline void setMaxTempC(float value);

+  inline  ::cereal::InitData::DeviceType getDeviceType();
+  inline void setDeviceType( ::cereal::InitData::DeviceType value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -5523,7 +5528,7 @@ public:

  inline  ::uint32_t getTxBufferOverflow() const;

-  inline  ::uint32_t getGmlanSendErrs() const;
+  inline  ::uint32_t getGmlanSendErrsDEPRECATED() const;

  inline  ::cereal::PandaState::PandaType getPandaType() const;

@@ -5638,8 +5643,8 @@ public:
  inline  ::uint32_t getTxBufferOverflow();
  inline void setTxBufferOverflow( ::uint32_t value);

-  inline  ::uint32_t getGmlanSendErrs();
-  inline void setGmlanSendErrs( ::uint32_t value);
+  inline  ::uint32_t getGmlanSendErrsDEPRECATED();
+  inline void setGmlanSendErrsDEPRECATED( ::uint32_t value);

  inline  ::cereal::PandaState::PandaType getPandaType();
  inline void setPandaType( ::cereal::PandaState::PandaType value);
@@ -6814,7 +6819,7 @@ public:

  inline  ::cereal::CarControl::HUDControl::AudibleAlert getAlertSound() const;

-  inline  ::uint32_t getCanErrorCounter() const;
+  inline  ::uint32_t getCanErrorCounterDEPRECATED() const;

  inline float getDesiredCurvature() const;

@@ -6824,6 +6829,8 @@ public:

  inline bool getExperimentalMode() const;

+  inline  ::cereal::LongitudinalPersonality getPersonality() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -7038,8 +7045,8 @@ public:
  inline  ::cereal::CarControl::HUDControl::AudibleAlert getAlertSound();
  inline void setAlertSound( ::cereal::CarControl::HUDControl::AudibleAlert value);

-  inline  ::uint32_t getCanErrorCounter();
-  inline void setCanErrorCounter( ::uint32_t value);
+  inline  ::uint32_t getCanErrorCounterDEPRECATED();
+  inline void setCanErrorCounterDEPRECATED( ::uint32_t value);

  inline float getDesiredCurvature();
  inline void setDesiredCurvature(float value);
@@ -7053,6 +7060,9 @@ public:
  inline bool getExperimentalMode();
  inline void setExperimentalMode(bool value);

+  inline  ::cereal::LongitudinalPersonality getPersonality();
+  inline void setPersonality( ::cereal::LongitudinalPersonality value);
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -8253,11 +8263,11 @@ public:
  inline bool hasTemporalPose() const;
  inline  ::cereal::ModelDataV2::Pose::Reader getTemporalPose() const;

-  inline bool getNavEnabled() const;
+  inline bool getNavEnabledDEPRECATED() const;

  inline  ::cereal::ModelDataV2::ConfidenceClass getConfidence() const;

-  inline  ::uint64_t getLocationMonoTime() const;
+  inline  ::uint64_t getLocationMonoTimeDEPRECATED() const;

  inline bool hasLateralPlannerSolutionDEPRECATED() const;
  inline  ::cereal::ModelDataV2::LateralPlannerSolution::Reader getLateralPlannerSolutionDEPRECATED() const;
@@ -8422,14 +8432,14 @@ public:
  inline void adoptTemporalPose(::capnp::Orphan< ::cereal::ModelDataV2::Pose>&& value);
  inline ::capnp::Orphan< ::cereal::ModelDataV2::Pose> disownTemporalPose();

-  inline bool getNavEnabled();
-  inline void setNavEnabled(bool value);
+  inline bool getNavEnabledDEPRECATED();
+  inline void setNavEnabledDEPRECATED(bool value);

  inline  ::cereal::ModelDataV2::ConfidenceClass getConfidence();
  inline void setConfidence( ::cereal::ModelDataV2::ConfidenceClass value);

-  inline  ::uint64_t getLocationMonoTime();
-  inline void setLocationMonoTime( ::uint64_t value);
+  inline  ::uint64_t getLocationMonoTimeDEPRECATED();
+  inline void setLocationMonoTimeDEPRECATED( ::uint64_t value);

  inline bool hasLateralPlannerSolutionDEPRECATED();
  inline  ::cereal::ModelDataV2::LateralPlannerSolution::Builder getLateralPlannerSolutionDEPRECATED();
@@ -9732,7 +9742,7 @@ public:

  inline float getSolverExecutionTime() const;

-  inline  ::cereal::LongitudinalPersonality getPersonality() const;
+  inline  ::cereal::LongitudinalPersonality getPersonalityDEPRECATED() const;

 private:
  ::capnp::_::StructReader _reader;
@@ -9898,8 +9908,8 @@ public:
  inline float getSolverExecutionTime();
  inline void setSolverExecutionTime(float value);

-  inline  ::cereal::LongitudinalPersonality getPersonality();
-  inline void setPersonality( ::cereal::LongitudinalPersonality value);
+  inline  ::cereal::LongitudinalPersonality getPersonalityDEPRECATED();
+  inline void setPersonalityDEPRECATED( ::cereal::LongitudinalPersonality value);

 private:
  ::capnp::_::StructBuilder _builder;
@@ -10174,11 +10184,11 @@ public:

  inline bool getPosenetValidDEPRECATED() const;

-  inline  ::cereal::LateralPlan::Desire getDesire() const;
+  inline  ::cereal::Desire getDesire() const;

-  inline  ::cereal::LateralPlan::LaneChangeState getLaneChangeState() const;
+  inline  ::cereal::LaneChangeState getLaneChangeState() const;

-  inline  ::cereal::LateralPlan::LaneChangeDirection getLaneChangeDirection() const;
+  inline  ::cereal::LaneChangeDirection getLaneChangeDirection() const;

  inline bool hasDPathPoints() const;
  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Reader getDPathPoints() const;
@@ -10312,14 +10322,14 @@ public:
  inline bool getPosenetValidDEPRECATED();
  inline void setPosenetValidDEPRECATED(bool value);

-  inline  ::cereal::LateralPlan::Desire getDesire();
-  inline void setDesire( ::cereal::LateralPlan::Desire value);
+  inline  ::cereal::Desire getDesire();
+  inline void setDesire( ::cereal::Desire value);

-  inline  ::cereal::LateralPlan::LaneChangeState getLaneChangeState();
-  inline void setLaneChangeState( ::cereal::LateralPlan::LaneChangeState value);
+  inline  ::cereal::LaneChangeState getLaneChangeState();
+  inline void setLaneChangeState( ::cereal::LaneChangeState value);

-  inline  ::cereal::LateralPlan::LaneChangeDirection getLaneChangeDirection();
-  inline void setLaneChangeDirection( ::cereal::LateralPlan::LaneChangeDirection value);
+  inline  ::cereal::LaneChangeDirection getLaneChangeDirection();
+  inline void setLaneChangeDirection( ::cereal::LaneChangeDirection value);

  inline bool hasDPathPoints();
  inline  ::capnp::List<float,  ::capnp::Kind::PRIMITIVE>::Builder getDPathPoints();
@@ -19165,9 +19175,9 @@ public:
  inline bool hasMicrophone() const;
  inline  ::cereal::Microphone::Reader getMicrophone() const;

-  inline bool isNavModel() const;
-  inline bool hasNavModel() const;
-  inline  ::cereal::NavModelData::Reader getNavModel() const;
+  inline bool isNavModelDEPRECATED() const;
+  inline bool hasNavModelDEPRECATED() const;
+  inline  ::cereal::NavModelData::Reader getNavModelDEPRECATED() const;

  inline bool isMapRenderState() const;
  inline bool hasMapRenderState() const;
@@ -19257,6 +19267,10 @@ public:
  inline bool hasCustomReservedRawData2() const;
  inline  ::capnp::Data::Reader getCustomReservedRawData2() const;

+  inline bool isCarOutput() const;
+  inline bool hasCarOutput() const;
+  inline  ::cereal::CarOutput::Reader getCarOutput() const;
+
 private:
  ::capnp::_::StructReader _reader;
  template <typename, ::capnp::Kind>
@@ -20108,13 +20122,13 @@ public:
  inline void adoptMicrophone(::capnp::Orphan< ::cereal::Microphone>&& value);
  inline ::capnp::Orphan< ::cereal::Microphone> disownMicrophone();

-  inline bool isNavModel();
-  inline bool hasNavModel();
-  inline  ::cereal::NavModelData::Builder getNavModel();
-  inline void setNavModel( ::cereal::NavModelData::Reader value);
-  inline  ::cereal::NavModelData::Builder initNavModel();
-  inline void adoptNavModel(::capnp::Orphan< ::cereal::NavModelData>&& value);
-  inline ::capnp::Orphan< ::cereal::NavModelData> disownNavModel();
+  inline bool isNavModelDEPRECATED();
+  inline bool hasNavModelDEPRECATED();
+  inline  ::cereal::NavModelData::Builder getNavModelDEPRECATED();
+  inline void setNavModelDEPRECATED( ::cereal::NavModelData::Reader value);
+  inline  ::cereal::NavModelData::Builder initNavModelDEPRECATED();
+  inline void adoptNavModelDEPRECATED(::capnp::Orphan< ::cereal::NavModelData>&& value);
+  inline ::capnp::Orphan< ::cereal::NavModelData> disownNavModelDEPRECATED();

  inline bool isMapRenderState();
  inline bool hasMapRenderState();
@@ -20292,6 +20306,14 @@ public:
  inline void adoptCustomReservedRawData2(::capnp::Orphan< ::capnp::Data>&& value);
  inline ::capnp::Orphan< ::capnp::Data> disownCustomReservedRawData2();

+  inline bool isCarOutput();
+  inline bool hasCarOutput();
+  inline  ::cereal::CarOutput::Builder getCarOutput();
+  inline void setCarOutput( ::cereal::CarOutput::Reader value);
+  inline  ::cereal::CarOutput::Builder initCarOutput();
+  inline void adoptCarOutput(::capnp::Orphan< ::cereal::CarOutput>&& value);
+  inline ::capnp::Orphan< ::cereal::CarOutput> disownCarOutput();
+
 private:
  ::capnp::_::StructBuilder _builder;
  template <typename, ::capnp::Kind>
@@ -21239,6 +21261,40 @@ inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownGitCommitDate()
      ::capnp::bounded<17>() * ::capnp::POINTERS));
 }

+inline bool InitData::Reader::hasBootlogId() const {
+  return !_reader.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS).isNull();
+}
+inline bool InitData::Builder::hasBootlogId() {
+  return !_builder.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS).isNull();
+}
+inline  ::capnp::Text::Reader InitData::Reader::getBootlogId() const {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_reader.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS));
+}
+inline  ::capnp::Text::Builder InitData::Builder::getBootlogId() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::get(_builder.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS));
+}
+inline void InitData::Builder::setBootlogId( ::capnp::Text::Reader value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::set(_builder.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS), value);
+}
+inline  ::capnp::Text::Builder InitData::Builder::initBootlogId(unsigned int size) {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::init(_builder.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS), size);
+}
+inline void InitData::Builder::adoptBootlogId(
+    ::capnp::Orphan< ::capnp::Text>&& value) {
+  ::capnp::_::PointerHelpers< ::capnp::Text>::adopt(_builder.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::capnp::Text> InitData::Builder::disownBootlogId() {
+  return ::capnp::_::PointerHelpers< ::capnp::Text>::disown(_builder.getPointerField(
+      ::capnp::bounded<18>() * ::capnp::POINTERS));
+}
+
 inline bool InitData::PandaInfo::Reader::getHasPanda() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -23291,6 +23347,20 @@ inline ::capnp::Orphan< ::capnp::Data> Thumbnail::Builder::disownThumbnail() {
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }

+inline  ::cereal::Thumbnail::Encoding Thumbnail::Reader::getEncoding() const {
+  return _reader.getDataField< ::cereal::Thumbnail::Encoding>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::Thumbnail::Encoding Thumbnail::Builder::getEncoding() {
+  return _builder.getDataField< ::cereal::Thumbnail::Encoding>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS);
+}
+inline void Thumbnail::Builder::setEncoding( ::cereal::Thumbnail::Encoding value) {
+  _builder.setDataField< ::cereal::Thumbnail::Encoding>(
+      ::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
+}
+
 inline  ::int64_t GPSNMEAData::Reader::getTimestamp() const {
  return _reader.getDataField< ::int64_t>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -24038,16 +24108,16 @@ inline void GpsLocationData::Builder::setBearingDeg(float value) {
      ::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
 }

-inline float GpsLocationData::Reader::getAccuracy() const {
+inline float GpsLocationData::Reader::getHorizontalAccuracy() const {
  return _reader.getDataField<float>(
      ::capnp::bounded<9>() * ::capnp::ELEMENTS);
 }

-inline float GpsLocationData::Builder::getAccuracy() {
+inline float GpsLocationData::Builder::getHorizontalAccuracy() {
  return _builder.getDataField<float>(
      ::capnp::bounded<9>() * ::capnp::ELEMENTS);
 }
-inline void GpsLocationData::Builder::setAccuracy(float value) {
+inline void GpsLocationData::Builder::setHorizontalAccuracy(float value) {
  _builder.setDataField<float>(
      ::capnp::bounded<9>() * ::capnp::ELEMENTS, value);
 }
@@ -24160,6 +24230,20 @@ inline void GpsLocationData::Builder::setSpeedAccuracy(float value) {
      ::capnp::bounded<14>() * ::capnp::ELEMENTS, value);
 }

+inline bool GpsLocationData::Reader::getHasFix() const {
+  return _reader.getDataField<bool>(
+      ::capnp::bounded<480>() * ::capnp::ELEMENTS);
+}
+
+inline bool GpsLocationData::Builder::getHasFix() {
+  return _builder.getDataField<bool>(
+      ::capnp::bounded<480>() * ::capnp::ELEMENTS);
+}
+inline void GpsLocationData::Builder::setHasFix(bool value) {
+  _builder.setDataField<bool>(
+      ::capnp::bounded<480>() * ::capnp::ELEMENTS, value);
+}
+
 inline  ::uint32_t CanData::Reader::getAddress() const {
  return _reader.getDataField< ::uint32_t>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -25100,6 +25184,20 @@ inline void DeviceState::Builder::setMaxTempC(float value) {
      ::capnp::bounded<23>() * ::capnp::ELEMENTS, value);
 }

+inline  ::cereal::InitData::DeviceType DeviceState::Reader::getDeviceType() const {
+  return _reader.getDataField< ::cereal::InitData::DeviceType>(
+      ::capnp::bounded<41>() * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::InitData::DeviceType DeviceState::Builder::getDeviceType() {
+  return _builder.getDataField< ::cereal::InitData::DeviceType>(
+      ::capnp::bounded<41>() * ::capnp::ELEMENTS);
+}
+inline void DeviceState::Builder::setDeviceType( ::cereal::InitData::DeviceType value) {
+  _builder.setDataField< ::cereal::InitData::DeviceType>(
+      ::capnp::bounded<41>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool DeviceState::ThermalZone::Reader::hasName() const {
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
@@ -25486,16 +25584,16 @@ inline void PandaState::Builder::setTxBufferOverflow( ::uint32_t value) {
      ::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
 }

-inline  ::uint32_t PandaState::Reader::getGmlanSendErrs() const {
+inline  ::uint32_t PandaState::Reader::getGmlanSendErrsDEPRECATED() const {
  return _reader.getDataField< ::uint32_t>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
 }

-inline  ::uint32_t PandaState::Builder::getGmlanSendErrs() {
+inline  ::uint32_t PandaState::Builder::getGmlanSendErrsDEPRECATED() {
  return _builder.getDataField< ::uint32_t>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
 }
-inline void PandaState::Builder::setGmlanSendErrs( ::uint32_t value) {
+inline void PandaState::Builder::setGmlanSendErrsDEPRECATED( ::uint32_t value) {
  _builder.setDataField< ::uint32_t>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
 }
@@ -28315,16 +28413,16 @@ inline void ControlsState::Builder::setAlertSound( ::cereal::CarControl::HUDCont
      ::capnp::bounded<84>() * ::capnp::ELEMENTS, value);
 }

-inline  ::uint32_t ControlsState::Reader::getCanErrorCounter() const {
+inline  ::uint32_t ControlsState::Reader::getCanErrorCounterDEPRECATED() const {
  return _reader.getDataField< ::uint32_t>(
      ::capnp::bounded<43>() * ::capnp::ELEMENTS);
 }

-inline  ::uint32_t ControlsState::Builder::getCanErrorCounter() {
+inline  ::uint32_t ControlsState::Builder::getCanErrorCounterDEPRECATED() {
  return _builder.getDataField< ::uint32_t>(
      ::capnp::bounded<43>() * ::capnp::ELEMENTS);
 }
-inline void ControlsState::Builder::setCanErrorCounter( ::uint32_t value) {
+inline void ControlsState::Builder::setCanErrorCounterDEPRECATED( ::uint32_t value) {
  _builder.setDataField< ::uint32_t>(
      ::capnp::bounded<43>() * ::capnp::ELEMENTS, value);
 }
@@ -28385,6 +28483,20 @@ inline void ControlsState::Builder::setExperimentalMode(bool value) {
      ::capnp::bounded<715>() * ::capnp::ELEMENTS, value);
 }

+inline  ::cereal::LongitudinalPersonality ControlsState::Reader::getPersonality() const {
+  return _reader.getDataField< ::cereal::LongitudinalPersonality>(
+      ::capnp::bounded<85>() * ::capnp::ELEMENTS);
+}
+
+inline  ::cereal::LongitudinalPersonality ControlsState::Builder::getPersonality() {
+  return _builder.getDataField< ::cereal::LongitudinalPersonality>(
+      ::capnp::bounded<85>() * ::capnp::ELEMENTS);
+}
+inline void ControlsState::Builder::setPersonality( ::cereal::LongitudinalPersonality value) {
+  _builder.setDataField< ::cereal::LongitudinalPersonality>(
+      ::capnp::bounded<85>() * ::capnp::ELEMENTS, value);
+}
+
 inline bool ControlsState::LateralINDIState::Reader::getActive() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -30519,16 +30631,16 @@ inline ::capnp::Orphan< ::cereal::ModelDataV2::Pose> ModelDataV2::Builder::disow
      ::capnp::bounded<14>() * ::capnp::POINTERS));
 }

-inline bool ModelDataV2::Reader::getNavEnabled() const {
+inline bool ModelDataV2::Reader::getNavEnabledDEPRECATED() const {
  return _reader.getDataField<bool>(
      ::capnp::bounded<256>() * ::capnp::ELEMENTS);
 }

-inline bool ModelDataV2::Builder::getNavEnabled() {
+inline bool ModelDataV2::Builder::getNavEnabledDEPRECATED() {
  return _builder.getDataField<bool>(
      ::capnp::bounded<256>() * ::capnp::ELEMENTS);
 }
-inline void ModelDataV2::Builder::setNavEnabled(bool value) {
+inline void ModelDataV2::Builder::setNavEnabledDEPRECATED(bool value) {
  _builder.setDataField<bool>(
      ::capnp::bounded<256>() * ::capnp::ELEMENTS, value);
 }
@@ -30547,16 +30659,16 @@ inline void ModelDataV2::Builder::setConfidence( ::cereal::ModelDataV2::Confiden
      ::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
 }

-inline  ::uint64_t ModelDataV2::Reader::getLocationMonoTime() const {
+inline  ::uint64_t ModelDataV2::Reader::getLocationMonoTimeDEPRECATED() const {
  return _reader.getDataField< ::uint64_t>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
 }

-inline  ::uint64_t ModelDataV2::Builder::getLocationMonoTime() {
+inline  ::uint64_t ModelDataV2::Builder::getLocationMonoTimeDEPRECATED() {
  return _builder.getDataField< ::uint64_t>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS);
 }
-inline void ModelDataV2::Builder::setLocationMonoTime( ::uint64_t value) {
+inline void ModelDataV2::Builder::setLocationMonoTimeDEPRECATED( ::uint64_t value) {
  _builder.setDataField< ::uint64_t>(
      ::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
 }
@@ -32985,16 +33097,16 @@ inline void LongitudinalPlan::Builder::setSolverExecutionTime(float value) {
      ::capnp::bounded<19>() * ::capnp::ELEMENTS, value);
 }

-inline  ::cereal::LongitudinalPersonality LongitudinalPlan::Reader::getPersonality() const {
+inline  ::cereal::LongitudinalPersonality LongitudinalPlan::Reader::getPersonalityDEPRECATED() const {
  return _reader.getDataField< ::cereal::LongitudinalPersonality>(
      ::capnp::bounded<40>() * ::capnp::ELEMENTS);
 }

-inline  ::cereal::LongitudinalPersonality LongitudinalPlan::Builder::getPersonality() {
+inline  ::cereal::LongitudinalPersonality LongitudinalPlan::Builder::getPersonalityDEPRECATED() {
  return _builder.getDataField< ::cereal::LongitudinalPersonality>(
      ::capnp::bounded<40>() * ::capnp::ELEMENTS);
 }
-inline void LongitudinalPlan::Builder::setPersonality( ::cereal::LongitudinalPersonality value) {
+inline void LongitudinalPlan::Builder::setPersonalityDEPRECATED( ::cereal::LongitudinalPersonality value) {
  _builder.setDataField< ::cereal::LongitudinalPersonality>(
      ::capnp::bounded<40>() * ::capnp::ELEMENTS, value);
 }
@@ -33500,45 +33612,45 @@ inline void LateralPlan::Builder::setPosenetValidDEPRECATED(bool value) {
      ::capnp::bounded<165>() * ::capnp::ELEMENTS, value);
 }

-inline  ::cereal::LateralPlan::Desire LateralPlan::Reader::getDesire() const {
-  return _reader.getDataField< ::cereal::LateralPlan::Desire>(
+inline  ::cereal::Desire LateralPlan::Reader::getDesire() const {
+  return _reader.getDataField< ::cereal::Desire>(
      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
 }

-inline  ::cereal::LateralPlan::Desire LateralPlan::Builder::getDesire() {
-  return _builder.getDataField< ::cereal::LateralPlan::Desire>(
+inline  ::cereal::Desire LateralPlan::Builder::getDesire() {
+  return _builder.getDataField< ::cereal::Desire>(
      ::capnp::bounded<11>() * ::capnp::ELEMENTS);
 }
-inline void LateralPlan::Builder::setDesire( ::cereal::LateralPlan::Desire value) {
-  _builder.setDataField< ::cereal::LateralPlan::Desire>(
+inline void LateralPlan::Builder::setDesire( ::cereal::Desire value) {
+  _builder.setDataField< ::cereal::Desire>(
      ::capnp::bounded<11>() * ::capnp::ELEMENTS, value);
 }

-inline  ::cereal::LateralPlan::LaneChangeState LateralPlan::Reader::getLaneChangeState() const {
-  return _reader.getDataField< ::cereal::LateralPlan::LaneChangeState>(
+inline  ::cereal::LaneChangeState LateralPlan::Reader::getLaneChangeState() const {
+  return _reader.getDataField< ::cereal::LaneChangeState>(
      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
 }

-inline  ::cereal::LateralPlan::LaneChangeState LateralPlan::Builder::getLaneChangeState() {
-  return _builder.getDataField< ::cereal::LateralPlan::LaneChangeState>(
+inline  ::cereal::LaneChangeState LateralPlan::Builder::getLaneChangeState() {
+  return _builder.getDataField< ::cereal::LaneChangeState>(
      ::capnp::bounded<16>() * ::capnp::ELEMENTS);
 }
-inline void LateralPlan::Builder::setLaneChangeState( ::cereal::LateralPlan::LaneChangeState value) {
-  _builder.setDataField< ::cereal::LateralPlan::LaneChangeState>(
+inline void LateralPlan::Builder::setLaneChangeState( ::cereal::LaneChangeState value) {
+  _builder.setDataField< ::cereal::LaneChangeState>(
      ::capnp::bounded<16>() * ::capnp::ELEMENTS, value);
 }

-inline  ::cereal::LateralPlan::LaneChangeDirection LateralPlan::Reader::getLaneChangeDirection() const {
-  return _reader.getDataField< ::cereal::LateralPlan::LaneChangeDirection>(
+inline  ::cereal::LaneChangeDirection LateralPlan::Reader::getLaneChangeDirection() const {
+  return _reader.getDataField< ::cereal::LaneChangeDirection>(
      ::capnp::bounded<17>() * ::capnp::ELEMENTS);
 }

-inline  ::cereal::LateralPlan::LaneChangeDirection LateralPlan::Builder::getLaneChangeDirection() {
-  return _builder.getDataField< ::cereal::LateralPlan::LaneChangeDirection>(
+inline  ::cereal::LaneChangeDirection LateralPlan::Builder::getLaneChangeDirection() {
+  return _builder.getDataField< ::cereal::LaneChangeDirection>(
      ::capnp::bounded<17>() * ::capnp::ELEMENTS);
 }
-inline void LateralPlan::Builder::setLaneChangeDirection( ::cereal::LateralPlan::LaneChangeDirection value) {
-  _builder.setDataField< ::cereal::LateralPlan::LaneChangeDirection>(
+inline void LateralPlan::Builder::setLaneChangeDirection( ::cereal::LaneChangeDirection value) {
+  _builder.setDataField< ::cereal::LaneChangeDirection>(
      ::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
 }

@@ -51909,55 +52021,55 @@ inline ::capnp::Orphan< ::cereal::Microphone> Event::Builder::disownMicrophone()
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }

-inline bool Event::Reader::isNavModel() const {
-  return which() == Event::NAV_MODEL;
+inline bool Event::Reader::isNavModelDEPRECATED() const {
+  return which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D;
 }
-inline bool Event::Builder::isNavModel() {
-  return which() == Event::NAV_MODEL;
+inline bool Event::Builder::isNavModelDEPRECATED() {
+  return which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D;
 }
-inline bool Event::Reader::hasNavModel() const {
-  if (which() != Event::NAV_MODEL) return false;
+inline bool Event::Reader::hasNavModelDEPRECATED() const {
+  if (which() != Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D) return false;
  return !_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
 }
-inline bool Event::Builder::hasNavModel() {
-  if (which() != Event::NAV_MODEL) return false;
+inline bool Event::Builder::hasNavModelDEPRECATED() {
+  if (which() != Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D) return false;
  return !_builder.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
 }
-inline  ::cereal::NavModelData::Reader Event::Reader::getNavModel() const {
-  KJ_IREQUIRE((which() == Event::NAV_MODEL),
+inline  ::cereal::NavModelData::Reader Event::Reader::getNavModelDEPRECATED() const {
+  KJ_IREQUIRE((which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D),
              "Must check which() before get()ing a union member.");
  return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::get(_reader.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
-inline  ::cereal::NavModelData::Builder Event::Builder::getNavModel() {
-  KJ_IREQUIRE((which() == Event::NAV_MODEL),
+inline  ::cereal::NavModelData::Builder Event::Builder::getNavModelDEPRECATED() {
+  KJ_IREQUIRE((which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D),
              "Must check which() before get()ing a union member.");
  return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::get(_builder.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
-inline void Event::Builder::setNavModel( ::cereal::NavModelData::Reader value) {
+inline void Event::Builder::setNavModelDEPRECATED( ::cereal::NavModelData::Reader value) {
  _builder.setDataField<Event::Which>(
-      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL);
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D);
  ::capnp::_::PointerHelpers< ::cereal::NavModelData>::set(_builder.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS), value);
 }
-inline  ::cereal::NavModelData::Builder Event::Builder::initNavModel() {
+inline  ::cereal::NavModelData::Builder Event::Builder::initNavModelDEPRECATED() {
  _builder.setDataField<Event::Which>(
-      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL);
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D);
  return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::init(_builder.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }
-inline void Event::Builder::adoptNavModel(
+inline void Event::Builder::adoptNavModelDEPRECATED(
    ::capnp::Orphan< ::cereal::NavModelData>&& value) {
  _builder.setDataField<Event::Which>(
-      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL);
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D);
  ::capnp::_::PointerHelpers< ::cereal::NavModelData>::adopt(_builder.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
 }
-inline ::capnp::Orphan< ::cereal::NavModelData> Event::Builder::disownNavModel() {
-  KJ_IREQUIRE((which() == Event::NAV_MODEL),
+inline ::capnp::Orphan< ::cereal::NavModelData> Event::Builder::disownNavModelDEPRECATED() {
+  KJ_IREQUIRE((which() == Event::NAV_MODEL_D_E_P_R_E_C_A_T_E_D),
              "Must check which() before get()ing a union member.");
  return ::capnp::_::PointerHelpers< ::cereal::NavModelData>::disown(_builder.getPointerField(
      ::capnp::bounded<0>() * ::capnp::POINTERS));
@@ -53151,6 +53263,60 @@ inline ::capnp::Orphan< ::capnp::Data> Event::Builder::disownCustomReservedRawDa
      ::capnp::bounded<0>() * ::capnp::POINTERS));
 }

+inline bool Event::Reader::isCarOutput() const {
+  return which() == Event::CAR_OUTPUT;
+}
+inline bool Event::Builder::isCarOutput() {
+  return which() == Event::CAR_OUTPUT;
+}
+inline bool Event::Reader::hasCarOutput() const {
+  if (which() != Event::CAR_OUTPUT) return false;
+  return !_reader.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
+}
+inline bool Event::Builder::hasCarOutput() {
+  if (which() != Event::CAR_OUTPUT) return false;
+  return !_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
+}
+inline  ::cereal::CarOutput::Reader Event::Reader::getCarOutput() const {
+  KJ_IREQUIRE((which() == Event::CAR_OUTPUT),
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::get(_reader.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline  ::cereal::CarOutput::Builder Event::Builder::getCarOutput() {
+  KJ_IREQUIRE((which() == Event::CAR_OUTPUT),
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::get(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline void Event::Builder::setCarOutput( ::cereal::CarOutput::Reader value) {
+  _builder.setDataField<Event::Which>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_OUTPUT);
+  ::capnp::_::PointerHelpers< ::cereal::CarOutput>::set(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), value);
+}
+inline  ::cereal::CarOutput::Builder Event::Builder::initCarOutput() {
+  _builder.setDataField<Event::Which>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_OUTPUT);
+  return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::init(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+inline void Event::Builder::adoptCarOutput(
+    ::capnp::Orphan< ::cereal::CarOutput>&& value) {
+  _builder.setDataField<Event::Which>(
+      ::capnp::bounded<4>() * ::capnp::ELEMENTS, Event::CAR_OUTPUT);
+  ::capnp::_::PointerHelpers< ::cereal::CarOutput>::adopt(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
+}
+inline ::capnp::Orphan< ::cereal::CarOutput> Event::Builder::disownCarOutput() {
+  KJ_IREQUIRE((which() == Event::CAR_OUTPUT),
+              "Must check which() before get()ing a union member.");
+  return ::capnp::_::PointerHelpers< ::cereal::CarOutput>::disown(_builder.getPointerField(
+      ::capnp::bounded<0>() * ::capnp::POINTERS));
+}
+
 }  // namespace

 CAPNP_END_HEADER
@@ -29,6 +29,7 @@ struct InitData {
  osVersion @18 :Text;

  dongleId @2 :Text;
+  bootlogId @22 :Text;

  deviceType @3 :DeviceType;
  version @4 :Text;
@@ -57,6 +58,7 @@ struct InitData {
    tici @4;
    pc @5;
    tizi @6;
+    mici @7;
  }

  struct PandaInfo {
@@ -197,6 +199,13 @@ struct Thumbnail {
  frameId @0 :UInt32;
  timestampEof @1 :UInt64;
  thumbnail @2 :Data;
+  encoding @3 :Encoding;
+
+  enum Encoding {
+    unknown @0;
+    jpeg @1;
+    keyframe @2;
+  }
 }

 struct GPSNMEAData {
@@ -250,7 +259,7 @@ struct SensorEventData {

 # android struct GpsLocation
 struct GpsLocationData {
-  # Contains GpsLocationFlags bits.
+  # Contains module-specific flags.
  flags @0 :UInt16;

  # Represents latitude in degrees.
@@ -268,8 +277,8 @@ struct GpsLocationData {
  # Represents heading in degrees.
  bearingDeg @5 :Float32;

-  # Represents expected accuracy in meters. (presumably 1 sigma?)
-  accuracy @6 :Float32;
+  # Represents expected horizontal accuracy in meters.
+  horizontalAccuracy @6 :Float32;

  unixTimestampMillis @7 :Int64;

@@ -287,6 +296,8 @@ struct GpsLocationData {
  # Represents velocity accuracy in m/s. (presumably 1 sigma?)
  speedAccuracy @12 :Float32;

+  hasFix @13 :Bool;
+
  enum SensorSource {
    android @0;
    iOS @1;
@@ -297,6 +308,7 @@ struct GpsLocationData {
    ublox @6;
    trimble @7;
    qcomdiag @8;
+    unicore @9;
  }
 }

@@ -331,6 +343,8 @@ struct CanData {
 }

 struct DeviceState @0xa4d8b5af2aa492eb {
+  deviceType @45 :InitData.DeviceType;
+
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
@@ -436,7 +450,6 @@ struct PandaState @0xa7649e2575e4591e {
  ignitionLine @2 :Bool;
  rxBufferOverflow @7 :UInt32;
  txBufferOverflow @8 :UInt32;
-  gmlanSendErrs @9 :UInt32;
  pandaType @10 :PandaType;
  ignitionCan @13 :Bool;
  faultStatus @15 :FaultStatus;
@@ -484,7 +497,7 @@ struct PandaState @0xa7649e2575e4591e {
    interruptRateCan2 @3;
    interruptRateCan3 @4;
    interruptRateTach @5;
-    interruptRateGmlan @6;
+    interruptRateGmlanDEPRECATED @6;
    interruptRateInterrupts @7;
    interruptRateSpiDma @8;
    interruptRateSpiCs @9;
@@ -570,6 +583,7 @@ struct PandaState @0xa7649e2575e4591e {
  gasInterceptorDetectedDEPRECATED @4 :Bool;
  startedSignalDetectedDEPRECATED @5 :Bool;
  hasGpsDEPRECATED @6 :Bool;
+  gmlanSendErrsDEPRECATED @9 :UInt32;
  fanSpeedRpmDEPRECATED @11 :UInt16;
  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
  safetyParamDEPRECATED @20 :Int16;
@@ -681,6 +695,7 @@ struct ControlsState @0x97ff69c53601abf1 {
  active @36 :Bool;

  experimentalMode @64 :Bool;
+  personality @66 :LongitudinalPersonality;

  longControlState @30 :Car.CarControl.Actuators.LongControlState;
  vPid @2 :Float32;
@@ -706,7 +721,6 @@ struct ControlsState @0x97ff69c53601abf1 {
  engageable @41 :Bool;  # can OP be engaged?

  cumLagMs @15 :Float32;
-  canErrorCounter @57 :UInt32;

  lateralControlState :union {
    indiState @52 :LateralINDIState;
@@ -851,6 +865,7 @@ struct ControlsState @0x97ff69c53601abf1 {
  steeringAngleDesiredDegDEPRECATED @29 :Float32;
  canMonoTimesDEPRECATED @21 :List(UInt64);
  desiredCurvatureRateDEPRECATED @62 :Float32;
+  canErrorCounterDEPRECATED @57 :UInt32;
 }

 # All SI units and in device frame
@@ -898,8 +913,8 @@ struct ModelDataV2 {
  # Model perceived motion
  temporalPose @21 :Pose;

-  navEnabled @22 :Bool;
-  locationMonoTime @24 :UInt64;
+  navEnabledDEPRECATED @22 :Bool;
+  locationMonoTimeDEPRECATED @24 :UInt64;

  # e2e lateral planner
  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
@@ -1047,7 +1062,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  jerks @34 :List(Float32);

  solverExecutionTime @35 :Float32;
-  personality @36 :LongitudinalPersonality;

  enum LongitudinalPlanSource {
    cruise @0;
@@ -1085,6 +1099,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  eventsDEPRECATED @13 :List(Car.CarEvent);
  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
  gpsPlannerActiveDEPRECATED @19 :Bool;
+  personalityDEPRECATED @36 :LongitudinalPersonality;

  struct GpsTrajectory {
    x @0 :List(Float32);
@@ -1125,29 +1140,6 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
    u @1 :List(Float32);
  }

-  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;
-  }
-
  # deprecated
  curvatureDEPRECATED @22 :Float32;
  curvatureRateDEPRECATED @23 :Float32;
@@ -2250,6 +2242,7 @@ struct Event {
    liveCalibration @19 :LiveCalibrationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
+    carOutput @127 :Car.CarOutput;
    longitudinalPlan @24 :LongitudinalPlan;
    uiPlan @106 :UiPlan;
    ubloxGnss @34 :UbloxGnss;
@@ -2268,7 +2261,6 @@ struct Event {
    liveLocationKalman @72 :LiveLocationKalman;
    modelV2 @75 :ModelDataV2;
    driverStateV2 @92 :DriverStateV2;
-    navModel @104 :NavModelData;

    # camera stuff, each camera state has a matching encode idx
    roadCameraState @2 :FrameData;
@@ -2372,5 +2364,6 @@ struct Event {
    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
    sensorEventsDEPRECATED @11 :List(SensorEventData);
    lateralPlanDEPRECATED @64 :LateralPlan;
+    navModelDEPRECATED @104 :NavModelData;
  }
 }
@@ -0,0 +1,49 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xa086df597ef5d7a0;
+
+# Geometry
+struct Point {
+  x @0: Float64;
+  y @1: Float64;
+  z @2: Float64;
+}
+
+struct PolyLine {
+  points @0: List(Point);
+}
+
+# Map features
+struct Lane {
+  id @0 :Text;
+
+  leftBoundary @1 :LaneBoundary;
+  rightBoundary @2 :LaneBoundary;
+
+  leftAdjacentId @3 :Text;
+  rightAdjacentId @4 :Text;
+
+  inboundIds @5 :List(Text);
+  outboundIds @6 :List(Text);
+
+  struct LaneBoundary {
+    polyLine @0 :PolyLine;
+    startHeading @1 :Float32; # WRT north
+  }
+}
+
+# Map tiles
+struct TileSummary {
+  version @0 :Text;
+  updatedAt @1 :UInt64; # Millis since epoch
+
+  level @2 :UInt8;
+  x @3 :UInt16;
+  y @4 :UInt16;
+}
+
+struct MapTile {
+  summary @0 :TileSummary;
+  lanes @1 :List(Lane);
+}
@@ -1,7 +1,8 @@
 # must be built with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from .messaging_pyx import MultiplePublishersError, MessagingError
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context

 import os
 import capnp
@@ -13,27 +14,8 @@ from collections import deque
 from cereal import log
 from cereal.services import SERVICE_LIST

-assert MultiplePublishersError
-assert MessagingError
-assert toggle_fake_events
-assert set_fake_prefix
-assert get_fake_prefix
-assert delete_fake_prefix
-assert wait_for_one_event
-
 NO_TRAVERSAL_LIMIT = 2**64-1

-context = Context()
-
-
-def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
-  identifier = identifier or get_fake_prefix()
-  handle = SocketEventHandle(endpoint, identifier, override)
-  if override:
-    handle.enabled = enable
-
-  return handle
-

 def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
@@ -55,58 +37,10 @@ def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) ->
  return dat


-def pub_sock(endpoint: str) -> PubSocket:
-  sock = PubSocket()
-  sock.connect(context, endpoint)
-  return sock
-
-
-def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
-             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
-  sock = SubSocket()
-  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
-
-  if timeout is not None:
-    sock.setTimeout(timeout)
-
-  if poller is not None:
-    poller.registerSocket(sock)
-  return sock
-
-
-def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
-  """Receive all message currently available on the queue"""
-  ret: List[bytes] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:
-      break
-
-    ret.append(dat)
-
-  return ret
-
-
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
-  ret: List[capnp.lib.capnp._DynamicStructReader] = []
-  while 1:
-    if wait_for_one and len(ret) == 0:
-      dat = sock.receive()
-    else:
-      dat = sock.receive(non_blocking=True)
-
-    if dat is None:  # Timeout hit
-      break
-
-    dat = log_from_bytes(dat)
-    ret.append(dat)
-
-  return ret
+  msgs = drain_sock_raw(sock, wait_for_one=wait_for_one)
+  return [log_from_bytes(m) for m in msgs]


 # TODO: print when we drop packets?
@@ -180,9 +114,8 @@ class SubMaster:
    self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
    self.ignore_alive = [] if ignore_alive is None else ignore_alive
    self.ignore_valid = [] if ignore_valid is None else ignore_valid
-    if bool(int(os.getenv("SIMULATION", "0"))):
-      self.ignore_alive = services
-      self.ignore_average_freq = services
+
+    self.simulation = bool(int(os.getenv("SIMULATION", "0")))

    # if freq and poll aren't specified, assume the max to be conservative
    assert frequency is None or poll is None, "Do not specify 'frequency' - frequency of the polled service will be used."
@@ -253,7 +186,7 @@ class SubMaster:
      self.valid[s] = msg.valid

    for s in self.data:
-      if SERVICE_LIST[s].frequency > 1e-5:
+      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
        # alive if delay is within 10x the expected frequency
        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)

@@ -273,7 +206,10 @@ class SubMaster:
        self.freq_ok[s] = avg_freq_ok or recent_freq_ok
      else:
        self.freq_ok[s] = True
-        self.alive[s] = True
+        if self.simulation:
+          self.alive[s] = self.seen[s] # alive is defined as seen when simulation flag set
+        else:
+          self.alive[s] = True

  def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
    if service_list is None:
@@ -10,6 +10,7 @@
 #include <capnp/serialize.h>

 #include "cereal/gen/cpp/log.capnp.h"
+#include "msgq/ipc.h"

 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
@@ -17,57 +18,6 @@

 #define MSG_MULTIPLE_PUBLISHERS 100

-bool messaging_use_zmq();
-
-class Context {
-public:
-  virtual void * getRawContext() = 0;
-  static Context * create();
-  virtual ~Context(){}
-};
-
-class Message {
-public:
-  virtual void init(size_t size) = 0;
-  virtual void init(char * data, size_t size) = 0;
-  virtual void close() = 0;
-  virtual size_t getSize() = 0;
-  virtual char * getData() = 0;
-  virtual ~Message(){}
-};
-
-
-class SubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
-  virtual void setTimeout(int timeout) = 0;
-  virtual Message *receive(bool non_blocking=false) = 0;
-  virtual void * getRawSocket() = 0;
-  static SubSocket * create();
-  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
-  virtual ~SubSocket(){}
-};
-
-class PubSocket {
-public:
-  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
-  virtual int sendMessage(Message *message) = 0;
-  virtual int send(char *data, size_t size) = 0;
-  virtual bool all_readers_updated() = 0;
-  static PubSocket * create();
-  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
-  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
-  virtual ~PubSocket(){}
-};
-
-class Poller {
-public:
-  virtual void registerSocket(SubSocket *socket) = 0;
-  virtual std::vector<SubSocket*> poll(int timeout) = 0;
-  static Poller * create();
-  static Poller * create(std::vector<SubSocket*> sockets);
-  virtual ~Poller(){}
-};

 class SubMaster {
 public:
@@ -3,90 +3,91 @@
 #define __SERVICES_H
 #include <map>
 #include <string>
-struct service { std::string name; int port; bool should_log; int frequency; int decimation; };
+struct service { std::string name; bool should_log; int frequency; int decimation; };
 static std::map<std::string, service> services = {
-  { "gyroscope", {"gyroscope", 8001, true, 104, 104}},
-  { "gyroscope2", {"gyroscope2", 8002, true, 100, 100}},
-  { "accelerometer", {"accelerometer", 8003, true, 104, 104}},
-  { "accelerometer2", {"accelerometer2", 8004, true, 100, 100}},
-  { "magnetometer", {"magnetometer", 8005, true, 25, 25}},
-  { "lightSensor", {"lightSensor", 8006, true, 100, 100}},
-  { "temperatureSensor", {"temperatureSensor", 8007, true, 2, 200}},
-  { "temperatureSensor2", {"temperatureSensor2", 8008, true, 2, 200}},
-  { "gpsNMEA", {"gpsNMEA", 8009, true, 9, -1}},
-  { "deviceState", {"deviceState", 8010, true, 2, 1}},
-  { "can", {"can", 8011, true, 100, 1223}},
-  { "controlsState", {"controlsState", 8012, true, 100, 10}},
-  { "pandaStates", {"pandaStates", 8013, true, 10, 1}},
-  { "peripheralState", {"peripheralState", 8014, true, 2, 1}},
-  { "radarState", {"radarState", 8015, true, 20, 5}},
-  { "roadEncodeIdx", {"roadEncodeIdx", 8016, false, 20, 1}},
-  { "liveTracks", {"liveTracks", 8017, true, 20, -1}},
-  { "sendcan", {"sendcan", 8018, true, 100, 139}},
-  { "logMessage", {"logMessage", 8019, true, 0, -1}},
-  { "errorLogMessage", {"errorLogMessage", 8020, true, 0, 1}},
-  { "liveCalibration", {"liveCalibration", 8021, true, 4, 4}},
-  { "liveTorqueParameters", {"liveTorqueParameters", 8023, true, 4, 1}},
-  { "androidLog", {"androidLog", 8024, true, 0, -1}},
-  { "carState", {"carState", 8025, true, 100, 10}},
-  { "carControl", {"carControl", 8026, true, 100, 10}},
-  { "longitudinalPlan", {"longitudinalPlan", 8027, true, 20, 5}},
-  { "procLog", {"procLog", 8028, true, 0, 15}},
-  { "gpsLocationExternal", {"gpsLocationExternal", 8029, true, 10, 10}},
-  { "gpsLocation", {"gpsLocation", 8030, true, 1, 1}},
-  { "ubloxGnss", {"ubloxGnss", 8031, true, 10, -1}},
-  { "qcomGnss", {"qcomGnss", 8032, true, 2, -1}},
-  { "gnssMeasurements", {"gnssMeasurements", 8033, true, 10, 10}},
-  { "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}},
-  { "lateralPlanDEPRECATED", {"lateralPlanDEPRECATED", 8039, true, 20, 5}},
-  { "thumbnail", {"thumbnail", 8040, true, 0, 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}},
-  { "driverEncodeIdx", {"driverEncodeIdx", 8045, false, 20, 1}},
-  { "driverStateV2", {"driverStateV2", 8046, true, 20, 10}},
-  { "driverMonitoringState", {"driverMonitoringState", 8047, true, 20, 10}},
-  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", 8048, false, 20, 1}},
-  { "wideRoadCameraState", {"wideRoadCameraState", 8049, true, 20, 20}},
-  { "modelV2", {"modelV2", 8050, true, 20, 40}},
-  { "managerState", {"managerState", 8051, true, 2, 1}},
-  { "uploaderState", {"uploaderState", 8052, true, 0, 1}},
-  { "navInstruction", {"navInstruction", 8053, true, 1, 10}},
-  { "navRoute", {"navRoute", 8054, true, 0, -1}},
-  { "navThumbnail", {"navThumbnail", 8055, true, 0, -1}},
-  { "navModel", {"navModel", 8056, true, 2, 4}},
-  { "mapRenderState", {"mapRenderState", 8057, true, 2, 1}},
-  { "uiPlan", {"uiPlan", 8058, true, 20, 40}},
-  { "qRoadEncodeIdx", {"qRoadEncodeIdx", 8059, false, 20, -1}},
-  { "userFlag", {"userFlag", 8060, true, 0, 1}},
-  { "microphone", {"microphone", 8061, true, 10, 10}},
-  { "controlsStateSP", {"controlsStateSP", 8062, true, 100, 10}},
-  { "longitudinalPlanSP", {"longitudinalPlanSP", 8063, 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}},
-  { "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}},
+  { "gyroscope", {"gyroscope", true, 104, 104}},
+  { "gyroscope2", {"gyroscope2", true, 100, 100}},
+  { "accelerometer", {"accelerometer", true, 104, 104}},
+  { "accelerometer2", {"accelerometer2", true, 100, 100}},
+  { "magnetometer", {"magnetometer", true, 25, 25}},
+  { "lightSensor", {"lightSensor", true, 100, 100}},
+  { "temperatureSensor", {"temperatureSensor", true, 2, 200}},
+  { "temperatureSensor2", {"temperatureSensor2", true, 2, 200}},
+  { "gpsNMEA", {"gpsNMEA", true, 9, -1}},
+  { "deviceState", {"deviceState", true, 2, 1}},
+  { "can", {"can", true, 100, 1223}},
+  { "controlsState", {"controlsState", true, 100, 10}},
+  { "pandaStates", {"pandaStates", true, 10, 1}},
+  { "peripheralState", {"peripheralState", true, 2, 1}},
+  { "radarState", {"radarState", true, 20, 5}},
+  { "roadEncodeIdx", {"roadEncodeIdx", false, 20, 1}},
+  { "liveTracks", {"liveTracks", true, 20, -1}},
+  { "sendcan", {"sendcan", true, 100, 139}},
+  { "logMessage", {"logMessage", true, 0, -1}},
+  { "errorLogMessage", {"errorLogMessage", true, 0, 1}},
+  { "liveCalibration", {"liveCalibration", true, 4, 4}},
+  { "liveTorqueParameters", {"liveTorqueParameters", true, 4, 1}},
+  { "androidLog", {"androidLog", true, 0, -1}},
+  { "carState", {"carState", true, 100, 10}},
+  { "carControl", {"carControl", true, 100, 10}},
+  { "carOutput", {"carOutput", true, 100, 10}},
+  { "longitudinalPlan", {"longitudinalPlan", true, 20, 5}},
+  { "procLog", {"procLog", true, 0, 15}},
+  { "gpsLocationExternal", {"gpsLocationExternal", true, 10, 10}},
+  { "gpsLocation", {"gpsLocation", true, 1, 1}},
+  { "ubloxGnss", {"ubloxGnss", true, 10, -1}},
+  { "qcomGnss", {"qcomGnss", true, 2, -1}},
+  { "gnssMeasurements", {"gnssMeasurements", true, 10, 10}},
+  { "clocks", {"clocks", true, 0, 1}},
+  { "ubloxRaw", {"ubloxRaw", true, 20, -1}},
+  { "liveLocationKalman", {"liveLocationKalman", true, 20, 5}},
+  { "liveParameters", {"liveParameters", true, 20, 5}},
+  { "cameraOdometry", {"cameraOdometry", true, 20, 5}},
+  { "lateralPlanDEPRECATED", {"lateralPlanDEPRECATED", true, 20, 5}},
+  { "thumbnail", {"thumbnail", true, 0, 1}},
+  { "onroadEvents", {"onroadEvents", true, 1, 1}},
+  { "carParams", {"carParams", true, 0, 1}},
+  { "roadCameraState", {"roadCameraState", true, 20, 20}},
+  { "driverCameraState", {"driverCameraState", true, 20, 20}},
+  { "driverEncodeIdx", {"driverEncodeIdx", false, 20, 1}},
+  { "driverStateV2", {"driverStateV2", true, 20, 10}},
+  { "driverMonitoringState", {"driverMonitoringState", true, 20, 10}},
+  { "wideRoadEncodeIdx", {"wideRoadEncodeIdx", false, 20, 1}},
+  { "wideRoadCameraState", {"wideRoadCameraState", true, 20, 20}},
+  { "modelV2", {"modelV2", true, 20, 40}},
+  { "managerState", {"managerState", true, 2, 1}},
+  { "uploaderState", {"uploaderState", true, 0, 1}},
+  { "navInstruction", {"navInstruction", true, 1, 10}},
+  { "navRoute", {"navRoute", true, 0, -1}},
+  { "navThumbnail", {"navThumbnail", true, 0, -1}},
+  { "navModelDEPRECATED", {"navModelDEPRECATED", true, 2, 4}},
+  { "mapRenderState", {"mapRenderState", true, 2, 1}},
+  { "uiPlan", {"uiPlan", true, 20, 40}},
+  { "qRoadEncodeIdx", {"qRoadEncodeIdx", false, 20, -1}},
+  { "userFlag", {"userFlag", true, 0, 1}},
+  { "microphone", {"microphone", true, 10, 10}},
+  { "controlsStateSP", {"controlsStateSP", true, 100, 10}},
+  { "longitudinalPlanSP", {"longitudinalPlanSP", true, 20, 5}},
+  { "lateralPlanSPDEPRECATED", {"lateralPlanSPDEPRECATED", true, 20, 5}},
+  { "driverMonitoringStateSP", {"driverMonitoringStateSP", true, 20, 10}},
+  { "liveMapDataSP", {"liveMapDataSP", true, 0, -1}},
+  { "e2eLongStateSP", {"e2eLongStateSP", true, 0, -1}},
+  { "modelV2SP", {"modelV2SP", true, 20, 40}},
+  { "uiDebug", {"uiDebug", true, 0, 1}},
+  { "testJoystick", {"testJoystick", true, 0, -1}},
+  { "roadEncodeData", {"roadEncodeData", false, 20, -1}},
+  { "driverEncodeData", {"driverEncodeData", false, 20, -1}},
+  { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20, -1}},
+  { "qRoadEncodeData", {"qRoadEncodeData", false, 20, -1}},
+  { "livestreamWideRoadEncodeIdx", {"livestreamWideRoadEncodeIdx", false, 20, -1}},
+  { "livestreamRoadEncodeIdx", {"livestreamRoadEncodeIdx", false, 20, -1}},
+  { "livestreamDriverEncodeIdx", {"livestreamDriverEncodeIdx", false, 20, -1}},
+  { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20, -1}},
+  { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20, -1}},
+  { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20, -1}},
+  { "customReservedRawData0", {"customReservedRawData0", true, 0, -1}},
+  { "customReservedRawData1", {"customReservedRawData1", true, 0, -1}},
+  { "customReservedRawData2", {"customReservedRawData2", true, 0, -1}},
 };
 #endif

@@ -1,24 +1,15 @@
 #!/usr/bin/env python3
 from typing import Optional

-RESERVED_PORT = 8022  # sshd
-STARTING_PORT = 8001
-
-
-def new_port(port: int):
-  port += STARTING_PORT
-  return port + 1 if port >= RESERVED_PORT else port
-

 class Service:
-  def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
-    self.port = port
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation


-services: dict[str, tuple] = {
+_services: dict[str, tuple] = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
@@ -46,6 +37,7 @@ services: dict[str, tuple] = {
  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
  "longitudinalPlan": (True, 20., 5),
  "procLog": (True, 0.5, 15),
  "gpsLocationExternal": (True, 10., 10),
@@ -75,7 +67,7 @@ services: dict[str, tuple] = {
  "navInstruction": (True, 1., 10),
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
-  "navModel": (True, 2., 4.),
+  "navModelDEPRECATED": (True, 2., 4.),
  "mapRenderState": (True, 2., 1.),
  "uiPlan": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
@@ -107,8 +99,8 @@ services: dict[str, tuple] = {
  "customReservedRawData1": (True, 0.),
  "customReservedRawData2": (True, 0.),
 }
-SERVICE_LIST = {name: Service(new_port(idx), *vals) for
-                idx, (name, vals) in enumerate(services.items())}
+SERVICE_LIST = {name: Service(*vals) for
+                idx, (name, vals) in enumerate(_services.items())}


 def build_header():
@@ -120,13 +112,13 @@ def build_header():
  h += "#include <map>\n"
  h += "#include <string>\n"

-  h += "struct service { std::string name; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
  h += "static std::map<std::string, service> services = {\n"
  for k, v in SERVICE_LIST.items():
    should_log = "true" if v.should_log else "false"
    decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %d, %s, %d, %d}},\n' % \
-         (k, k, v.port, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation)
  h += "};\n"

  h += "#endif\n"
@@ -1,6 +0,0 @@
-from cereal.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name
-assert VisionBuf
-assert VisionIpcClient
-assert VisionIpcServer
-assert VisionStreamType
-assert get_endpoint_name
@@ -1,7 +0,0 @@
-#pragma once
-#include <cstddef>
-
-int ipc_connect(const char* socket_path);
-int ipc_bind(const char* socket_path);
-int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                          int *out_num_fds);
@@ -1,46 +1,27 @@
-import jwt
-import os
-import requests
-from datetime import datetime, timedelta
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
+from .comma_connect import CommaConnectApi
+from .sunnylink import SunnylinkApi

-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')

-class Api():
-  def __init__(self, dongle_id):
-    self.dongle_id = dongle_id
-    with open(Paths.persist_root()+'/comma/id_rsa') as f:
-      self.private_key = f.read()
+class Api:
+  def __init__(self, dongle_id, use_sunnylink=False):
+    if use_sunnylink:
+      self.service = SunnylinkApi(dongle_id)
+    else:
+      self.service = CommaConnectApi(dongle_id)
+
+  def request(self, method, endpoint, **params):
+    return self.service.request(method, endpoint, **params)

  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
+    return self.service.get(*args, **kwargs)

  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+    return self.service.post(*args, **kwargs)

  def get_token(self, expiry_hours=1):
-    now = datetime.utcnow()
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours)
-    }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
+    return self.service.get_token(expiry_hours)


-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  headers = {}
-  if access_token is not None:
-    headers['Authorization'] = "JWT " + access_token
-
-  headers['User-Agent'] = "openpilot-" + get_version()
-
-  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, use_sunnylink=False, **params):
+    return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params) if not use_sunnylink else \
+           SunnylinkApi(None).api_get(endpoint, method, timeout, access_token, **params)
@@ -0,0 +1,56 @@
+import jwt
+import requests
+import unicodedata
+from datetime import datetime, timedelta
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+
+class BaseApi:
+  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
+    self.dongle_id = dongle_id
+    self.api_host = api_host
+    self.user_agent = user_agent
+    with open(Paths.persist_root()+'/comma/id_rsa') as f:
+      self.private_key = f.read()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def _get_token(self, expiry_hours=1, **extra_payload):
+    now = datetime.utcnow()
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours),
+      **extra_payload
+    }
+    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+  def get_token(self, expiry_hours=1):
+    return self._get_token(expiry_hours)
+
+  def remove_non_ascii_chars(self, text):
+    normalized_text = unicodedata.normalize('NFD', text)
+    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
+    return ascii_encoded_text.decode()
+
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, **params):
+    headers = {}
+    if access_token is not None:
+      headers['Authorization'] = "JWT " + access_token
+
+    version = self.remove_non_ascii_chars(get_version())
+    headers['User-Agent'] = self.user_agent + version
+
+    return requests.request(method, self.api_host + "/" + endpoint, timeout=timeout, headers=headers, params=params)
@@ -0,0 +1,11 @@
+import os
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+
+class CommaConnectApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "openpilot-"
@@ -0,0 +1,155 @@
+import os
+import time
+import jwt
+import json
+from pathlib import Path
+from datetime import datetime, timedelta
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.common.api.base import BaseApi
+
+API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
+UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
+MAX_RETRIES = 6
+CRASH_LOG_DIR = '/data/community/crashes'
+
+class SunnylinkApi(BaseApi):
+  def __init__(self, dongle_id):
+    super().__init__(dongle_id, API_HOST)
+    self.user_agent = "sunnypilot-"
+    self.spinner = None
+    self.params = Params()
+
+  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, **kwargs):
+    if not self.params.get_bool("SunnylinkEnabled"):
+      return None
+
+    return super().api_get(endpoint, method, timeout, access_token, **kwargs)
+
+  def resume_queued(self, timeout=10, **kwargs):
+    sunnylinkId, commaId = self._resolve_dongle_ids()
+    return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
+
+  def get_token(self, expiry_hours=1):
+    # Add your additional data here
+    additional_data = {}
+    return super()._get_token(expiry_hours, **additional_data)
+
+  def _status_update(self, message):
+    print(message)
+    if self.spinner:
+      self.spinner.update(message)
+      time.sleep(0.5)
+
+  def _resolve_dongle_ids(self):
+    sunnylink_dongle_id = self.params.get("SunnylinkDongleId", encoding='utf-8')
+    comma_dongle_id = self.dongle_id or self.params.get("DongleId", encoding='utf-8')
+    return sunnylink_dongle_id, comma_dongle_id
+
+  def _resolve_imeis(self):
+    imei1, imei2 = None, None
+    imei_try = 0
+    while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
+      try:
+        imei1, imei2 = self.params.get("IMEI", encoding='utf8') or HARDWARE.get_imei(0), HARDWARE.get_imei(1)
+      except Exception:
+        self._status_update(f"Error getting imei, trying again... [{imei_try+1}/{MAX_RETRIES}]")
+        time.sleep(1)
+      imei_try += 1
+    return imei1, imei2
+
+  def _resolve_serial(self):
+    serial = self.params.get("HardwareSerial", encoding='utf8') or HARDWARE.get_serial()
+    return serial
+
+  def register_device(self, spinner=None, timeout=60, verbose=False):
+    self.spinner = spinner
+
+    sunnylink_dongle_id, comma_dongle_id = self._resolve_dongle_ids()
+
+    if comma_dongle_id is None:
+      self._status_update("Comma dongle ID not found, deferring sunnylink's registration to comma's registration process.")
+      return None
+
+    imei1, imei2 = self._resolve_imeis()
+    serial = self._resolve_serial()
+
+    if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      return sunnylink_dongle_id
+
+    privkey_path = Path(Paths.persist_root()+"/comma/id_rsa")
+    pubkey_path = Path(Paths.persist_root()+"/comma/id_rsa.pub")
+
+    start_time = time.monotonic()
+    successful_registration = False
+    if not pubkey_path.is_file():
+      sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
+      self._status_update("Public key not found, setting dongle ID to unregistered.")
+    else:
+      Params().put("LastSunnylinkPingTime", "0")  # Reset the last ping time to 0 if we are trying to register
+      with pubkey_path.open() as f1, privkey_path.open() as f2:
+        public_key = f1.read()
+        private_key = f2.read()
+
+      backoff = 1
+      while True:
+        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        try:
+          if verbose or time.monotonic() - start_time < timeout / 2:
+            self._status_update("Registering device to sunnylink...")
+          elif time.monotonic() - start_time >= timeout / 2:
+            self._status_update("Still registering device to sunnylink...")
+
+          resp = self.api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, comma_dongle_id=comma_dongle_id, public_key=public_key, register_token=register_token)
+
+          if resp is None:
+            raise Exception("Unable to register device, request was None")
+
+          if resp.status_code in (409, 412):
+            timeout = time.monotonic() - start_time  # Don't retry if the public key is already in use
+            key_in_use = "Public key is already in use, is your key unique? Contact your vendor for a new key."
+            unsafe_key = "Public key is known to not be unique and it's unsafe. Contact your vendor for a new key."
+            error_message = key_in_use if resp.status_code == 409 else unsafe_key
+            raise Exception(error_message)
+
+          if resp.status_code != 200:
+            raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}\nData\n:{resp.text}")
+
+          dongleauth = json.loads(resp.text)
+          sunnylink_dongle_id = dongleauth["device_id"]
+          if sunnylink_dongle_id:
+            self._status_update("Device registered successfully.")
+            successful_registration = True
+            break
+        except Exception as e:
+          if verbose:
+            self._status_update(f"Waiting {backoff}s before retry, Exception occurred during registration: [{str(e)}]")
+
+          if not os.path.exists(CRASH_LOG_DIR):
+            os.makedirs(CRASH_LOG_DIR)
+
+          with open(f'{CRASH_LOG_DIR}/error.txt', 'a') as f:
+            f.write(f"[{datetime.now()}] sunnylink: {str(e)}\n")
+
+          backoff = min(backoff * 2, 60)
+          time.sleep(backoff)
+
+        if time.monotonic() - start_time > timeout:
+          self._status_update(f"Giving up on sunnylink's registration after {timeout}s. Will retry on next boot.")
+          time.sleep(3)
+          break
+
+    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
+
+    # Set the last ping time to the current time since we were just talking to the API
+    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
+    Params().put("LastSunnylinkPingTime", str(last_ping))
+
+    # Disable sunnylink if registration was not successful
+    if not successful_registration:
+      Params().put_bool("SunnylinkEnabled", False)
+
+    self.spinner = None
+    return sunnylink_dongle_id
@@ -1,7 +1,6 @@
 import os
 import tempfile
 import contextlib
-from typing import Optional


 class CallbackReader:
@@ -24,7 +23,7 @@ class CallbackReader:


@contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None,
+def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: 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)
@@ -0,0 +1,42 @@
+from functools import cache
+import subprocess
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
+
+
+@cache
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
+
+
+@cache
+def get_short_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
+
+
+@cache
+def get_branch(cwd: str = None) -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
+
+
+@cache
+def get_origin(cwd: str = None) -> str:
+  try:
+    local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
+    tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
+    return run_cmd(["git", "config", "remote." + tracking_remote + ".url"], cwd=cwd)
+  except subprocess.CalledProcessError:  # Not on a branch, fallback
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], cwd=cwd)
+
+
+@cache
+def get_normalized_origin(cwd: str = None) -> str:
+  return get_origin(cwd) \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)
@@ -1,6 +1,5 @@
 import os
-from functools import lru_cache
-from typing import Optional, List
+from functools import cache

 def gpio_init(pin: int, output: bool) -> None:
  try:
@@ -16,7 +15,7 @@ def gpio_set(pin: int, high: bool) -> None:
  except Exception as e:
    print(f"Failed to set gpio {pin} value: {e}")

-def gpio_read(pin: int) -> Optional[bool]:
+def gpio_read(pin: int) -> bool | None:
  val = None
  try:
    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
@@ -36,8 +35,8 @@ def gpio_export(pin: int) -> None:
  except Exception:
    print(f"Failed to export gpio {pin}")

-@lru_cache(maxsize=None)
-def get_irq_action(irq: int) -> List[str]:
+@cache
+def get_irq_action(irq: int) -> list[str]:
  try:
    with open(f"/sys/kernel/irq/{irq}/actions") as f:
      actions = f.read().strip().split(',')
@@ -45,7 +44,7 @@ def get_irq_action(irq: int) -> List[str]:
  except FileNotFoundError:
    return []

-def get_irqs_for_action(action: str) -> List[str]:
+def get_irqs_for_action(action: str) -> list[str]:
  ret = []
  with open("/proc/interrupts") as f:
    for l in f.readlines():
@@ -0,0 +1,45 @@
+HTML_REPLACEMENTS = [
+  (r'&', r'&amp;'),
+  (r'"', r'&quot;'),
+]
+
+def parse_markdown(text: str, tab_length: int = 2) -> str:
+  lines = text.split("\n")
+  output: list[str] = []
+  list_level = 0
+
+  def end_outstanding_lists(level: int, end_level: int) -> int:
+    while level > end_level:
+      level -= 1
+      output.append("</ul>")
+      if level > 0:
+        output.append("</li>")
+    return end_level
+
+  for i, line in enumerate(lines):
+    if i + 1 < len(lines) and lines[i + 1].startswith("==="):  # heading
+      output.append(f"<h1>{line}</h1>")
+    elif line.startswith("==="):
+      pass
+    elif line.lstrip().startswith("* "):  # list
+      line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
+      if list_level >= line_level:
+        list_level = end_outstanding_lists(list_level, line_level)
+      else:
+        list_level += 1
+        if list_level > 1:
+          output[-1] = output[-1].replace("</li>", "")
+        output.append("<ul>")
+      output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
+    else:
+      list_level = end_outstanding_lists(list_level, 0)
+      if len(line) > 0:
+        output.append(line)
+
+  end_outstanding_lists(list_level, 0)
+  output_str = "\n".join(output) + "\n"
+
+  for (fr, to) in HTML_REPLACEMENTS:
+    output_str = output_str.replace(fr, to)
+
+  return output_str
@@ -0,0 +1,50 @@
+"""
+Utilities for generating mock messages for testing.
+example in common/tests/test_mock.py
+"""
+
+
+import functools
+import threading
+from cereal.messaging import PubMaster
+from cereal.services import SERVICE_LIST
+from openpilot.common.mock.generators import generate_liveLocationKalman
+from openpilot.common.realtime import Ratekeeper
+
+
+MOCK_GENERATOR = {
+  "liveLocationKalman": generate_liveLocationKalman
+}
+
+
+def generate_messages_loop(services: list[str], done: threading.Event):
+  pm = PubMaster(services)
+  rk = Ratekeeper(100)
+  i = 0
+  while not done.is_set():
+    for s in services:
+      should_send = i % (100/SERVICE_LIST[s].frequency) == 0
+      if should_send:
+        message = MOCK_GENERATOR[s]()
+        pm.send(s, message)
+    i += 1
+    rk.keep_time()
+
+
+def mock_messages(services: list[str] | str):
+  if isinstance(services, str):
+    services = [services]
+
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      done = threading.Event()
+      t = threading.Thread(target=generate_messages_loop, args=(services, done))
+      t.start()
+      try:
+        return func(*args, **kwargs)
+      finally:
+        done.set()
+        t.join()
+    return wrapper
+  return decorator
@@ -0,0 +1,20 @@
+from cereal import messaging
+
+
+LOCATION1 = (32.7174, -117.16277)
+LOCATION2 = (32.7558, -117.2037)
+
+LLK_DECIMATION = 10
+RENDER_FRAMES = 15
+DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
+
+
+def generate_liveLocationKalman(location=LOCATION1):
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.positionECEF = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.velocityCalibrated = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+  msg.liveLocationKalman.gpsOK = True
+  return msg
@@ -1 +1 @@
-#define CURRENT_MODEL "Los Angeles v2 (January 24, 2024)"
+#define CURRENT_MODEL "North Dakota (April 29, 2024)"
@@ -16,6 +16,7 @@ enum ParamKeyType {
  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
  DONT_LOG = 0x20,
  DEVELOPMENT_ONLY = 0x40,
+  BACKUP = 0x80,
  ALL = 0xFFFFFFFF
 };

@@ -3,6 +3,7 @@
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.map cimport map

 cdef extern from "common/params.h":
  cpdef enum ParamKeyType:
@@ -11,6 +12,7 @@ cdef extern from "common/params.h":
    CLEAR_ON_ONROAD_TRANSITION
    CLEAR_ON_OFFROAD_TRANSITION
    DEVELOPMENT_ONLY
+    BACKUP
    ALL

  cdef cppclass c_Params "Params":
@@ -26,6 +28,7 @@ cdef extern from "common/params.h":
    string getParamPath(string) nogil
    void clearAll(ParamKeyType)
    vector[string] allKeys()
+    map[string, string] readAll()


 def ensure_bytes(v):
@@ -116,3 +119,6 @@ cdef class Params:

  def all_keys(self):
    return self.p.allKeys()
+
+  def read_all(self):
+    return self.p.readAll()
@@ -5,6 +5,7 @@

 #include "common/params.h"
 #include "common/util.h"
+#include "system/hardware/hw.h"

 class OpenpilotPrefix {
 public:
@@ -25,6 +26,10 @@ public:
      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
      unlink(param_path.c_str());
    }
+    if (getenv("COMMA_CACHE") == nullptr) {
+      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+    }
+    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
    unsetenv("OPENPILOT_PREFIX");
  }
@@ -2,14 +2,14 @@ import os
 import shutil
 import uuid

-from typing import Optional

 from openpilot.common.params import Params
+from openpilot.system.hardware import PC
 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):
+  def __init__(self, prefix: 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
@@ -46,7 +46,8 @@ class OpenpilotPrefix:
      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 PC:
+      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)
@@ -9,7 +9,7 @@ public:
  ~RateKeeper() {}
  bool keepTime();
  bool monitorTime();
-  inline double frame() const { return frame_; }
+  inline uint64_t frame() const { return frame_; }
  inline double remaining() const { return remaining_; }

 private:
@@ -5,7 +5,6 @@ import time
 import threading
 import psutil
 from collections import deque
-from typing import Optional, List, Union

 from setproctitle import getproctitle

@@ -15,7 +14,7 @@ from openpilot.system.hardware import PC
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
+DT_HW = 0.5  # hardwared and manager
 DT_DMON = 0.05  # driver monitoring


@@ -26,7 +25,7 @@ class Priority:
  CTRL_LOW = 51 # plannerd & radard

  # CORE 3
-  # - boardd = 55
+  # - pandad = 55
  CTRL_HIGH = 53


@@ -35,19 +34,19 @@ def set_realtime_priority(level: int) -> None:
    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))


-def set_core_affinity(cores: List[int]) -> None:
+def set_core_affinity(cores: list[int]) -> None:
  if not PC:
    os.sched_setaffinity(0, cores)


-def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
+def config_realtime_process(cores: int | list[int], priority: int) -> None:
  gc.disable()
  set_realtime_priority(priority)
  c = cores if isinstance(cores, list) else [cores, ]
  set_core_affinity(c)


-def set_thread_affinity(thread: threading.Thread, cores: List[int]) -> None:
+def set_thread_affinity(thread: threading.Thread, cores: list[int]) -> None:
  try:
    process = psutil.Process(thread.ident)
    process.cpu_affinity(cores)
@@ -56,7 +55,7 @@ def set_thread_affinity(thread: threading.Thread, cores: List[int]) -> None:


 class Ratekeeper:
-  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._next_frame_time = time.monotonic() + self._interval
@@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
@@ -3,7 +3,7 @@ import subprocess
 from openpilot.common.basedir import BASEDIR


-class Spinner():
+class Spinner:
  def __init__(self):
    try:
      self.spinner_proc = subprocess.Popen(["./spinner"],
@@ -1,6 +1,6 @@
 import numpy as np

-class RunningStat():
+class RunningStat:
  # tracks realtime mean and standard deviation without storing any data
  def __init__(self, priors=None, max_trackable=-1):
    self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
  def params_to_save(self):
    return [self.M, self.S, self.n]

-class RunningStatFilter():
+class RunningStatFilter:
  def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
    self.raw_stat = RunningStat(raw_priors, -1)
    self.filtered_stat = RunningStat(filtered_priors, max_trackable)
@@ -1,6 +1,15 @@
 import datetime
+from pathlib import Path

-MIN_DATE = datetime.datetime(year=2024, month=1, day=28)
+_MIN_DATE = datetime.datetime(year=2024, month=3, day=30)
+
+def min_date():
+  # on systemd systems, the default time is the systemd build time
+  systemd_path = Path("/lib/systemd/systemd")
+  if systemd_path.exists():
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    return d + datetime.timedelta(days=1)
+  return _MIN_DATE

 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > min_date()
@@ -0,0 +1,2 @@
+transformations
+transformations.cpp
@@ -1,55 +1,74 @@
+import itertools
 import numpy as np
+from dataclasses import dataclass

 import openpilot.common.transformations.orientation as orient

 ## -- hardcoded hardware params --
-eon_f_focal_length = 910.0
-eon_d_focal_length = 650.0
-tici_f_focal_length = 2648.0
-tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
+@dataclass(frozen=True)
+class CameraConfig:
+  width: int
+  height: int
+  focal_length: float

-eon_f_frame_size = (1164, 874)
-eon_d_frame_size = (816, 612)
-tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
+  @property
+  def size(self):
+    return (self.width, self.height)

-# aka 'K' aka camera_frame_from_view_frame
-eon_fcam_intrinsics = np.array([
-  [eon_f_focal_length,  0.0,  float(eon_f_frame_size[0])/2],
-  [0.0,  eon_f_focal_length,  float(eon_f_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
-eon_intrinsics = eon_fcam_intrinsics # xx
+  @property
+  def intrinsics(self):
+    # aka 'K' aka camera_frame_from_view_frame
+    return np.array([
+      [self.focal_length,  0.0, float(self.width)/2],
+      [0.0, self.focal_length, float(self.height)/2],
+      [0.0,  0.0, 1.0]
+    ])

-eon_dcam_intrinsics = np.array([
-  [eon_d_focal_length,  0.0,  float(eon_d_frame_size[0])/2],
-  [0.0,  eon_d_focal_length,  float(eon_d_frame_size[1])/2],
-  [0.0,  0.0,                                          1.0]])
+  @property
+  def intrinsics_inv(self):
+    # aka 'K_inv' aka view_frame_from_camera_frame
+    return np.linalg.inv(self.intrinsics)

-tici_fcam_intrinsics = np.array([
-  [tici_f_focal_length,  0.0,  float(tici_f_frame_size[0])/2],
-  [0.0,  tici_f_focal_length,  float(tici_f_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class _NoneCameraConfig(CameraConfig):
+  width: int = 0
+  height: int = 0
+  focal_length: float = 0

-tici_dcam_intrinsics = np.array([
-  [tici_d_focal_length,  0.0,  float(tici_d_frame_size[0])/2],
-  [0.0,  tici_d_focal_length,  float(tici_d_frame_size[1])/2],
-  [0.0,  0.0,                                            1.0]])
+@dataclass(frozen=True)
+class DeviceCameraConfig:
+  fcam: CameraConfig
+  dcam: CameraConfig
+  ecam: CameraConfig

-tici_ecam_intrinsics = tici_dcam_intrinsics
+  def all_cams(self):
+    for cam in ['fcam', 'dcam', 'ecam']:
+      if not isinstance(getattr(self, cam), _NoneCameraConfig):
+        yield cam, getattr(self, cam)

-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
-eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
+_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
+_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())

-tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
-tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
+DEVICE_CAMERAS = {
+  # A "device camera" is defined by a device type and sensor

+  # sensor type was never set on eon/neo/two
+  ("neo", "unknown"): _neo_config,
+  # unknown here is AR0231, field was added with OX03C10 support
+  ("tici", "unknown"): _ar_ox_config,

-FULL_FRAME_SIZE = tici_f_frame_size
-FOCAL = tici_f_focal_length
-fcam_intrinsics = tici_fcam_intrinsics
-
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
+  # before deviceState.deviceType was set, assume tici AR config
+  ("unknown", "ar0231"): _ar_ox_config,
+  ("unknown", "ox03c10"): _ar_ox_config,

+  # simulator (emulates a tici)
+  ("pc", "unknown"): _ar_ox_config,
+}
+prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', _ar_ox_config), ('ox03c10', _ar_ox_config), ('os04c10', _os_config)))
+DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})

 # device/mesh : x->forward, y-> right, z->down
 # view : x->right, y->down, z->forward
@@ -93,7 +112,7 @@ def roll_from_ke(m):
                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))


-def normalize(img_pts, intrinsics=fcam_intrinsics):
+def normalize(img_pts, intrinsics):
  # normalizes image coordinates
  # accepts single pt or array of pts
  intrinsics_inv = np.linalg.inv(intrinsics)
@@ -106,7 +125,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
  return img_pts_normalized[:, :2].reshape(input_shape)


-def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
+def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
  # denormalizes image coordinates
  # accepts single pt or array of pts
  img_pts = np.array(img_pts)
@@ -123,7 +142,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
  return img_pts_denormalized[:, :2].reshape(input_shape)


-def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+def get_calib_from_vp(vp, intrinsics):
  vp_norm = normalize(vp, intrinsics)
  yaw_calib = np.arctan(vp_norm[0])
  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
@@ -1,19 +1,11 @@
 import numpy as np

 from openpilot.common.transformations.orientation import rot_from_euler
-from openpilot.common.transformations.camera import (
-  FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
-  eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
+from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame

 # segnet
 SEGNET_SIZE = (512, 384)

-def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
-  return np.array([[float(segnet_size[0]) / full_frame_size[0],  0.0],
-                   [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
-segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
-
-
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
 MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
 calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])

 # This function is verified to give similar results to xx.uncommon.utils.transform_img
-def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
-  if tici and wide_camera:
-    cam_intrinsics = tici_ecam_intrinsics
-  elif tici:
-    cam_intrinsics = tici_fcam_intrinsics
-  else:
-    cam_intrinsics = eon_fcam_intrinsics
-
+def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
  calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
  device_from_calib = rot_from_euler(device_from_calib_euler)
-  camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
+  camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
  warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
  return warp_matrix
@@ -1,5 +1,5 @@
 import numpy as np
-from typing import Callable
+from collections.abc import Callable

 from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
                                                    euler2quat_single,
@@ -8,7 +8,6 @@
 #include <atomic>
 #include <chrono>
 #include <csignal>
-#include <ctime>
 #include <map>
 #include <memory>
 #include <mutex>
@@ -45,10 +44,6 @@ int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
 int set_file_descriptor_limit(uint64_t limit);

-// ***** Time helpers *****
-struct tm get_time();
-bool time_valid(struct tm sys_time);
-
 // ***** math helpers *****

 // map x from [a1, a2] to [b1, b2]
@@ -75,9 +70,8 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);

 std::string hexdump(const uint8_t* in, const size_t size);
-std::string dir_name(std::string const& path);
 bool starts_with(const std::string &s1, const std::string &s2);
-bool ends_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s, const std::string &suffix);

 // ***** random helpers *****
 int random_int(int min, int max);
@@ -179,3 +173,10 @@ void update_max_atomic(std::atomic<T>& max, T const& value) {
  T prev = max;
  while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
+
+typedef struct Rect {
+  int x;
+  int y;
+  int w;
+  int h;
+} Rect;
@@ -0,0 +1,11 @@
+class Freezable:
+  _frozen: bool = False
+
+  def freeze(self):
+    if not self._frozen:
+      self._frozen = True
+
+  def __setattr__(self, *args, **kwargs):
+    if self._frozen:
+      raise Exception("cannot modify frozen object")
+    super().__setattr__(*args, **kwargs)
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.6.1-release"
+#define COMMA_VERSION "0.9.7.1-release"
@@ -4,29 +4,24 @@

 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.

-# 279 Supported Cars
+# 288 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>1,13</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>||
+|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>||
 |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 2021-23|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>||
@@ -34,36 +29,45 @@ A supported vehicle is one that just works when you install a comma device. All
 |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||
+|CUPRA|Ateca 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=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 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|Bronco Sport 2021-23|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 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 2021-23">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|Escape Hybrid 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 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Escape Plug-in Hybrid 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 Plug-in Hybrid 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|Explorer Hybrid 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 Hybrid 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|Focus Hybrid 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 Hybrid 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|Kuga Hybrid 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 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga Plug-in Hybrid 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 Plug-in Hybrid 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>||
-|Ford|Maverick 2023|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=Maverick 2023">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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=Genesis&model=G70 2020">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford 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 2023-24">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 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 Hybrid 2022">Buy Here</a></sub></details>||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford 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 Hybrid 2023-24">Buy Here</a></sub></details>||
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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=Genesis&model=G70 2018">Buy Here</a></sub></details>||
+|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 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=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|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 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=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|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=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 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=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 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=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 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 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=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 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 M 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=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 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 M 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=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<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=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|G90 2017-20|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 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=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</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=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</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=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</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 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=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</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 M 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=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>5</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 M 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=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 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 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 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 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-23|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 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|Civic Hatchback 2017-21|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=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |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 2017-20|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|CR-V Hybrid 2017-21|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 2017-21">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>||
@@ -79,30 +83,30 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>||
-|Hyundai|Elantra 2019|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 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=Elantra 2019">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 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>||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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 2019">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 GT 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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 Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J 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=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 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=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (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 Q 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=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 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=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 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=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</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 Q 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=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 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=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 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=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 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=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|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=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 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 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=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 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 2020">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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 Electric (with HDA II, Korea only) 2023[<sup>5</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>||
 |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)|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 Cruz 2022-24[<sup>5</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 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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>||
@@ -110,49 +114,51 @@ A supported vehicle is one that just works when you install a comma device. All
 |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)|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|Staria 2023[<sup>5</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-empty.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>5</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 2023-24[<sup>5</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 2023-24">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>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>5</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|Tucson Plug-in Hybrid 2024[<sup>5</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 Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 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|Carnival 2022-24[<sup>5</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>5</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>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 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 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|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=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Forte 2023">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</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) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 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 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 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 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 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=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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=Forte 2022-23">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 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=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 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=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 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 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 EV 2023[<sup>5</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 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 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 2018">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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|Niro Hybrid 2023[<sup>5</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-empty.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|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 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|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 Plug-in Hybrid 2021">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 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>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 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=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 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 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 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)|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|Sorento 2021-23[<sup>5</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>5</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>5</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 2023-24[<sup>5</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 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</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 2022-23|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>||
@@ -177,9 +183,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2017-19">Buy Here</a></sub></details>||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>1,13</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>|
+|Lincoln|Aviator 2020-23|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 2020-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator Plug-in Hybrid 2020-23|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 Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-24|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 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</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 2017-24">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>||
@@ -187,26 +194,27 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 2019-24|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)|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>||
+|SEAT|Ateca 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=SEAT&model=Ateca 2016-23">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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>6</sup>](#footnotes)|openpilot available[<sup>1,7</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>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 2021-23[<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 2021-23">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|Octavia Scout 2017-19[<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 Scout 2017-19">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>||
 |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>||
@@ -219,20 +227,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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|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 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 2021-24|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 2021-24">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>||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 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=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-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=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Corolla 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=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 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=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|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=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|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=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Mirai 2021">Buy Here</a></sub></details>||
 |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -240,69 +248,69 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-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=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Prius v 2017">Buy Here</a></sub></details>||
 |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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|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 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 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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|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>1,13</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>||
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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|Arteon Shooting Brake 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 Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</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 2017-24|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 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</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 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</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 2019-24|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 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|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 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|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 2021-24">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 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=T-Roc 2018-23">Buy Here</a></sub></details>||
+|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 2018-24|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 2018-24">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>||

 ### 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 />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<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>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 />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</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>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>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 />

 ## 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/).
@@ -343,7 +351,9 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Venza 2021+
 * Toyota Sequoia 2023+
 * Toyota Tundra 2022+
+* Toyota Highlander 2024+
 * Toyota Corolla Cross 2022+ (only US model)
+* Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
 * Subaru Solterra 2023+
@@ -62,4 +62,4 @@ A good pull request has all of the following:
 * 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).
+* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
@@ -82,11 +82,12 @@ function launch {
  tmux capture-pane -pq -S-1000 > /tmp/launch_log

  # start manager
-  cd selfdrive/manager
+  cd system/manager
  if [ ! -f $DIR/prebuilt ]; then
    ./build.py
  fi
-  ./mapd_installer.py && ./manager.py
+
+  ./mapd_installer.py; ./manager.py

  # if broken, keep on screen error
  while true; do sleep 1; done
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.6"
+  export AGNOS_VERSION="10.1"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -0,0 +1 @@
+msgq_repo/msgq
@@ -5,6 +5,7 @@ __pycache__
 .*.swp
 .*.swo
 *.os
+*.so
 *.o
 *.a

@@ -0,0 +1,51 @@
+Import('env', 'envCython', 'arch', 'common')
+
+
+visionipc_dir = Dir('msgq/visionipc')
+gen_dir = Dir('gen')
+
+
+# Build msgq
+msgq_objects = env.SharedObject([
+  'msgq/ipc.cc',
+  'msgq/event.cc',
+  'msgq/impl_zmq.cc',
+  'msgq/impl_msgq.cc',
+  'msgq/impl_fake.cc',
+  'msgq/msgq.cc',
+])
+msgq = env.Library('msgq', msgq_objects)
+msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common])
+
+# Build Vision IPC
+vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
+vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
+
+if arch == "larch64":
+  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_ion.cc']
+else:
+  vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_cl.cc']
+
+print(f'Building Vision IPC with {vipc_sources}')
+vipc_objects = env.SharedObject(vipc_sources)
+print(f'Building Vision IPC with {vipc_objects}')
+
+visionipc = env.Library('visionipc', vipc_objects)
+
+
+vipc_frameworks = []
+vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq"]
+if arch == "Darwin":
+  vipc_frameworks.append('OpenCL')
+else:
+  vipc_libs.append('OpenCL')
+envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.abspath}/visionipc_pyx.pyx',
+                  LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+if GetOption('extras'):
+  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
+  env.Program(f'{visionipc_dir.abspath}/test_runner',
+             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
+              LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
+
+Export('visionipc', 'msgq', 'msgq_python')
@@ -0,0 +1,90 @@
+import os
+import platform
+import subprocess
+import sysconfig
+import numpy as np
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+common = ''
+
+cpppath = [
+  f"#/",
+  '#msgq/',
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+AddOption('--ubsan',
+          action='store_true',
+          help='turn on UBSan')
+
+ccflags = []
+ldflags = []
+if GetOption('ubsan'):
+  flags = [
+    "-fsanitize=undefined",
+    "-fno-sanitize-recover=undefined",
+  ]
+  ccflags += flags
+  ldflags += flags
+elif GetOption('asan'):
+  ccflags += ["-fsanitize=address", "-fno-omit-frame-pointer"]
+  ldflags += ["-fsanitize=address"]
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-vla-cxx-extension",
+  ] + ccflags,
+  LDFLAGS=ldflags,
+  LINKFLAGS=ldflags,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch', 'common')
+
+envCython = env.Clone(LIBS=[])
+envCython["CPPPATH"] += [np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove('-Werror')
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])
@@ -0,0 +1 @@
+ipc_pyx.cpp
@@ -0,0 +1,61 @@
+# must be built with scons
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+
+from typing import Optional, List
+
+assert MultiplePublishersError
+assert IpcError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event
+
+NO_TRAVERSAL_LIMIT = 2**64-1
+
+context = Context()
+
+
+def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  identifier = identifier or get_fake_prefix()
+  handle = SocketEventHandle(endpoint, identifier, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+def pub_sock(endpoint: str) -> PubSocket:
+  sock = PubSocket()
+  sock.connect(context, endpoint)
+  return sock
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  sock = SubSocket()
+  sock.connect(context, endpoint, addr.encode('utf8'), conflate)
+
+  if timeout is not None:
+    sock.setTimeout(timeout)
+
+  if poller is not None:
+    poller.registerSocket(sock)
+  return sock
+
+def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
+  """Receive all message currently available on the queue"""
+  ret: List[bytes] = []
+  while 1:
+    if wait_for_one and len(ret) == 0:
+      dat = sock.receive()
+    else:
+      dat = sock.receive(non_blocking=True)
+
+    if dat is None:
+      break
+
+    ret.append(dat)
+
+  return ret
@@ -11,8 +11,8 @@
 #include <fcntl.h>
 #include <unistd.h>

-#include "cereal/messaging/messaging.h"
-#include "cereal/messaging/event.h"
+#include "msgq/ipc.h"
+#include "msgq/event.h"

 template<typename TSubSocket>
 class FakeSubSocket: public TSubSocket {
@@ -3,8 +3,8 @@
 #include <string>
 #include <vector>

-#include "cereal/messaging/messaging.h"
-#include "cereal/messaging/msgq.h"
+#include "msgq/ipc.h"
+#include "msgq/msgq.h"

 #define MAX_POLLERS 128

@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>

-#include "cereal/messaging/messaging.h"
+#include "msgq/ipc.h"

 #define MAX_POLLERS 128

@@ -0,0 +1,68 @@
+#pragma once
+
+#include <cstddef>
+#include <map>
+#include <string>
+#include <vector>
+#include <utility>
+#include <time.h>
+
+
+
+#ifdef __APPLE__
+#define CLOCK_BOOTTIME CLOCK_MONOTONIC
+#endif
+
+#define MSG_MULTIPLE_PUBLISHERS 100
+
+bool messaging_use_zmq();
+
+class Context {
+public:
+  virtual void * getRawContext() = 0;
+  static Context * create();
+  virtual ~Context(){}
+};
+
+class Message {
+public:
+  virtual void init(size_t size) = 0;
+  virtual void init(char * data, size_t size) = 0;
+  virtual void close() = 0;
+  virtual size_t getSize() = 0;
+  virtual char * getData() = 0;
+  virtual ~Message(){}
+};
+
+
+class SubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
+  virtual void setTimeout(int timeout) = 0;
+  virtual Message *receive(bool non_blocking=false) = 0;
+  virtual void * getRawSocket() = 0;
+  static SubSocket * create();
+  static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
+  virtual ~SubSocket(){}
+};
+
+class PubSocket {
+public:
+  virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
+  virtual int sendMessage(Message *message) = 0;
+  virtual int send(char *data, size_t size) = 0;
+  virtual bool all_readers_updated() = 0;
+  static PubSocket * create();
+  static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
+  static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
+  virtual ~PubSocket(){}
+};
+
+class Poller {
+public:
+  virtual void registerSocket(SubSocket *socket) = 0;
+  virtual std::vector<SubSocket*> poll(int timeout) = 0;
+  static Poller * create();
+  static Poller * create(std::vector<SubSocket*> sockets);
+  virtual ~Poller(){}
+};
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "cereal/messaging/impl_fake.h":
+cdef extern from "msgq/impl_fake.h":
  cdef cppclass Event:
    @staticmethod
    int wait_for_one(vector[Event], int) except +
@@ -34,7 +34,7 @@ cdef extern from "cereal/messaging/impl_fake.h":
    Event recv_ready()


-cdef extern from "cereal/messaging/messaging.h":
+cdef extern from "msgq/ipc.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -10,22 +10,22 @@ from libc.string cimport strerror
 from cython.operator import dereference


-from .messaging cimport Context as cppContext
-from .messaging cimport SubSocket as cppSubSocket
-from .messaging cimport PubSocket as cppPubSocket
-from .messaging cimport Poller as cppPoller
-from .messaging cimport Message as cppMessage
-from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
+from .ipc cimport Context as cppContext
+from .ipc cimport SubSocket as cppSubSocket
+from .ipc cimport PubSocket as cppPubSocket
+from .ipc cimport Poller as cppPoller
+from .ipc cimport Message as cppMessage
+from .ipc cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle


-class MessagingError(Exception):
+class IpcError(Exception):
  def __init__(self, endpoint=None):
    suffix = f"with {endpoint.decode('utf-8')}" if endpoint else ""
    message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}"
    super().__init__(message)


-class MultiplePublishersError(MessagingError):
+class MultiplePublishersError(IpcError):
  pass


@@ -170,7 +170,7 @@ cdef class SubSocket:
    self.is_owner = True

    if self.socket == NULL:
-      raise MessagingError
+      raise IpcError

  def __dealloc__(self):
    if self.is_owner:
@@ -190,7 +190,7 @@ cdef class SubSocket:
      if errno.errno == errno.EADDRINUSE:
        raise MultiplePublishersError(endpoint)
      else:
-        raise MessagingError(endpoint)
+        raise IpcError(endpoint)

  def setTimeout(self, int timeout):
    self.socket.setTimeout(timeout)
@@ -219,7 +219,7 @@ cdef class PubSocket:
  def __cinit__(self):
    self.socket = cppPubSocket.create()
    if self.socket == NULL:
-      raise MessagingError
+      raise IpcError

  def __dealloc__(self):
    del self.socket
@@ -231,7 +231,7 @@ cdef class PubSocket:
      if errno.errno == errno.EADDRINUSE:
        raise MultiplePublishersError(endpoint)
      else:
-        raise MessagingError(endpoint)
+        raise IpcError(endpoint)

  def send(self, bytes data):
    length = len(data)
@@ -241,7 +241,7 @@ cdef class PubSocket:
      if errno.errno == errno.EADDRINUSE:
        raise MultiplePublishersError
      else:
-        raise MessagingError
+        raise IpcError

  def all_readers_updated(self):
    return self.socket.all_readers_updated()
@@ -0,0 +1,6 @@
+from msgq.visionipc.visionipc_pyx import VisionBuf, VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name
+assert VisionBuf
+assert VisionIpcClient
+assert VisionIpcServer
+assert VisionStreamType
+assert get_endpoint_name
@@ -1,6 +1,6 @@
 #pragma once

-#include "cereal/visionipc/visionipc.h"
+#include "msgq/visionipc/visionipc.h"

 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
@@ -3,6 +3,12 @@
 #include <cstdint>
 #include <cstddef>

+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);
+
 constexpr int VISIONIPC_MAX_FDS = 128;

 struct VisionIpcBufExtra {
@@ -7,7 +7,7 @@ from libcpp.set cimport set
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp cimport bool, int

-cdef extern from "cereal/visionipc/visionbuf.h":
+cdef extern from "msgq/visionipc/visionbuf.h":
  struct _cl_device_id
  struct _cl_context
  struct _cl_mem
@@ -30,14 +30,14 @@ cdef extern from "cereal/visionipc/visionbuf.h":
    cl_mem buf_cl
    void set_frame_id(uint64_t id)

-cdef extern from "cereal/visionipc/visionipc.h":
+cdef extern from "msgq/visionipc/visionipc.h":
  struct VisionIpcBufExtra:
    uint32_t frame_id
    uint64_t timestamp_sof
    uint64_t timestamp_eof
    bool valid

-cdef extern from "cereal/visionipc/visionipc_server.h":
+cdef extern from "msgq/visionipc/visionipc_server.h":
  string get_endpoint_name(string, VisionStreamType)

  cdef cppclass VisionIpcServer:
@@ -48,7 +48,7 @@ cdef extern from "cereal/visionipc/visionipc_server.h":
    void send(VisionBuf *, VisionIpcBufExtra *, bool)
    void start_listener()

-cdef extern from "cereal/visionipc/visionipc_client.h":
+cdef extern from "msgq/visionipc/visionipc_client.h":
  cdef cppclass VisionIpcClient:
    int num_buffers
    VisionBuf buffers[1]
@@ -3,8 +3,9 @@
 #include <set>
 #include <string>

-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionbuf.h"
+#include "msgq/ipc.h"
+#include "msgq/visionipc/visionbuf.h"
+

 class VisionIpcClient {
 private:
@@ -5,8 +5,8 @@
 #include <atomic>
 #include <map>

-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionbuf.h"
+#include "msgq/ipc.h"
+#include "msgq/visionipc/visionbuf.h"

 std::string get_endpoint_name(std::string name, VisionStreamType type);
 std::string get_ipc_path(const std::string &name);
@@ -0,0 +1,21 @@
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
+lint.ignore = ["W292", "E741", "E402", "C408", "ISC003"]
+lint.flake8-implicit-str-concat.allow-multiline=false
+
+line-length = 160
+target-version="py311"
+
+[mypy.tool]
+# third-party packages
+ignore_missing_imports=true
+
+# helpful warnings
+warn_redundant_casts=true
+warn_unreachable=true
+warn_unused_ignores=true
+
+# restrict dynamic typing
+warn_return_any=true
+check_untyped_defs=true
@@ -0,0 +1,72 @@
+import re
+import SCons
+from SCons.Action import Action
+from SCons.Scanner import Scanner
+
+pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
+pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
+cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
+
+
+def pyx_scan(node, env, path, arg=None):
+  contents = node.get_text_contents()
+
+  # from <module> cimport ...
+  matches = pyx_from_import_re.findall(contents)
+  # cimport <module>
+  matches += pyx_import_re.findall(contents)
+
+  # Modules can be either .pxd or .pyx files
+  files = [m.replace('.', '/') + '.pxd' for m in matches]
+  files += [m.replace('.', '/') + '.pyx' for m in matches]
+
+  # cdef extern from <file>
+  files += cdef_import_re.findall(contents)
+
+  # Handle relative imports
+  cur_dir = str(node.get_dir())
+  files = [cur_dir + f if f.startswith('/') else f for f in files]
+
+  # Filter out non-existing files (probably system imports)
+  files = [f for f in files if env.File(f).exists()]
+  return env.File(files)
+
+
+pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
+cythonAction = Action("$CYTHONCOM")
+
+
+def create_builder(env):
+  try:
+    cython = env['BUILDERS']['Cython']
+  except KeyError:
+    cython = SCons.Builder.Builder(
+      action=cythonAction,
+      emitter={},
+      suffix=cython_suffix_emitter,
+      single_source=1
+    )
+    env.Append(SCANNERS=pyxscanner)
+    env['BUILDERS']['Cython'] = cython
+  return cython
+
+def cython_suffix_emitter(env, source):
+  return "$CYTHONCFILESUFFIX"
+
+def generate(env):
+  env["CYTHON"] = "cythonize"
+  env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
+  env["CYTHONCFILESUFFIX"] = ".cpp"
+
+  c_file, _ = SCons.Tool.createCFileBuilders(env)
+
+  c_file.suffix['.pyx'] = cython_suffix_emitter
+  c_file.add_action('.pyx', cythonAction)
+
+  c_file.suffix['.py'] = cython_suffix_emitter
+  c_file.add_action('.py', cythonAction)
+
+  create_builder(env)
+
+def exists(env):
+  return True
@@ -0,0 +1,7 @@
+Copyright (c) 2020, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
@@ -0,0 +1,85 @@
+import os
+import subprocess
+import sysconfig
+import numpy as np
+
+zmq = 'zmq'
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+
+cereal_dir = Dir('.')
+
+python_path = sysconfig.get_paths()['include']
+cpppath = [
+  '#',
+  '/usr/lib/include',
+  python_path
+]
+
+AddOption('--minimal',
+          action='store_false',
+          dest='extras',
+          default=True,
+          help='the minimum build. no tests, tools, etc.')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+    "-Wshadow",
+    "-Wno-vla-cxx-extension",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+  LIBPATH=[
+    "#opendbc/can/",
+  ],
+  CFLAGS="-std=gnu11",
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=cpppath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+common = ''
+Export('env', 'zmq', 'arch', 'common')
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+Export('cereal', 'messaging')
+
+
+envCython = env.Clone()
+envCython["CPPPATH"] += [np.get_include()]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
+
+python_libs = []
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+
+  python_libs.append(os.path.basename(python_path))
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+envCython["LIBS"] = python_libs
+
+Export('envCython')
+
+
+SConscript(['cereal/SConscript'])
+SConscript(['opendbc/can/SConscript'])
@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -1,7 +1,7 @@
 CM_ "AUTOGENERATED FILE, DO NOT EDIT";


-CM_ "Imported file _comma.dbc starts here";
+CM_ "Imported file _community.dbc starts here";
 BO_ 512 GAS_COMMAND: 6 EON
 SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
 SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
@@ -0,0 +1,913 @@
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: EON XXX RDC SZL VGSG JBBF RFK FLA RAD1 CAS CID AHM HKL HUD EKP DWA DSC SM_BF GWS VDM DDE1 ACI CCC DSC SM_FA CTM LDM RSE MRSZ VDA EDCK ZBE EGS ACC_Sensor Kombi IHKA ARS ACSM FZD PGS NVC AFS DME FRMFA EMF FKA VSW EPS PDC DKG EHC Diagnosetool_PT_CAN Diagnosetool_K_CAN_System Vector__XXX
+
+
+BO_ 170 AccPedal: 8 DME
+ SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
+ SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
+ SG_ AcceleratorPedalPercentage : 16|16@1+ (0.04,0) [0|100] "" XXX
+ SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EngineSpeed : 32|16@1+ (0.25,0) [0|8000] "rpm" XXX
+ SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX
+
+BO_ 404 CruiseControl: 4 SZL
+ SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
+ SG_ Counter_404 : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ Checksum_404 : 7|8@0+ (1,0) [0|15] "" XXX
+
+BO_ 512 CruiseControlStatus: 8 DME
+ SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
+
+BO_ 168 EngineAndBrake: 8 DME
+ SG_ Checksum_EngineAndBrake : 0|8@1+ (1,0) [0|0] "" XXX
+ SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ ST_RCPT_ENG_DSC : 52|2@1+ (1,0) [0|0] "" XXX
+ SG_ ST_RCPT_ENG_ARS : 50|2@1+ (1,0) [0|0] "" XXX
+ SG_ ST_RCPT_ENG_ACC : 48|2@1+ (1,0) [0|0] "" XXX
+ SG_ ST_RCPT_ENG_EGS : 54|2@1+ (1,0) [0|0] "" XXX
+ SG_ ST_DMEA_SWO : 44|2@1+ (1,0) [0|0] "" XXX
+ SG_ EngineTorque : 12|12@1- (0.03125,0) [-1024|1023] "" XXX
+ SG_ ALIV_TORQ_1_DME : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ EngineTorqueWoInterv : 24|16@1- (0.03125,0) [-1024|1023.96875] "" XXX
+
+BO_ 470 SteeringButtons: 2 SZL
+ SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 403 DynamicCruiseControlStatus: 8 DSC
+ SG_ Counter_403 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "kph/mph" XXX
+
+BO_ 201 SteeringWheelAngle_DSC: 8 SZL
+ SG_ Counter_201 : 20|4@1+ (1,0) [0|15] "" DSC
+ SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" DSC
+ SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC
+
+BO_ 206 WheelSpeeds: 8 DSC
+ SG_ Wheel_FL : 0|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_FR : 16|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_RL : 32|16@1- (0.0625,0) [0|255] "kph" XXX
+ SG_ Wheel_RR : 48|16@1- (0.0625,0) [0|255] "kph" XXX
+
+BO_ 884 WheelToleranceAdjustment: 8 DSC
+
+BO_ 678 WiperSwitch: 8 SZL
+ SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 304 TerminalStatus: 8 CAS
+ SG_ AccOn : 23|1@1+ (1,0) [0|255] "" XXX
+ SG_ IgnitionOff : 22|1@1+ (1,0) [0|3] "" XXX
+ SG_ Counter_304 : 32|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum_304 : 36|4@1+ (1,0) [0|255] "" XXX
+
+BO_ 169 Torque2: 8 DME
+ SG_ TORQ_AVL_SPAR_POS : 52|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX
+ SG_ TORQ_AVL_SPAR_NEG : 40|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX
+ SG_ TORQ_AVL_MAX : 28|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX
+ SG_ TORQ_AVL_MIN : 16|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX
+ SG_ ST_INFS : 14|2@1+ (1,0) [0|0] "" XXX
+ SG_ ST_SW_LEV_RPM : 12|2@1+ (1,0) [0|0] "" XXX
+ SG_ ALIV_TORQ_2_DME : 8|4@1+ (1,0) [0|0] "" XXX
+ SG_ CHKSM_TORQ_2_DME : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 184 TorqueTransmisionRequest: 8 LDM
+ SG_ Checksum_184 : 0|8@1+ (1,0) [0|15] "" XXX
+ SG_ Counter_184 : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 196 SteeringWheelAngle: 7 DSC
+ SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [0|255] "degree/s" XXX
+ SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX
+
+BO_ 180 WheelTorqueDriveTrain1: 8 DME
+
+BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC
+ SG_ TORQ_TAR_DSC : 12|12@1- (0.5,0) [0|1000] "" XXX
+ SG_ Counter_182 : 8|4@1+ (1,0) [0|14] "" XXX
+ SG_ Checksum_182 : 0|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 186 TransmissionData: 8 EGS
+ SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX
+ SG_ Shifting : 4|1@1+ (1,0) [0|15] "" XXX
+ SG_ OutputShaftSpeed : 24|16@1- (0.125,0) [0|255] "rpm" XXX
+ SG_ GearRatio : 8|8@1+ (0.05,0) [0|255] "" XXX
+ SG_ GearTar : 0|4@1+ (1,-4) [0|255] "" XXX
+ SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM
+ SG_ Checksum_191 : 0|8@1+ (1,0) [0|19] "" XXX
+ SG_ Counter_191 : 8|4@1- (1,0) [0|255] "" XXX
+ SG_ TorqueReq : 16|12@1- (0.5,350) [-1024|1023.96875] "" XXX
+
+BO_ 414 StatusDSC_KCAN: 8 DSC
+ SG_ BrakePressure : 48|8@1- (1,0) [0|255] "" XXX
+ SG_ BrakeStates : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Checksum_414 : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ Counter_414 : 20|4@1+ (1,0) [0|15] "" XXX
+ SG_ DTC_on : 12|1@1+ (1,0) [0|3] "" XXX
+ SG_ DSC_full_off : 8|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 416 Speed: 8 DSC
+ SG_ AccX : 28|12@1- (1,0) [0|15] "" XXX
+ SG_ YawRate : 40|12@1- (1,0) [0|255] "" XXX
+ SG_ VehicleSpeed : 0|12@1- (0.103,0) [0|255] "kph" XXX
+ SG_ MovingReverse : 13|1@1+ (1,0) [0|3] "" XXX
+ SG_ AccY : 16|12@1- (1,0) [0|255] "" XXX
+ SG_ Counter_416 : 52|4@1+ (1,0) [0|14] "" XXX
+ SG_ Checksum_416 : 56|8@1+ (1,0) [0|15] "" XXX
+ SG_ MovingForward : 12|1@1+ (1,0) [0|15] "" XXX
+
+BO_ 418 TransimissionData2: 8 EGS
+ SG_ ManualMode : 50|1@0+ (1,0) [0|255] "" XXX
+ SG_ Counter_418 : 28|4@1+ (1,0) [0|14] "" XXX
+ SG_ Checksum_418 : 56|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 690 WheelPressure_KCAN: 8 DSC
+
+BO_ 691 AccelerationData: 8 DSC
+
+BO_ 402 GearSelectorSwitch_1: 4 XXX
+ SG_ Counter_402 : 24|4@1+ (1,0) [0|14] "" XXX
+
+BO_ 408 GearSelectorSwitch: 8 GWS
+ SG_ ParkButtonSecond : 26|2@1+ (1,0) [0|3] "" XXX
+ SG_ SideButton : 28|2@1+ (1,0) [0|3] "" XXX
+ SG_ SportButtonPressed : 34|2@1+ (1,0) [0|255] "" XXX
+ SG_ M3_button : 36|2@1+ (1,0) [0|3] "" XXX
+ SG_ SideButtonXOR11 : 30|2@1+ (1,0) [0|3] "" XXX
+ SG_ param1XOR11 : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ m3ShifterPositionXOR1111 : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ always11 : 38|2@1+ (1,0) [0|3] "" XXX
+ SG_ m3ShifterPosition : 4|4@1+ (1,0) [0|15] "" XXX
+ SG_ param1 : 20|2@1+ (1,0) [0|3] "" XXX
+ SG_ param5 : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ Counter_408 : 0|4@1+ (1,0) [0|14] "" XXX
+ SG_ ParkButtonFirst : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ ShifterPositionXOR1111 : 16|4@1+ (1,0) [0|15] "" XXX
+ SG_ ShifterPosition : 12|4@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 422 DistanceRoute: 8 DSC
+
+BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC
+ SG_ HandbrakeActive : 41|1@1+ (1,0) [0|3] "" XXX
+
+BO_ 464 EngineData: 8 DME
+ SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX
+ SG_ CTR_SLCK : 48|2@1+ (1,0) [0|0] "" XXX
+ SG_ IJV_FU : 32|16@1+ (1,-48) [0|0] "C" XXX
+ SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX
+ SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX
+ SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] ""  XXX
+ SG_ Counter_464 : 16|4@1+ (1,0) [0|14] "" XXX
+ SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX
+ SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX
+
+BO_ 945 TransmissionData3: 8 DKG
+ SG_ Checksum_946 : 0|8@1+ (1,0) [0|19] "" XXX
+ SG_ Counter_945 : 8|4@1+ (1,0) [0|14] "" XXX
+
+BO_ 200 SteeringWheelAngle_slow: 6 SZL
+ SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX
+ SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [-65535|65535] "degree/s" XXX
+ SG_ Counter_200 : 20|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 466 TransmissionDataDisplay: 8 EGS
+ SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ GearAct : 12|4@1+ (1,-4) [0|15] "" XXX
+ SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX
+ SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX
+ SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ ShiftLeverPositionXOR : 4|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ SportButtonState : 26|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 437 HeatFlow_LoadTorqueClimate: 8 IHKA
+
+BO_ 1152 NetworkManagment1: 8 XXX
+
+BO_ 1170 NetworkManagment2: 8 XXX
+
+BO_ 1175 NetworkManagment3: 8 XXX
+
+BO_ 1176 NetworkManagment4: 8 XXX
+
+BO_ 1193 NetworkManagment5: 8 XXX
+
+BO_ 1246 GWS_ShiftLeverHeartbeat: 8 XXX
+ SG_ IgnOff : 12|1@0+ (1,0) [0|3] "" XXX
+
+BO_ 438 HeatFlowEngine: 8 DME
+
+BO_ 784 AmbientTemperature_RelativeTime: 8 Kombi
+
+BO_ 821 ElectricFuelPumpStatus: 8 EKP
+
+BO_ 1007 EngineOBD_data: 8 DME
+
+BO_ 1432 ServicesDKG: 8 XXX
+
+BO_ 309 CrashDisconnectControl: 8 ACSM
+
+BO_ 502 TurnSignals: 2 FRMFA
+ SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
+ SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
+ SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 514 Dimming: 8 FRMFA
+
+BO_ 538 LampStatus: 8 FRMFA
+
+BO_ 550 RainSensorWiperSpeed: 8 FZD
+
+BO_ 578 ClimateFrontStatus: 8 IHKA
+
+BO_ 704 LCD_lighting: 8 Kombi
+
+BO_ 758 LightControl: 8 FRMFA
+
+BO_ 760 Time_Date: 8 Kombi
+
+BO_ 762 OccupancySeatBeltContact: 8 ACSM
+ SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 0|8@1+ (1,0) [0|15] "" XXX
+
+BO_ 764 TrunkStatus: 8 CAS
+
+BO_ 797 TirePressureStatus: 8 DSC
+
+BO_ 816 Range_Mileage: 8 Kombi
+
+BO_ 823 StatusFuelControl: 8 DME
+
+BO_ 897 EngineOilLevel: 8 DME
+
+BO_ 940 RunOnTimeTerminal30: 8 JBBF
+
+BO_ 947 PowerManagmentConsumptionControl: 8 DME
+
+BO_ 948 PowerBatteryVoltage: 8 DME
+ SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
+
+BO_ 958 PowerRunningTime: 8 CAS
+
+BO_ 1408 ServicesKGM: 8 XXX
+
+BO_ 1426 ServicesDME: 8 XXX
+
+BO_ 1449 ServicesDSC: 8 XXX
+
+BO_ 1504 ServicesKOMBI: 8 XXX
+
+BO_ 1522 ServicesKBM: 8 XXX
+
+BO_ 209 Accelerometer1: 8 XXX
+ SG_ Counter_209 : 52|4@1+ (1,0) [0|255] "" XXX
+ SG_ Unknown : 16|16@1- (1,0) [0|65535] "" XXX
+ SG_ YawRate : 0|16@1- (1,0) [0|7] "" XXX
+ SG_ PitchRate : 32|16@1- (1,0) [0|65535] "" XXX
+ SG_ CRC8_209 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 172 WheelTorqueDrivetrain2: 8 DME
+
+BO_ 128 SYNC: 5 XXX
+ SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
+ SG_ State1 : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter_128 : 28|4@1+ (1,0) [0|15] "" XXX
+
+BO_ 320 Unknown140: 2 XXX
+ SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 212 Unknown_d4: 8 XXX
+ SG_ State1 : 40|8@1+ (1,0) [0|255] "" XXX
+ SG_ Counter_212 : 52|4@1+ (1,0) [0|255] "" XXX
+ SG_ Checksum_212 : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 205 Accelerometer2: 8 XXX
+ SG_ Counter_205 : 52|4@1+ (1,0) [0|255] "" XXX
+ SG_ LateralAcceleration : 32|16@1- (1,0) [0|255] "" XXX
+ SG_ YawRate : 0|16@1- (1,0) [0|255] "" XXX
+ SG_ CRC8_205 : 16|16@1- (1,0) [0|65535] "" XXX
+
+BO_ 790 OperationPushButtonDTC: 2 JBBF
+ SG_ setMe_0x3FFF : 2|14@1+ (1,0) [0|63] "" DSC
+ SG_ DTC_pressed : 0|1@1+ (1,0) [0|3] "" DSC
+
+BO_ 1577 Unknown_629: 8 XXX
+
+BO_ 133 Synchronization_SC_VDA: 8 DSC
+
+BO_ 173 Delay_request_ACC: 8 LDM
+
+BO_ 177 Torque_request_steering: 8 DSC
+
+BO_ 181 Torque_request_EGS: 8 EGS
+ SG_ Checksum_Torque_request_EGS : 0|8@1+ (1,0) [0|0] "" XXX
+ SG_ Gearbox_temperature : 56|8@1+ (1,0) [0|0] "C" XXX
+
+BO_ 183 Torque_request_ACC: 8 LDM
+
+BO_ 187 Target_torque_request: 8 DSC
+
+BO_ 188 Status_target_torque_conversion: 8 VGSG
+
+BO_ 190 Alive_Counter: 8 ARS
+
+BO_ 192 Alive_Central_Gateway: 8 JBBF
+
+BO_ 193 Alive_counter_telephone: 8 CCC
+
+BO_ 213 Request_wheel_torque_brake: 8 DSC
+
+BO_ 215 Alive_Counter_Security: 8 ACSM
+
+BO_ 216 CLU1_VDA: 8 VDA
+
+BO_ 225 Wheel_torque_brake: 8 DSC
+
+BO_ 226 Status_central_locking_BFT: 8 JBBF
+
+BO_ 227 CLU2_VDA: 8 VDA
+
+BO_ 230 Status_central_locking_BFTH: 8 JBBF
+
+BO_ 234 Status_central_locking_FAT: 8 JBBF
+
+BO_ 238 Central_locking_status_FATH: 8 JBBF
+
+BO_ 242 Status_central_locking_HK: 8 JBBF
+
+BO_ 244 CLU3_VDA: 8 VDA
+
+BO_ 247 lateral_dynamics_ARS_VDM: 8 ARS
+
+BO_ 249 Vertical_dynamics_VDM_ARS: 8 VDM
+
+BO_ 250 Control_window_lifter_FAT: 8 FRMFA
+
+BO_ 251 Control_window_lifter_BFT: 8 JBBF
+
+BO_ 252 Control_window_lifter_FATH: 8 JBBF
+
+BO_ 253 Control_window_lifter_BFTH: 8 JBBF
+
+BO_ 254 Voltage_level_sensors: 8 VDM
+
+BO_ 280 Exchange_AFS_DSC: 8 AFS
+
+BO_ 286 Control_interventions_DSC_AFS: 8 DSC
+
+BO_ 288 Status_partial_setpoints_AFS_DSC_2: 8 AFS
+
+BO_ 298 Sensor_data_ROSE: 8 ASCM
+
+BO_ 300 input_data_ROSE: 8 DSC
+
+BO_ 336 Request_1_ACC: 8 LDM
+
+BO_ 339 Request_2_ACC: 8 LDM
+
+BO_ 345 Object_data_ACC: 8 ACC_Sensor
+
+BO_ 348 Status_ACC: 8 ACC_Sensor
+
+BO_ 351 Requirement_angle_FFP: 8 LDM
+
+BO_ 357 CLU_Status_VDA: 8 VDA
+
+BO_ 370 Acknowledgment_request_Kombination: 8 CCC
+
+BO_ 373 Display_motor_data: 8 DME
+
+BO_ 400 display_ACC: 8 LDM
+
+BO_ 405 Operation_push_button_MSA: 8 IHKA
+
+BO_ 419 Raw_data_longitudinal_acceleration: 8 DSC
+
+BO_ 423 actuation_request_EMF: 8 DSC
+
+BO_ 426 Effect_ErgoCommander: 8 CCC
+
+BO_ 428 Status_ARS_module: 8 ARS
+
+BO_ 440 Operation_ErgoCommander: 8 ZBE
+
+BO_ 450 Distance_message_PDC: 8 PDC
+
+BO_ 451 Distance_message_2_PDC: 8 PDC
+
+BO_ 454 Acoustic_message_PDC: 8 PDC
+
+BO_ 472 Operation_air_conditioning_air_distribution_FA: 8 CCC
+
+BO_ 473 Operation_pushbutton_MDrive: 8 SZL
+
+BO_ 474 Climate_control_remote_control: 8 CAS
+
+BO_ 476 Operation_stratification_seat_heating: 8 CCC
+
+BO_ 478 Air_conditioning_controls_rear: 8 CCC
+
+BO_ 480 Operation_air_conditioning_air_distribution_BF: 8 CCC
+
+BO_ 482 Operation_air_conditioning_front: 8 CCC
+
+BO_ 483 Operation_pushbutton_interior_lighting: 8 FZD
+
+BO_ 487 Operation_seat_heating_seat_climate_FA: 8 IHKA
+
+BO_ 488 Operation_seat_heating_seat_climate_BF: 8 IHKA
+
+BO_ 490 Steering_column_adjustment_control: 8 IHKA
+
+BO_ 491 Operation_active_seat_FA: 8 IHKA
+
+BO_ 492 Operation_active_seat_BF: 8 IHKA
+
+BO_ 494 Steering_column_switch_operation: 8 FRMFA
+
+BO_ 499 Operation_seat_memory_FA: 8 XXX
+
+BO_ 504 Operation_SHD_MDS: 8 FZD
+
+BO_ 507 Status_EPS: 8 EPS
+
+BO_ 508 Status_AFS: 8 AFS
+
+BO_ 509 Status_request_EMF_KCAN: 8 EMF
+
+BO_ 510 Crash: 8 ACSM
+
+BO_ 513 Status_EMF_KCAN: 8 EMF
+
+BO_ 517 Acoustic_request_Kombi: 8 Kombi
+
+BO_ 518 Control_Display_Shiftlights: 8 DME
+
+BO_ 523 Memory_adjustment: 8 SM_FA
+
+BO_ 524 Steering_column_control: 8 SM_FA
+
+BO_ 525 Position_steering_column: 8 IHKA
+
+BO_ 528 Operation_HUD: 8 CCC
+
+BO_ 529 Status_HUD: 8 HUD
+
+BO_ 530 Height_levels_air_spring: 8 EHC
+
+BO_ 540 Operation_NightVision: 8 CCC
+
+BO_ 542 Status_NightVision: 8 NVC
+
+BO_ 548 Operation_push_button_NSW: 8 FRMFA
+
+BO_ 552 Operation_special_function: 8 CCC
+
+BO_ 554 Status_BFS: 8 JBBF
+
+BO_ 556 Operation_push_button_NSL: 8 FRMFA
+
+BO_ 558 Status_BFSH: 8 XXX
+
+BO_ 562 Status_FAS: 8 JBBF
+
+BO_ 566 Status_FASH: 8 XXX
+
+BO_ 570 Status_radio_key: 8 CAS
+
+BO_ 571 Status_climate_front_extended: 8 IHKA
+
+BO_ 573 Request_display_climate: 8 IHKA
+
+BO_ 574 Status_Klima_Fond: 8 FKA
+
+BO_ 582 Status_air_conditioning_front_control_unit: 8 IHKA
+
+BO_ 584 Status_rear_view_camera: 8 RFK
+
+BO_ 585 Control_rear_view_camera: 8 CCC
+
+BO_ 586 Status_PDC: 8 PDC
+
+BO_ 587 Status_door_sensors: 8 FRMFA
+
+BO_ 594 Wiper_status: 8 JBBF
+
+BO_ 598 Challenge_Passive_Access: 8 CAS
+
+BO_ 600 Status_Transmission_Passive_Access: 8 PGS
+
+BO_ 604 Operation_of_climate_additional_programs: 8 CCC
+
+BO_ 621 Operation_blinds_MK: 8 IHKA
+
+BO_ 622 Control_FH_SHD_central_comfort: 8 CAS
+
+BO_ 635 Status_Shiftlights: 8 Kombi
+
+BO_ 637 Status_convertible_top_manual_convertible: 8 CAS
+
+BO_ 638 Status_convertible_top_convertible: 8 CTM
+
+BO_ 639 Status_central_locking_convertible_top: 8 JBBF
+
+BO_ 642 Control_security_vehicle_2: 8 XXX
+
+BO_ 644 Control_remote_start_safety_vehicle: 8 CAS
+
+BO_ 646 Electrochromic_control: 8 FZD
+
+BO_ 652 Pushbutton_vertical_dynamics: 8 GWS
+
+BO_ 653 Operation_pushbutton_sport: 8 GWS
+
+BO_ 656 Control_response_hydrogen_vehicle: 8 XXX
+
+BO_ 658 Control_high_beam_assistant: 8 FLA
+
+BO_ 670 Central_locking_control_for_security_vehicle: 8 XXX
+
+BO_ 671 Remote_control_FondCommander: 8 CAS
+
+BO_ 672 Central_locking_control: 8 CAS
+
+BO_ 674 Operation_of_climate_stand_functions: 8 CCC
+
+BO_ 676 Operation_personalization: 8 Kombi
+
+BO_ 692 DWA_Alarm: 8 DWA
+
+BO_ 694 Control_horn_DWA: 8 DWA
+
+BO_ 696 Operation_onboard_computer: 8 CCC
+
+BO_ 697 Operation_RSE: 8 CCC
+
+BO_ 698 Stopwatch: 8 Kombi
+
+BO_ 701 Request_switching_display: 8 CCC
+
+BO_ 702 Switch_status_display: 8 VSW
+
+BO_ 703 Water_valve_control: 8 IHKA
+
+BO_ 706 Temperatur_Ist_Fond: 8 FKA
+
+BO_ 711 Display_Kombination_extended: 8 DME
+
+BO_ 714 Outside_temperature: 8 Kombi
+
+BO_ 716 Control_monitor_rear: 8 RSE
+
+BO_ 718 Control_monitor: 8 CCC
+
+BO_ 719 Status_of_auxiliary_water_pump: 8 JBBF
+
+BO_ 720 Status_Sensor_AUC: 8 JBBF
+
+BO_ 721 Status_fitting_window_V: 8 FZD
+
+BO_ 722 Status_pressure_refrigeration_circuit: 8 JBBF
+
+BO_ 723 Status_stratification_rear: 8 JBBF
+
+BO_ 725 Status_heating_rear_window: 8 JBBF
+
+BO_ 726 Status_valve_air_conditioning_compressor: 8 JBBF
+
+BO_ 730 Status_tailgate_lift: 8 HKL
+
+BO_ 734 Switch_control_display: 8 VSW
+
+BO_ 738 Status_setting_video_night_vision: 8 NVC
+
+BO_ 739 Status_setting_video_rear_view_camera: 8 RFK
+
+BO_ 740 Status_trailer: 8 AHM
+
+BO_ 742 Status_of_air_distribution_FA: 8 IHKA
+
+BO_ 746 Status_air_distribution_BF: 8 IHKA
+
+BO_ 750 Status_climate_additional_programs: 8 IHKA
+
+BO_ 752 Status_air_condition_functions: 8 IHKA
+
+BO_ 753 Status_driver_detection: 8 MRSZ
+
+BO_ 755 Display_switching_instruction: 8 DME
+
+BO_ 756 Air_conditioning_control_SH_ZH_auxiliary_water_pump: 8 IHKA
+
+BO_ 759 Units: 8 Kombi
+
+BO_ 768 Status_RSE: 8 RSE
+
+BO_ 772 Status_Gang: 8 EGS
+
+BO_ 773 Operation_button_convertible_top: 8 IHKA
+
+BO_ 774 Vehicle_tilt: 8 FRMFA
+
+BO_ 775 Operation_button_flap_convertible_top: 8 IHKA
+
+BO_ 776 Status_MSA: 8 DME
+
+BO_ 785 Refill_quantity: 8 Kombi
+
+BO_ 786 Service_Call_Teleservice: 8 Kombi
+
+BO_ 787 Status_Service_Call_Teleservice: 8 CCC
+
+BO_ 788 Status_driving_light: 8 FZD
+
+BO_ 789 Vehicle_mode: 8 JBBF
+
+BO_ 791 Operation_button_parking_aids: 8 IHKA
+
+BO_ 792 Status_antennas_Passive_Access: 8 PGS
+
+BO_ 793 Operation_push_button_RDC: 8 JBBF
+
+BO_ 794 Operation_button_HDC: 8 IHKA
+
+BO_ 795 Operation_of_tailgate_interior_button: 8 IHKA
+
+BO_ 796 Status_tire_pressure: 8 RDC
+
+BO_ 801 Operation_button_camera_BF: 8 IHKA
+
+BO_ 802 Damper_current: 8 EDCK
+
+BO_ 806 Status_damper_program: 8 VDM
+
+BO_ 808 Relativzeit: 8 Kombi
+
+BO_ 813 Display_HDC: 8 DSC
+
+BO_ 814 Status_climate_internal_control_info: 8 IHKA
+
+BO_ 817 Programming_of_step_cruise_control: 8 CCC
+
+BO_ 818 Driver_display_speed_range: 8 DME
+
+BO_ 822 Display_check_control_message_role: 8 Kombi
+
+BO_ 824 Control_display_check_control_message: 8 Kombi
+
+BO_ 825 Status_display_climate: 8 CCC
+
+BO_ 826 Status_Monitor_Front: 8 CID
+
+BO_ 828 Status_Monitor_Fond_1: 8 CID
+
+BO_ 830 Status_Monitor_Fond_2: 8 CID
+
+BO_ 841 Raw_data_level_tank: 8 JBBF
+
+BO_ 843 Seat_back_lock_status_FA: 8 SM_FA
+
+BO_ 845 Status_seat_back_lock_BF: 8 SM_BF
+
+BO_ 847 Status_contact_handbrake: 8 JBBF
+ SG_ Handbrake_push : 0|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 858 Appointment_Condition_Based_Service: 8 CCC
+
+BO_ 860 Status_onboard_computer: 8 Kombi
+
+BO_ 862 Onboard_computer_data_trip_data: 8 Kombi
+
+BO_ 864 Data_onboard_computer_start_of_journey: 8 Kombi
+
+BO_ 866 Data_onboard_computer_average_values: 8 Kombi
+
+BO_ 868 Data_onboard_computer_arrival: 8 Kombi
+
+BO_ 869 Status_terminal_request: 8 CAS
+
+BO_ 870 Display_Kombination_external_display: 8 Kombi
+
+BO_ 871 Control_display_of_demand_oriented_service: 8 Kombi
+
+BO_ 877 Setting_the_driving_dynamics_switch: 8 JBBF
+
+BO_ 886 Status_wear_lamella: 8 VGSG
+
+BO_ 893 Status_DKG: 8 DKG
+
+BO_ 894 Temperatur_Bremse: 8 DSC
+
+BO_ 895 Range_of_diesel_exhaust_gas_additive: 8 DDE1
+
+BO_ 896 chassis_number: 8 CAS
+
+BO_ 898 Electronic_engine_oil_dipstick_M: 8 DME
+
+BO_ 899 Motor_data_2: 8 DME
+
+BO_ 904 Vehicle_type: 8 CAS
+
+BO_ 907 Status_battery: 8 DME
+
+BO_ 910 Start_speed: 8 DME
+
+BO_ 914 Status_System_AFS: 8 AFS
+
+BO_ 916 RDA_request_data_storage: 8 Kombi
+
+BO_ 917 Coding_power_management: 8 CAS
+
+BO_ 920 Operation_chassis: 8 CCC
+
+BO_ 921 Status_MDrive: 6 DME
+
+BO_ 926 Operation_time_date: 8 CCC
+
+BO_ 928 Vehicle_state: 8 JBBF
+
+BO_ 931 Request_Remote_Services: 8 CCC
+
+BO_ 937 Status_motor_control_CKM: 8 DME
+
+BO_ 939 Status_Shiftlights_CKM: 8 Kombi
+
+BO_ 944 Status_gear_reverse: 8 FRMFA
+
+BO_ 949 Status_water_valve: 8 JBBF
+
+BO_ 950 Position_window_lifter_FAT: 8 FRMFA
+
+BO_ 951 Position_window_lifter_FATH: 8 JBBF
+
+BO_ 952 Position_window_regulator_BFT: 8 FRMFA
+
+BO_ 953 Position_window_regulator_BFTH: 8 JBBF
+
+BO_ 954 Position_SHD: 8 FZD
+
+BO_ 956 Position_window_lifter_security_vehicle: 8 XXX
+
+BO_ 957 Status_consumer_shutdown: 8 FRMFA
+
+BO_ 959 Position_window_rear_window: 8 CTM
+
+BO_ 960 Configuration_FAS: 8 SM_FA
+
+BO_ 961 Configuration_BFS: 8 SM_BF
+
+BO_ 964 Status_EDCK_CKM: 8 JBBF
+
+BO_ 967 Access_radio: 8 RAD1
+
+BO_ 968 Operation_push_button_radio: 8 RAD1
+
+BO_ 974 Radio_audio_control_interface_display: 8 ACI
+
+BO_ 975 Acknowledgment_access_radio_audio_control_interface: 8 ACI
+
+BO_ 979 Status_solar_sensor: 8 FZD
+
+BO_ 980 Configuration_of_central_locking_CKM: 8 Kombi
+
+BO_ 981 Status_central_locking_CKM: 8 CAS
+
+BO_ 982 Configuration_DWA_CKM: 8 Kombi
+
+BO_ 983 Status_DWA_CKM: 8 FZD
+
+BO_ 984 Configuration_RLS_CKM: 8 Kombi
+
+BO_ 985 Status_RLS_CKM: 8 FZD
+
+BO_ 986 Configuration_of_memory_positions_CKM: 8 Kombi
+
+BO_ 987 Status_memory_positions_CKM: 8 SM_FA
+
+BO_ 988 Configuration_light_CKM: 8 Kombi
+
+BO_ 989 Status_light_CKM: 8 FRMFA
+
+BO_ 990 Configuration_Climate_CKM: 8 CCC
+
+BO_ 991 Status_Klima_CKM: 8 IHKA
+
+BO_ 994 Configuration_of_tailgate_CKM: 8 CCC
+
+BO_ 995 Status_tailgate_CKM: 8 HKL
+
+BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC
+
+
+
+
+CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives";
+CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
+CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
+CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
+CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
+CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
+CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
+CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
+CM_ SG_ 404 Counter_404 "Message is sent at higher rate when cruise stalk is pressed";
+
+CM_ SG_ 168 BrakePressed "Brake when driver presses the brake or hill hold";
+CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
+CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
+CM_ SG_ 168 ALIV_TORQ_1_DME "Counter TORQ_1";
+
+CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2";
+
+CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC";
+
+CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale";
+CM_ SG_ 186 GearTar "Values corresponds to forward gears. TBD Add enums for park, reverse";
+CM_ SG_ 466 GearAct "TransmissionDataDisplay";
+CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD";
+
+CM_ SG_ 416 YawRate "Lateral Acceleration";
+
+CM_ SG_ 408 ParkButtonSecond "Redundant buton. 0x1 = pressed;";
+CM_ SG_ 408 SideButton "0x1 = pressed;";
+CM_ SG_ 408 SportButtonPressed "0x1 = pressed;";
+CM_ SG_ 408 M3_button "M3 POWER (?)";
+CM_ SG_ 408 SideButtonXOR11 "Complement value";
+CM_ SG_ 408 param1 "can not be 0x03. Always 0 in 135i.";
+CM_ SG_ 408 param5 "Always 0 in 135i.";
+CM_ SG_ 408 ParkButtonFirst "0x1 = pressed";
+CM_ SG_ 408 ShifterPosition "0001 = N|R, 0010 = R, 0011 = N|D, 0100 = D, 0101 = -1, 0110 = +1, 0111 = ManualMode, 1000 = inBetween,";
+
+CM_ SG_ 466 ShiftLeverMode "On the dashboard, there are displayed:  D1...D7 in Normal. S1...S6 in Sport.  M1..M7 in Manual";
+
+CM_ SG_ 502 TurnSignalIdle "Turn signal off";
+CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
+CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
+CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
+CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
+
+CM_ SG_ 790 setMe_0x3FFF "All ones";
+CM_ SG_ 790 DTC_pressed "Traction control off. Message transmitted when pressed. Few presses may be required followed by off.";
+
+VAL_ 408 ShifterPosition 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
+
+VAL_ 464 ST_SW_WAUP 3 "signal invalid" 2 "EGS forced switching active" 1 "engine warm" 0 "warming up" ;
+VAL_ 464 ST_ENG_RUN 3 "signal invalid" 2 "engine running" 1 "engine starting" 0 "engine off" ;
+VAL_ 464 CTR_SLCK 3 "signal invalid" 2 "requirement Shiftlock" 1 "no requirement Shiftlock" 0 "not allowed" ;
+
+VAL_ 466 ShiftLeverMode 0 "Normal" 1 "Sport" 2 "Manual" ;
+VAL_ 466 ShiftLeverPosition 0 "Off" 1 "P" 2 "R" 4 "N" 8 "D" ;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
DevTekVE	e7424ac844	Disable log uploader since not really in use and it's wasting resources	2024-07-06 20:58:14 +02:00
Jason Wen	0f6b24d035	sunnypilot v0.9.7.1	2024-07-02 01:20:51 +00:00