diff --git a/.gitignore b/.gitignore
index 2f936454dc4081..38b208e41cc3d8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@
 .idea
 model2.png
 
+*.DSYM
 *.d
 *.pyc
 *.pyo
diff --git a/opendbc b/opendbc
index 063032ff2b9b87..e25689edc18276 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 063032ff2b9b878c2cc10301504bad9db54f655f
+Subproject commit e25689edc18276f3ef728f0cdf63939240fcebda
diff --git a/common/crash.py b/selfdrive/crash.py
similarity index 79%
rename from common/crash.py
rename to selfdrive/crash.py
index bc5be003d73355..18c27ec1f505cc 100644
--- a/common/crash.py
+++ b/selfdrive/crash.py
@@ -2,6 +2,8 @@
 import os
 import sys
 
+from selfdrive.swaglog import cloudlog
+
 if os.getenv("NOLOG") or os.getenv("NOCRASH"):
   def capture_exception(*exc_info):
     pass
@@ -18,7 +20,9 @@ def install():
   client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
                   install_sys_hook=False, transport=HTTPTransport)
 
-  capture_exception = client.captureException
+  def capture_exception(*args, **kwargs):
+    client.captureException(*args, **kwargs)
+    cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def bind_user(**kwargs):
     client.user_context(kwargs)
@@ -31,6 +35,6 @@ def install():
     __excepthook__ = sys.excepthook
     def handle_exception(*exc_info):
       if exc_info[0] not in (KeyboardInterrupt, SystemExit):
-        client.captureException(exc_info=exc_info)
+        capture_exception(exc_info=exc_info)
       __excepthook__(*exc_info)
     sys.excepthook = handle_exception
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 1c275cf8f544ba..77b9395c38c205 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -36,8 +36,8 @@
 from selfdrive.thermal import read_thermal
 from selfdrive.registration import register
 from selfdrive.version import version
+import selfdrive.crash as crash
 
-import common.crash as crash
 from common.params import Params
 
 from selfdrive.loggerd.config import ROOT
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index df7e60069b5593..65d925e0d562d4 100644
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -61,6 +61,7 @@ def report_tombstone(fn, client):
     user={'id': os.environ.get('DONGLE_ID')},
     message=message,
   )
+  cloudlog.error({"tombstone": message})
 
 
 def main(gctx):
diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index 68d979ec9923b5..b17434fd6ec665 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -32,6 +32,11 @@
 
 #include "cereal/gen/c/log.capnp.h"
 
+// Calibration status values from controlsd.py
+#define CALIBRATION_UNCALIBRATED 0
+#define CALIBRATION_CALIBRATED 1
+#define CALIBRATION_INVALID 2
+
 #define UI_BUF_COUNT 4
 
 typedef struct UIScene {
@@ -48,7 +53,6 @@ typedef struct UIScene {
   float mpc_y[50];
 
   bool world_objects_visible;
-  // TODO(mgraczyk): Remove and use full frame for everything.
   mat3 warp_matrix;           // transformed box -> frame.
   mat4 extrinsic_matrix;      // Last row is 0 so we can use mat4.
 
@@ -68,6 +72,10 @@ typedef struct UIScene {
   char alert_text2[1024];
 
   float awareness_status;
+
+  // Used to display calibration progress
+  int cal_status;
+  int cal_perc;
 } UIScene;
 
 typedef struct UIState {
@@ -844,6 +852,25 @@ static void ui_draw_vision(UIState *s) {
                                   255 * scene->awareness_status, 0, 128));
       nvgFill(s->vg);
     }
+
+    // Draw calibration progress (if needed)
+    if (scene->cal_status == CALIBRATION_UNCALIBRATED && scene->cal_perc > 0) {
+      int rec_width = 1020;
+      int x_pos = 470;
+      nvgBeginPath(s->vg);
+      nvgStrokeWidth(s->vg, 14);
+      nvgRoundedRect(s->vg, (1920-rec_width)/2, 970, rec_width, 100, 20);
+      nvgStroke(s->vg);
+      nvgFillColor(s->vg, nvgRGBA(10,100,220,180));
+      nvgFill(s->vg);
+
+      nvgFontSize(s->vg, labelfontsize);
+      nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
+      nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 220));
+      char calib_status_str[32];
+      snprintf(calib_status_str, sizeof(calib_status_str), "Calibration In Progress: %d%%", scene->cal_perc);
+      nvgText(s->vg, x_pos, 1040, calib_status_str, NULL);
+    }
   }
 
   nvgEndFrame(s->vg);
@@ -1138,6 +1165,9 @@ static void ui_update(UIState *s) {
         struct cereal_LiveCalibrationData datad;
         cereal_read_LiveCalibrationData(&datad, eventd.liveCalibration);
 
+        s->scene.cal_status = datad.calStatus;
+        s->scene.cal_perc = datad.calPerc;
+
         // should we still even have this?
         capn_list32 warpl = datad.warpMatrix2;
         capn_resolve(&warpl.p);  // is this a bug?
diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond
index 17f8c32bdfbb2a..3257247f7c1741 100755
Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ