From 49220985f434db79de1109625599ec7db0758d69 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 25 Apr 2023 18:15:56 -0700
Subject: [PATCH 001/175] ford: cleanup fordcan methods (#28026)

* fordcan: consistent naming

* fordcan cleanup
---
 selfdrive/car/ford/carcontroller.py |  4 +-
 selfdrive/car/ford/fordcan.py       | 70 ++++++++++++++---------------
 2 files changed, 37 insertions(+), 37 deletions(-)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 99072ae9756d85..bff7e93be9ef70 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -2,7 +2,7 @@
 from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_angle_limits
-from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
+from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
   create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
 from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
 
@@ -76,7 +76,7 @@ def update(self, CC, CS, now_nanos):
         gas = -5.0
         decel = True
 
-      can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
+      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index d2fb6fad5552b8..9ac514e0aa0889 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
   return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
 
 
-def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
+def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -117,6 +117,40 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)
 
 
+def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
+  """
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
+
+  Stock functionality is maintained by passing through unmodified signals.
+
+  Frequency is 20Hz.
+  """
+
+  # Tja_D_Stat
+  if enabled:
+    if hud_control.leftLaneDepart:
+      status = 3  # ActiveInterventionLeft
+    elif hud_control.rightLaneDepart:
+      status = 4  # ActiveInterventionRight
+    else:
+      status = 2  # Active
+  elif main_on:
+    if hud_control.leftLaneDepart:
+      status = 5  # ActiveWarningLeft
+    elif hud_control.rightLaneDepart:
+      status = 6  # ActiveWarningRight
+    else:
+      status = 1  # Standby
+  else:
+    status = 0    # Off
+
+  values = {
+    **stock_values,
+    "Tja_D_Stat": status,
+  }
+  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
+
+
 def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
@@ -168,40 +202,6 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
   return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
 
 
-def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 20Hz.
-  """
-
-  # Tja_D_Stat
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  else:
-    status = 0    # Off
-
-  values = {
-    **stock_values,
-    "Tja_D_Stat": status,
-  }
-  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
-
-
 def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
                       bus: int = CANBUS.camera):
   """

From 7f856eafd98eb70d91c6b3e882991f34d1c4c4c8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 26 Apr 2023 12:49:10 +0800
Subject: [PATCH 002/175] cabana: fix wrong total seconds in replay mode
 (#28015)

* fix total_sec

* fix chart max range

* fix all_evnets order & use vector to improve performance

* dynamic updating max time

* get real time from qlog

* Update tools/cabana/streams/livestream.cc

Co-authored-by: Shane Smiskol <shane@smiskol.com>

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/cabana/chart/chartswidget.cc     |  2 +-
 tools/cabana/streams/abstractstream.cc | 47 ++++++++++++++------------
 tools/cabana/streams/abstractstream.h  | 18 +++++-----
 tools/cabana/streams/livestream.cc     | 19 ++++-------
 tools/cabana/streams/livestream.h      |  1 +
 tools/cabana/streams/replaystream.cc   |  5 ++-
 tools/cabana/streams/replaystream.h    |  1 +
 tools/cabana/videowidget.cc            | 19 ++++++++---
 tools/cabana/videowidget.h             |  6 ++++
 9 files changed, 65 insertions(+), 53 deletions(-)

diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index ffb354aa3a532a..0a87658c229914 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -188,7 +188,7 @@ void ChartsWidget::updateState() {
     if (pos < 0 || pos > 0.8) {
       display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
     }
-    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
+    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds());
     display_range.first = std::max(0.0, max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
   } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 88c56dce432bdd..3c7291ea380283 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,4 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
+
 #include <QTimer>
 
 AbstractStream *can = nullptr;
@@ -26,7 +27,7 @@ void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
 }
 
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
-  all_msgs[id].compute((const char*)data, size, sec, getSpeed());
+  all_msgs[id].compute((const char *)data, size, sec, getSpeed());
   if (!new_msgs->contains(id)) {
     new_msgs->insert(id, {});
   }
@@ -82,18 +83,23 @@ void AbstractStream::updateLastMsgsTo(double sec) {
   });
 }
 
-void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<const CanEvent *>> &msgs,
-                                 std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
+void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
   size_t memory_size = 0;
+  size_t events_cnt = 0;
   for (auto it = first; it != last; ++it) {
     if ((*it)->which == cereal::Event::Which::CAN) {
       for (const auto &c : (*it)->event.getCan()) {
         memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size();
+        ++events_cnt;
       }
     }
   }
+  if (memory_size == 0) return;
 
   char *ptr = memory_blocks.emplace_back(new char[memory_size]).get();
+  std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events_map;
+  std::vector<const CanEvent *> new_events;
+  new_events.reserve(events_cnt);
   for (auto it = first; it != last; ++it) {
     if ((*it)->which == cereal::Event::Which::CAN) {
       uint64_t ts = (*it)->mono_time;
@@ -106,31 +112,28 @@ void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<const
         e->size = dat.size();
         memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
 
-        msgs[{.source = e->src, .address = e->address}].push_back(e);
-        all_events_.push_back(e);
+        new_events_map[{.source = e->src, .address = e->address}].push_back(e);
+        new_events.push_back(e);
         ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size;
       }
     }
   }
-}
-
-void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append) {
-  if (first == last) return;
 
-  if (append) {
-    parseEvents(events_, first, last);
-  } else {
-    std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events;
-    parseEvents(new_events, first, last);
-    for (auto &[id, new_e] : new_events) {
-      auto &e = events_[id];
-      auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) {
-        return l->mono_time < r->mono_time;
-      });
-      e.insert(it, new_e.cbegin(), new_e.cend());
-    }
+  bool append = new_events.front()->mono_time > lastest_event_ts;
+  for (auto &[id, new_e] : new_events_map) {
+    auto &e = events_[id];
+    auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) {
+      return l->mono_time < r->mono_time;
+    });
+    e.insert(pos, new_e.cbegin(), new_e.cend());
   }
-  total_sec = (all_events_.back()->mono_time - all_events_.front()->mono_time) / 1e9;
+
+  auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) {
+    return l->mono_time < r->mono_time;
+  });
+  all_events_.insert(pos, new_events.cbegin(), new_events.cend());
+
+  lastest_event_ts = all_events_.back()->mono_time;
   emit eventsMerged();
 }
 
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 644aa133d49b80..d031b6229cc654 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -41,13 +41,12 @@ class AbstractStream : public QObject {
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {};
   inline bool liveStreaming() const { return route() == nullptr; }
-  inline double lastEventSecond() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
   virtual double routeStartTime() const { return 0; }
   virtual double currentSec() const = 0;
-  double totalSeconds() const { return total_sec; }
+  virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
   const CanData &lastMessage(const MessageId &id);
   virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
   virtual const Route *route() const { return nullptr; }
@@ -55,8 +54,8 @@ class AbstractStream : public QObject {
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
-  const std::deque<const CanEvent *> &allEvents() const { return all_events_; }
-  const std::deque<const CanEvent *> &events(const MessageId &id) const { return events_.at(id); }
+  const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+  const std::vector<const CanEvent *> &events(const MessageId &id) const { return events_.at(id); }
   virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
 
 signals:
@@ -74,20 +73,19 @@ class AbstractStream : public QObject {
   SourceSet sources;
 
 protected:
-  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append);
+  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
   bool postEvents();
-  uint64_t lastEventMonoTime() const { return all_events_.empty() ? 0 : all_events_.back()->mono_time; }
+  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
   void updateMessages(QHash<MessageId, CanData> *);
-  void parseEvents(std::unordered_map<MessageId, std::deque<const CanEvent *>> &msgs, std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
   void updateLastMsgsTo(double sec);
 
-  double total_sec = 0;
+  uint64_t lastest_event_ts = 0;
   std::atomic<bool> processing = false;
   std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
   QHash<MessageId, CanData> all_msgs;
-  std::unordered_map<MessageId, std::deque<const CanEvent *>> events_;
-  std::deque<const CanEvent *> all_events_;
+  std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
+  std::vector<const CanEvent *> all_events_;
   std::deque<std::unique_ptr<char[]>> memory_blocks;
 };
 
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 466537e9b862c7..65468600896ce0 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -52,7 +52,7 @@ void LiveStream::timerEvent(QTimerEvent *event) {
     {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
-      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend(), true);
+      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend());
       receivedEvents.clear();
       receivedMessages.clear();
     }
@@ -67,7 +67,6 @@ void LiveStream::timerEvent(QTimerEvent *event) {
 
 void LiveStream::updateEvents() {
   static double prev_speed = 1.0;
-  static uint64_t prev_newest_event_ts = all_events_.back()->mono_time;
 
   if (first_update_ts == 0) {
     first_update_ts = nanos_since_boot();
@@ -82,16 +81,13 @@ void LiveStream::updateEvents() {
     return;
   }
 
-  uint64_t last_event_ts = all_events_.back()->mono_time;
-  bool at_the_end = current_event_ts == prev_newest_event_ts;
-  if (!at_the_end) {
-    last_event_ts = first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
-  }
-
+  uint64_t last_ts = post_last_event && speed_ == 1.0
+                       ? all_events_.back()->mono_time
+                       : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
   auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) {
     return ts < e->mono_time;
   });
-  auto last = std::upper_bound(first, all_events_.cend(), last_event_ts, [](uint64_t ts, auto e) {
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) {
     return ts < e->mono_time;
   });
 
@@ -102,14 +98,13 @@ void LiveStream::updateEvents() {
     current_event_ts = e->mono_time;
   }
   postEvents();
-  prev_newest_event_ts = all_events_.back()->mono_time;
 }
 
 void LiveStream::seekTo(double sec) {
   sec = std::max(0.0, sec);
   first_update_ts = nanos_since_boot();
-  first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
-  current_event_ts = first_event_ts;
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
+  post_last_event = (first_event_ts == lastEventMonoTime());
   emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
 }
 
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 197ac64e3e1e30..87ba7a01336cd0 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -50,6 +50,7 @@ class LiveStream : public AbstractStream {
   uint64_t current_event_ts = 0;
   uint64_t first_event_ts = 0;
   uint64_t first_update_ts = 0;
+  bool post_last_event = true;
   double speed_ = 1;
   bool paused_ = false;
 };
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 68e46c77da54e3..46103764beba75 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -25,10 +25,9 @@ static bool event_filter(const Event *e, void *opaque) {
 void ReplayStream::mergeSegments() {
   for (auto &[n, seg] : replay->segments()) {
     if (seg && seg->isLoaded() && !processed_segments.count(n)) {
-      const auto &events = seg->log->events;
-      bool append = processed_segments.empty() || *processed_segments.rbegin() < n;
       processed_segments.insert(n);
-      mergeEvents(events.cbegin(), events.cend(), append);
+      const auto &events = seg->log->events;
+      mergeEvents(events.cbegin(), events.cend());
     }
   }
 }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 5b8e018fc9e7bd..aefc763d20f53f 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -13,6 +13,7 @@ class ReplayStream : public AbstractStream {
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); };
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  double totalSeconds() const override { return replay->totalSeconds(); }
   inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
   inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const override { return replay->currentSeconds(); }
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 53a88972c8b41a..e17cf22c064363 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -113,21 +113,25 @@ QWidget *VideoWidget::createCameraWidget() {
   l->addLayout(slider_layout);
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
   QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); });
+  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
-  QObject::connect(can, &AbstractStream::eventsMerged, [this]() {
-    end_time_label->setText(utils::formatSeconds(can->totalSeconds()));
-    slider->setRange(0, can->totalSeconds() * 1000);
-  });
+  QObject::connect(can, &AbstractStream::streamStarted, [this]() { setMaximumTime(can->totalSeconds()); });
   return w;
 }
 
+void VideoWidget::setMaximumTime(double sec) {
+  maximum_time = sec;
+  end_time_label->setText(utils::formatSeconds(sec));
+  slider->setRange(0, sec * 1000);
+}
+
 void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
   if (can->liveStreaming()) return;
 
   if (!is_zoomed) {
     min = 0;
-    max = can->totalSeconds();
+    max = maximum_time;
   }
   end_time_label->setText(utils::formatSeconds(max));
   slider->setRange(min * 1000, max * 1000);
@@ -180,10 +184,15 @@ void Slider::streamStarted() {
 
 void Slider::loadThumbnails() {
   const auto &segments = can->route()->segments();
+  double max_time = 0;
   for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) {
     LogReader log;
     std::string qlog = it->second.qlog.toStdString();
     if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
+      if (max_time == 0 && !log.events.empty()) {
+        max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime();
+        emit updateMaximumTime(max_time);
+      }
       for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
         if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
           auto thumb = (*ev)->event.getThumbnail();
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 960053f9a35ac1..c2ec7599199f5f 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -37,6 +37,9 @@ class Slider : public QSlider {
   Slider(QWidget *parent);
   ~Slider();
 
+signals:
+  void updateMaximumTime(double);
+
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
@@ -46,6 +49,7 @@ class Slider : public QSlider {
   void streamStarted();
   void loadThumbnails();
 
+  double max_sec = 0;
   int slider_x = -1;
   std::vector<std::tuple<int, int, TimelineType>> timeline;
   std::mutex thumbnail_lock;
@@ -64,6 +68,7 @@ class VideoWidget : public QFrame {
 public:
   VideoWidget(QWidget *parnet = nullptr);
   void rangeChanged(double min, double max, bool is_zommed);
+  void setMaximumTime(double sec);
 
 protected:
   void updateState();
@@ -71,6 +76,7 @@ class VideoWidget : public QFrame {
   QWidget *createCameraWidget();
 
   CameraWidget *cam_widget;
+  double maximum_time = 0;
   QLabel *end_time_label;
   QLabel *time_label;
   QHBoxLayout *slider_layout;

From 42f2e392130e99352f4d0c9ac317e2dae13a9fcf Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 26 Apr 2023 00:00:08 -0700
Subject: [PATCH 003/175] ford: correct messages frequencies (#28027)

* ford: correct messages frequencies

* fix STEER_STEP

* fix comment

* cleanup
---
 selfdrive/car/ford/carcontroller.py | 15 ++++++++-------
 selfdrive/car/ford/values.py        | 16 ++++++----------
 2 files changed, 14 insertions(+), 17 deletions(-)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index bff7e93be9ef70..e5224857caac29 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -43,7 +43,7 @@ def update(self, CC, CS, now_nanos):
       can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
 
     ### lateral control ###
-    # send steering commands at 20Hz
+    # send steer msg at 20Hz
     if (self.frame % CarControllerParams.STEER_STEP) == 0:
       if CC.latActive:
         # apply limits to curvature and clip to signal range
@@ -53,7 +53,6 @@ def update(self, CC, CS, now_nanos):
         apply_curvature = 0.
 
       self.apply_curvature_last = apply_curvature
-      can_sends.append(create_lka_msg(self.packer))
 
       if self.CP.carFingerprint in CANFD_CARS:
         # TODO: extended mode
@@ -63,8 +62,12 @@ def update(self, CC, CS, now_nanos):
       else:
         can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
 
+    # send lka msg at 33Hz
+    if (self.frame % CarControllerParams.LKA_STEP) == 0:
+      can_sends.append(create_lka_msg(self.packer))
+
     ### longitudinal control ###
-    # send acc command at 50Hz
+    # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
@@ -80,12 +83,10 @@ def update(self, CC, CS, now_nanos):
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
-
-    # send lkas ui command at 1Hz or if ui state changes
+    # send lkas ui msg at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
-
-    # send acc ui command at 20Hz or if ui state changes
+    # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index c3652443c202c6..60c6ff5430eced 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -12,16 +12,12 @@
 
 
 class CarControllerParams:
-  # Messages: Lane_Assist_Data1, LateralMotionControl
-  STEER_STEP = 5
-  # Message: ACCDATA
-  ACC_CONTROL_STEP = 2
-  # Message: IPMA_Data
-  LKAS_UI_STEP = 100
-  # Message: ACCDATA_3
-  ACC_UI_STEP = 5
-  # Message: Steering_Data_FD1, but send twice as fast
-  BUTTONS_STEP = 10 / 2
+  STEER_STEP = 5        # LateralMotionControl, 20Hz
+  LKA_STEP = 3          # Lane_Assist_Data1, 33Hz
+  ACC_CONTROL_STEP = 2  # ACCDATA, 50Hz
+  LKAS_UI_STEP = 100    # IPMA_Data, 1Hz
+  ACC_UI_STEP = 20      # ACCDATA_3, 5Hz
+  BUTTONS_STEP = 5      # Steering_Data_FD1, 10Hz, but send twice as fast
 
   CURVATURE_MAX = 0.02  # Max curvature for steering command, m^-1
   STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm

From 045db2f2357d59117e14fabe4c2d32735e02fada Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Apr 2023 00:19:01 -0700
Subject: [PATCH 004/175] Subaru: fix forwarded signal name (#28030)

actually Cruise_Status_Msg
---
 selfdrive/car/subaru/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index e83129a71dc485..9d7b0a65cc7a39 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -258,7 +258,7 @@ def get_cam_can_parser(CP):
         ("LKAS_State_Msg", "ES_DashStatus"),
         ("Signal2", "ES_DashStatus"),
         ("Cruise_Soft_Disable", "ES_DashStatus"),
-        ("EyeSight_Status_Msg", "ES_DashStatus"),
+        ("Cruise_Status_Msg", "ES_DashStatus"),
         ("Signal3", "ES_DashStatus"),
         ("Cruise_Distance", "ES_DashStatus"),
         ("Signal4", "ES_DashStatus"),

From 48ff8fa734e5d0acdf940f9afa54f1b208eeafca Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 26 Apr 2023 00:50:56 -0700
Subject: [PATCH 005/175] Ford: fix minEnableSpeed for docs flag

---
 selfdrive/car/ford/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 60571b42efd023..ce27bb8adc654d 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -53,7 +53,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
-    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]:
+    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs:
       ret.transmissionType = TransmissionType.automatic
     else:
       ret.transmissionType = TransmissionType.manual

From 9689e9c5675835a611a749c4a024551263f5daa3 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Apr 2023 01:43:07 -0700
Subject: [PATCH 006/175] cars: various small cleanups (#28031)

* finally fix subarucan formatting

* no need for intermediate variables

* make this check explicit
---
 selfdrive/car/nissan/carcontroller.py |  8 +++-----
 selfdrive/car/nissan/carstate.py      |  4 ++--
 selfdrive/car/subaru/subarucan.py     | 19 +++++++++++++------
 3 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 45c3dd720c3060..8847551a829b8f 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -26,8 +26,6 @@ def update(self, CC, CS, now_nanos):
     can_sends = []
 
     ### STEER ###
-    lkas_hud_msg = CS.lkas_hud_msg
-    lkas_hud_info_msg = CS.lkas_hud_info_msg
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if CC.latActive:
@@ -65,14 +63,14 @@ def update(self, CC, CS, now_nanos):
     can_sends.append(nissancan.create_steering_control(
       self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
 
-    if lkas_hud_msg and lkas_hud_info_msg:
+    if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+          self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
       if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
-          self.packer, lkas_hud_info_msg, steer_hud_alert
+          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
         ))
 
     new_actuators = actuators.copy()
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index d6b6d17d55a93d..bbba92ddeb0f79 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -14,8 +14,8 @@ def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
-    self.lkas_hud_msg = None
-    self.lkas_hud_info_msg = None
+    self.lkas_hud_msg = {}
+    self.lkas_hud_info_msg = {}
 
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 166166a50b4876..3b498d3f701fc9 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -3,6 +3,7 @@
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+
 def create_steering_control(packer, apply_steer):
   values = {
     "LKAS_Output": apply_steer,
@@ -11,9 +12,11 @@ def create_steering_control(packer, apply_steer):
   }
   return packer.make_can_msg("ES_LKAS", 0, values)
 
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
+
 def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
   values = copy.copy(es_distance_msg)
   values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
@@ -21,8 +24,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
     values["Cruise_Cancel"] = 1
   return packer.make_can_msg("ES_Distance", bus, values)
 
-def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
+def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
   values = copy.copy(es_lkas_state_msg)
 
   # Filter the stock LKAS "Keep hands on wheel" alert
@@ -52,18 +55,19 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
   # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
   if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
     if left_lane_depart:
-      values["LKAS_Alert"] = 12 # Left lane departure dash alert
+      values["LKAS_Alert"] = 12  # Left lane departure dash alert
     elif right_lane_depart:
-      values["LKAS_Alert"] = 11 # Right lane departure dash alert
+      values["LKAS_Alert"] = 11  # Right lane departure dash alert
 
-  values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
-  values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator
+  values["LKAS_ACTIVE"] = 1  # Show LKAS lane lines
+  values["LKAS_Dash_State"] = 2 if enabled else 0  # Green enabled indicator
 
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
   return packer.make_can_msg("ES_LKAS_State", 0, values)
 
+
 def create_es_dashstatus(packer, dashstatus_msg):
   values = copy.copy(dashstatus_msg)
 
@@ -73,6 +77,7 @@ def create_es_dashstatus(packer, dashstatus_msg):
 
   return packer.make_can_msg("ES_DashStatus", 0, values)
 
+
 def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
   if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4):
@@ -88,12 +93,14 @@ def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
 
   return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg)
 
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
   return (sum(dat[:7])) % 256
 
+
 def create_preglobal_steering_control(packer, apply_steer):
   values = {
     "LKAS_Command": apply_steer,
@@ -103,8 +110,8 @@ def create_preglobal_steering_control(packer, apply_steer):
 
   return packer.make_can_msg("ES_LKAS", 0, values)
 
-def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
 
+def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
   values = copy.copy(es_distance_msg)
   values["Cruise_Button"] = cruise_button
 

From b4d4920fa46e7ff5c06a61c4f1c92849b5be7197 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 26 Apr 2023 01:57:25 -0700
Subject: [PATCH 007/175] Ford: update Focus model year

Supported Focus FW is actually (late) 2018 MY. Early production of the
Focus Mk4.

VIN: WF0NXXGCHNJR69712
---
 selfdrive/car/ford/values.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 60c6ff5430eced..ba17f5b54c3705 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -80,7 +80,7 @@ class FordCarInfo(CarInfo):
     FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
     FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],
-  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
+  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Driver Assistance Pack"),
   CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
 

From 8318d7207b96232894580cd5fd8da3f0ff7c0d70 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 26 Apr 2023 18:54:26 +0200
Subject: [PATCH 008/175] cabana: hide/show columns using context menu (#28033)

---
 tools/cabana/messageswidget.cc | 35 ++++++++++++++++++++++++++++++++++
 tools/cabana/messageswidget.h  |  3 +++
 2 files changed, 38 insertions(+)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index e74b8526175f68..f7b25bde514898 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -39,6 +39,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
 
   view->header()->setSectionsMovable(true);
 
+  // Header context menu
+  view->header()->setContextMenuPolicy(Qt::CustomContextMenu);
+  QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent);
+
   main_layout->addWidget(view);
 
   // suppress
@@ -319,3 +323,34 @@ void MessageView::updateBytesSectionSize() {
     header()->resizeSection(5, width);
   }
 }
+
+void MessageView::headerContextMenuEvent(const QPoint &pos) {
+  QMenu *menu = new QMenu(this);
+  int cur_index = header()->logicalIndexAt(pos);
+
+  QString column_name;
+  QAction *action;
+  for (int visual_index = 0; visual_index < header()->count(); visual_index++) {
+    int logical_index = header()->logicalIndex(visual_index);
+    column_name = model()->headerData(logical_index, Qt::Horizontal).toString();
+
+    // Hide show action
+    if (header()->isSectionHidden(logical_index)) {
+      action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); });
+    } else {
+      action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); });
+    }
+
+    // Can't hide the name column
+    action->setEnabled(logical_index > 0);
+
+    // Make current column bold
+    if (logical_index == cur_index) {
+      QFont font = action->font();
+      font.setBold(true);
+      action->setFont(font);
+    }
+  }
+
+  menu->popup(header()->mapToGlobal(pos));
+}
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 2dc0d1d3169b09..ef5467b053ab1e 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -2,8 +2,10 @@
 
 #include <QAbstractTableModel>
 #include <QCheckBox>
+#include <QContextMenuEvent>
 #include <QHeaderView>
 #include <QLineEdit>
+#include <QMenu>
 #include <QSet>
 #include <QTreeView>
 
@@ -43,6 +45,7 @@ class MessageView : public QTreeView {
   void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
   void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
   void updateBytesSectionSize();
+  void headerContextMenuEvent(const QPoint &pos);
 };
 
 class MessagesWidget : public QWidget {

From a91deca39e932a404b89030bae494588a3be4784 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 27 Apr 2023 00:54:42 +0800
Subject: [PATCH 009/175] cabana: set the capacity of points from cached events
 (#28032)

---
 tools/cabana/chart/chart.cc | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index bd051072975cca..8b47374fe3512f 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -260,15 +260,12 @@ void ChartView::updateSeries(const cabana::Signal *sig) {
       s.series->setColor(getColor(s.sig));
 
       const auto &msgs = can->events(s.msg_id);
+      s.vals.reserve(msgs.capacity());
+      s.step_vals.reserve(msgs.capacity() * 2);
+
       auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) {
         return ts < e->mono_time;
       });
-      int new_size = std::max<int>(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100);
-      if (s.vals.capacity() <= new_size) {
-        s.vals.reserve(new_size * 2);
-        s.step_vals.reserve(new_size * 4);
-      }
-
       const double route_start_time = can->routeStartTime();
       for (auto end = msgs.cend(); first != end; ++first) {
         const CanEvent *e = *first;

From 87b0583775547023bb5e8dd0643c120fc15d7d64 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Apr 2023 14:48:49 -0700
Subject: [PATCH 010/175] Lexus RX 2022: add missing engine FW (#28035)

add fp
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2fe60e8fb6403c..6dc3072a651888 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -2024,6 +2024,7 @@ class ToyotaCarInfo(CarInfo):
       b'\x01896634D43000\x00\x00\x00\x00',
       b'\x01896634D44000\x00\x00\x00\x00',
       b'\x018966348X0000\x00\x00\x00\x00',
+      b'\x01896630ED5000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',

From 69cd9cacbcf8816a32e38366fbce2e027e2f4875 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 26 Apr 2023 15:18:40 -0700
Subject: [PATCH 011/175] Hyundai: add missing Tucson Hybrid 2023 FW (#28036)

* add a tucson hybrid

* update docs
---
 docs/CARS.md                    | 2 +-
 selfdrive/car/hyundai/values.py | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 28f9e4eb2f8d36..7e5da0fa12a98d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -94,7 +94,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Tucson 2022[<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
 |Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
-|Hyundai|Tucson Hybrid 2022[<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022">Hyundai N</a>||
+|Hyundai|Tucson Hybrid 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index efd1578135caff..81bbae548a3b6c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -191,7 +191,7 @@ def init_make(self, CP: car.CarParams):
     HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
     HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
   ],
-  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness=Harness.hyundai_n),
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n),
 
   # Kia
@@ -1649,9 +1649,11 @@ class Buttons:
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {

From c711d71caa7eadb0e358daf366edde0559d1a21b Mon Sep 17 00:00:00 2001
From: mitchellgoffpc <mitchellgoffpc@gmail.com>
Date: Wed, 26 Apr 2023 15:45:12 -0700
Subject: [PATCH 012/175] Update libmap_renderer -> libmaprender in
 map_renderer.py/get_ffi

---
 selfdrive/navd/map_renderer.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index 3239470b23ece5..ec0edea89ca87b 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -15,7 +15,7 @@
 
 
 def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
+  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
 
   ffi = FFI()
   ffi.cdef("""

From fbb7dcb19c2d864f951068e1a45b7293a6b4fd92 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 26 Apr 2023 16:01:39 -0700
Subject: [PATCH 013/175] LaikaD: new proc_replay segment and no internet
 laikad (#28029)

* no internet in CI

* add new segment

* new ref
---
 selfdrive/locationd/laikad.py                   | 2 --
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 4 ++--
 3 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 8b07c46aaa1494..8532eefb2b700c 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -443,8 +443,6 @@ def main(sm=None, pm=None):
   use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
 
   replay = "REPLAY" in os.environ
-  if replay or "CI" in os.environ:
-    use_internet = True
 
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 2e1c439698c29f..b13694b72458f5 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-627aa0f54e377d1f3954c58e37c0a15b555e20b3
+9b93b8bc2ba2cddc7ba9bc97274bb8ff4cacb8f7
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index a2dd938e2f4870..56eb7b48350dd2 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -25,7 +25,7 @@
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA_2018_HYBRID
-  ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"),        # CHRYSLER.RAM_1500
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
@@ -49,7 +49,7 @@
   ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
   ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
   ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
-  ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),
   ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
   ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),

From 613bbcd62661eecda609cfa32be2e31a6bb490ca Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Wed, 26 Apr 2023 19:20:05 -0700
Subject: [PATCH 014/175] Revert "LaikaD: new proc_replay segment and no
 internet laikad (#28029)"

This reverts commit fbb7dcb19c2d864f951068e1a45b7293a6b4fd92.
---
 selfdrive/locationd/laikad.py                   | 2 ++
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 4 ++--
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 8532eefb2b700c..8b07c46aaa1494 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -443,6 +443,8 @@ def main(sm=None, pm=None):
   use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
 
   replay = "REPLAY" in os.environ
+  if replay or "CI" in os.environ:
+    use_internet = True
 
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b13694b72458f5..2e1c439698c29f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-9b93b8bc2ba2cddc7ba9bc97274bb8ff4cacb8f7
\ No newline at end of file
+627aa0f54e377d1f3954c58e37c0a15b555e20b3
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 56eb7b48350dd2..a2dd938e2f4870 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -25,7 +25,7 @@
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA_2018_HYBRID
-  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500
+  ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"),        # CHRYSLER.RAM_1500
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
@@ -49,7 +49,7 @@
   ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
   ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
   ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
-  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),
+  ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
   ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
   ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),

From 2ad352d2993d25d5b656b2e20b696130ad465da1 Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Thu, 27 Apr 2023 06:21:50 +0300
Subject: [PATCH 015/175] Subaru: FPv2: Add Crosstrek Limited 2023 missing FW
 values (#28014)

* Subaru: FPv2: Add Crosstrek Limited 2023

* trailing comma

* remove duplicate

* prefer hex

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
---
 selfdrive/car/subaru/values.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index c191c4f6e19a50..446f9be2a37a74 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -247,7 +247,7 @@ class SubaruCarInfo(CarInfo):
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\000\000eb\037@ \"',
-      b'\000\000e\x8f\037@ )',
+      b'\x00\x00e\x8f\x1f@ )',
       b'\x00\x00eq\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
@@ -262,6 +262,7 @@ class SubaruCarInfo(CarInfo):
       b'\xca!fp\x07',
       b'\xf3"f@\x07',
       b'\xe6!fp\x07',
+      b'\xf3"fp\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',

From 09d25ad9997ae08c22a84310bec6e7d3821aa408 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 26 Apr 2023 20:42:43 -0700
Subject: [PATCH 016/175] athenad: add getGithubUsername method (#28025)

* athenad: add getGithubUsername method

* add test

* order
---
 selfdrive/athena/athenad.py            | 5 +++++
 selfdrive/athena/tests/helpers.py      | 1 +
 selfdrive/athena/tests/test_athenad.py | 4 ++++
 3 files changed, 10 insertions(+)

diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 7cb6d5b845f863..8e335c2b581b30 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -517,6 +517,11 @@ def getSshAuthorizedKeys() -> str:
   return Params().get("GithubSshKeys", encoding='utf8') or ''
 
 
+@dispatcher.add_method
+def getGithubUsername() -> str:
+  return Params().get("GithubUsername", encoding='utf8') or ''
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py
index a43527c2601941..247aedd67a6eb4 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@@ -53,6 +53,7 @@ class MockParams():
   default_params = {
     "DongleId": b"0000000000000000",
     "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private",  # noqa: E501
+    "GithubUsername": b"commaci",
     "GsmMetered": True,
     "AthenadUploadQueue": '[]',
   }
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 128fde0319285e..948fcc07a52537 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -377,6 +377,10 @@ def test_getSshAuthorizedKeys(self):
     keys = dispatcher["getSshAuthorizedKeys"]()
     self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
 
+  def test_getGithubUsername(self):
+    keys = dispatcher["getGithubUsername"]()
+    self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8'))
+
   def test_getVersion(self):
     resp = dispatcher["getVersion"]()
     keys = ["version", "remote", "branch", "commit"]

From 712636309324844465017a7785236a55030114b0 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 26 Apr 2023 20:45:58 -0700
Subject: [PATCH 017/175] uploader: log actual uploaded file size (#28000)

* uploader: log actual uploaded file size

The size will be less if compressed before uploading.

* cleanup

* fix return type

* add request to FakeResponse

* cleanup

* fix
---
 system/loggerd/uploader.py | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 13d17b58c5e398..5fda902bd69cd8 100644
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -32,9 +32,15 @@
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
 
+class FakeRequest:
+  def __init__(self):
+    self.headers = {"Content-Length": "0"}
+
+
 class FakeResponse:
   def __init__(self):
     self.status_code = 200
+    self.request = FakeRequest()
 
 
 UploadResponse = Union[requests.Response, FakeResponse]
@@ -199,9 +205,14 @@ def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool)
       if stat is not None and stat.status_code in (200, 201, 401, 403, 412):
         self.last_filename = fn
         self.last_time = time.monotonic() - start_time
-        self.last_speed = (sz / 1e6) / self.last_time
+        if stat.status_code == 412:
+          self.last_speed = 0
+          cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
+        else:
+          content_length = int(stat.request.headers.get("Content-Length", 0))
+          self.last_speed = (content_length / 1e6) / self.last_time
+          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, network_type=network_type, metered=metered, speed=self.last_speed)
         success = True
-        cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
       else:
         success = False
         cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)

From 64e76c4e4253e69d258dad6780d302a8ab3ff68c Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 26 Apr 2023 23:07:36 -0700
Subject: [PATCH 018/175] Ford: update CAN message frequency comments

---
 selfdrive/car/ford/fordcan.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 9ac514e0aa0889..b56a3185c261b6 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -19,7 +19,7 @@ def create_lka_msg(packer):
 
   This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
 
-  Frequency is 20Hz.
+  Frequency is 33Hz.
   """
 
   return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
@@ -123,7 +123,7 @@ def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_v
 
   Stock functionality is maintained by passing through unmodified signals.
 
-  Frequency is 20Hz.
+  Frequency is 5Hz.
   """
 
   # Tja_D_Stat
@@ -208,6 +208,8 @@ def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tj
   Creates a CAN message for the Ford SCCM buttons/switches.
 
   Includes cruise control buttons, turn lights and more.
+
+  Frequency is 10Hz.
   """
 
   values = {

From fbd062044208e392c904ddfbb644a242bdc7d32b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Apr 2023 00:06:12 -0700
Subject: [PATCH 019/175] bump panda (#28041)

bumppanda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index b342c2d724125b..1e8c5d59c7aed4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b342c2d724125b3d12b88a53c2f87ba01c8043d0
+Subproject commit 1e8c5d59c7aed45aaca580c99197a1248abd0209

From 8e3e9141ee74779a0ec49ca24c2ff938d686bb6f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 27 Apr 2023 00:43:14 -0700
Subject: [PATCH 020/175] Ford safety: curvature error limit (#27981)

* clip Ford requested curvature to current +- delta

* fix bug, allow for more limit

* bump panda to branch

* bump panda

* rename

* rename function

* make a wrapper function (ford uses dynamic up/down limits

* make two functions consistent

* use apply_dist_to_meas_limits

* only above 12 ms

* simplify, clean up

* this isn't used

* https://github.com/commaai/openpilot/pull/27446

* bump panda

* one m/s fudge

* fix current curvature

* also fix panda

* fix panda blocking msgs

* bump panda to fix more blocked msgs

* clip

* bump panda

* lower to 9 ms

* clean up carcontroller

* bump panda

* bump

* bumppanda

* bumppanda

* bumppanda

* split line
---
 panda                               |  2 +-
 selfdrive/car/ford/carcontroller.py | 18 +++++++++++++++---
 selfdrive/car/ford/values.py        |  1 +
 3 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/panda b/panda
index 1e8c5d59c7aed4..c9c3cb38f6102e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1e8c5d59c7aed45aaca580c99197a1248abd0209
+Subproject commit c9c3cb38f6102ed3f72cee9720293be6c581e7ee
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index e5224857caac29..6c12a0e6bc9689 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -9,6 +9,18 @@
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
+def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
+  # Note that we do curvature error limiting after the rate limits since they are just for tuning reasons
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
+
+  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
+  if v_ego_raw > 9:
+    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
+                           current_curvature + CarControllerParams.CURVATURE_ERROR)
+
+  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
+
+
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
@@ -46,9 +58,9 @@ def update(self, CC, CS, now_nanos):
     # send steer msg at 20Hz
     if (self.frame % CarControllerParams.STEER_STEP) == 0:
       if CC.latActive:
-        # apply limits to curvature and clip to signal range
-        apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
-        apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
+        # apply rate limits, curvature error limit, and clip to signal range
+        current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
+        apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
       else:
         apply_curvature = 0.
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index ba17f5b54c3705..9315a97e8948d2 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -28,6 +28,7 @@ class CarControllerParams:
   # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
   ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
   ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
+  CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
 
   ACCEL_MAX = 2.0               # m/s^s max acceleration
   ACCEL_MIN = -3.5              # m/s^s max deceleration

From 5a4452e3c636d8e4d8ea9b4456f5821c943342b2 Mon Sep 17 00:00:00 2001
From: thedude130 <scott.scheffe@gmail.com>
Date: Thu, 27 Apr 2023 02:48:35 -0500
Subject: [PATCH 021/175] Hyundai: add 2023 Elantra Hybrid Limited FW (#28018)

* Added new FW versions for fwdCamera, transmission from 2023 Elantra Hybrid Limited

* rm that

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 81bbae548a3b6c..154ab5363dc1fc 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1503,6 +1503,7 @@ class Buttons:
       b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.09 99210-AA000 221108',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',

From 26b3d901b5ae025795b0b811d0159317e7ff195b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 27 Apr 2023 16:30:03 -0400
Subject: [PATCH 022/175] HKG: Add FW Versions for 2023 Kia Forte (#28022)

* HKG: Add FW Versions for 2023 Kia Forte

* 2023 uses Harness E

* Update CARS.md

* more FW

* sort

* Only need shortest responses

* fix

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                    |  3 ++-
 selfdrive/car/hyundai/values.py | 11 ++++++++++-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 7e5da0fa12a98d..42305a964a369e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 243 Supported Cars
+# 244 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -103,6 +103,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|EV6 (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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P</a>||
 |Kia|EV6 (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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
+|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E</a>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
 |Kia|K5 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 154ab5363dc1fc..e695ea9d381266 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -195,7 +195,10 @@ def init_make(self, CP: car.CarParams):
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n),
 
   # Kia
-  CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
+  CAR.KIA_FORTE: [
+    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
+    HyundaiCarInfo("Kia Forte 2023", harness=Harness.hyundai_e),
+  ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
   CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
@@ -1156,21 +1159,27 @@ class Buttons:
       b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
+      b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
+      b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
+      b'\xf1\x00BDPE_SCC FHCUPC     1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x01TBDM1NU06F200H01',
       b'391182B945\x00',
+      b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
       b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
       b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
     ],

From 5940802b5f315fd4725885b835af83dbb3b32595 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 27 Apr 2023 16:54:09 -0400
Subject: [PATCH 023/175] VW MQB: Add FW for 2022 Volkswagen Polo (#28044)

---
 selfdrive/car/volkswagen/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index dd2d42797d4bc6..fad708a691faf2 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -680,19 +680,24 @@ def init_make(self, CP: car.CarParams):
   CAR.POLO_MK6: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025H \xf1\x895177',
+      b'\xf1\x8705C906032J \xf1\x891702',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300042D \xf1\x891612',
       b'\xf1\x870CW300050D \xf1\x891908',
+      b'\xf1\x870CW300051G \xf1\x891909',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
       b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872Q1909144M \xf1\x896041',
+      b'\xf1\x872Q2909144AB\xf1\x896050',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },

From 64fb5cb9223a2266e7dc617595b4a8564aa8b82f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 28 Apr 2023 05:19:06 +0800
Subject: [PATCH 024/175] cabana: fix time is displayed incorrectly when mouse
 dragged outside of the slider (#28048)

fix time is displayed incorrectly when the mouse is dragged outside of the slider
---
 tools/cabana/videowidget.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index e17cf22c064363..846a83c24cb1e6 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -262,7 +262,8 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 void Slider::mouseMoveEvent(QMouseEvent *e) {
   QPixmap thumb;
   AlertInfo alert;
-  double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0;
+  int pos = std::clamp(e->pos().x(), 0, width());
+  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / 1000.0;
   {
     std::lock_guard lk(thumbnail_lock);
     uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
@@ -273,7 +274,7 @@ void Slider::mouseMoveEvent(QMouseEvent *e) {
       alert = alert_it->second;
     }
   }
-  int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
+  int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
   int y = -thumb.height();
   thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert);
   QSlider::mouseMoveEvent(e);

From a3070d0e356d3b7894d7b7690f693d988aa3130a Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 27 Apr 2023 21:40:36 -0400
Subject: [PATCH 025/175] VW MQB: Config tool update for new EPS (#28056)

---
 selfdrive/debug/vw_mqb_config.py | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 8952405b8eb500..6b5ec36935f07d 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -49,7 +49,7 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
     sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8")
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
-    odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8")
+    odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
     current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
     coding_text = current_coding.hex()
 
@@ -70,14 +70,14 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
   coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
   coding_length = len(current_coding)
 
-  # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS)
-  if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"):
-    coding_variant = "ZF"
+  # EPS_MQB_ZFLS
+  if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"):
+    coding_variant = "ZFLS"
     coding_byte = 0
     coding_bit = 4
 
-  # APA racks (MQB_PP_APA) have a different coding layout
-  elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00":
+  # MQB_PP_APA, MQB_VWBS_GEN2
+  elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"):
     coding_variant = "APA"
     coding_byte = 3
     coding_bit = 0
@@ -111,8 +111,8 @@ class ACCESS_TYPE_LEVEL_1(IntEnum):
   if args.action in ["enable", "disable"]:
     print("\nAttempting configuration update")
 
-    assert(coding_variant in ("ZF", "APA"))
-    # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the
+    assert(coding_variant in ("ZFLS", "APA"))
+    # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the
     # bit we care about is always in the same place in the first byte
     if args.action == "enable":
       new_byte = current_coding_array[coding_byte] | (1 << coding_bit)

From 3617057c63ce818e62bd27db25f982819d7a18e6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 28 Apr 2023 14:26:15 -0700
Subject: [PATCH 026/175] bump panda (#28062)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index c9c3cb38f6102e..4160d8d71cbb5c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit c9c3cb38f6102ed3f72cee9720293be6c581e7ee
+Subproject commit 4160d8d71cbb5cd40107834ad4756c4dbffc63b0

From a93f74a846ff21e4538d00c921bdeabc44f85d0d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 28 Apr 2023 14:47:03 -0700
Subject: [PATCH 027/175] boardd: more logging (#28051)

---
 selfdrive/boardd/panda.cc  | 2 ++
 selfdrive/boardd/pandad.py | 3 +++
 2 files changed, 5 insertions(+)

diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 4873040f37d21c..1e7b510eca2657 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -13,9 +13,11 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   // try USB first, then SPI
   try {
     handle = std::make_unique<PandaUsbHandle>(serial);
+    LOGW("conntected to %s over USB", serial.c_str());
   } catch (std::exception &e) {
 #ifndef __APPLE__
     handle = std::make_unique<PandaSpiHandle>(serial);
+    LOGW("conntected to %s over SPI", serial.c_str());
 #endif
   }
 
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index f0ab76e1dd7398..ccd88a62def8ac 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -76,10 +76,13 @@ def panda_sort_cmp(a: Panda, b: Panda):
 
 
 def main() -> NoReturn:
+  count = 0
   first_run = True
   params = Params()
 
   while True:
+    count += 1
+    cloudlog.event("pandad.flash_and_connect", count=count)
     try:
       params.remove("PandaSignatures")
 

From ba4a1c1b8749f67e264bfb6f2bfd0c3faac284de Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 28 Apr 2023 19:36:31 -0700
Subject: [PATCH 028/175] regen: whitelist-proc (#27980)

* Add support for whitelist-procs to toggle on/off specific processes during regen

* Use process CONFIGS from process_replay to generate fake processes instead of hard-coded values

* Add rawgpsd to fake_daemons. Remove duplicates from replayable_messages.

* Remove duplicate block of code from setup_env

* Remove rawgpsd comment
---
 .../test/process_replay/process_replay.py     |  6 +-
 selfdrive/test/process_replay/regen.py        | 71 +++++++++++++++----
 2 files changed, 60 insertions(+), 17 deletions(-)

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 3072ecd0c98ee5..85cba249412176 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -421,11 +421,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None):
   if lr is not None:
     services = {m.which() for m in lr}
     params.put_bool("UbloxAvailable", "ubloxGnss" in services)
-
-  if lr is not None:
-    services = {m.which() for m in lr}
-    params.put_bool("UbloxAvailable", "ubloxGnss" in services)
-
+  
   if cfg is not None:
     # Clear all custom processConfig environment variables
     for config in CONFIGS:
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 8de4eb43fc11b6..dea9a737e8ebde 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -19,7 +19,7 @@
 from selfdrive.car.toyota.values import EPS_SCALE
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
+from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled
 from selfdrive.test.update_ci_routes import upload_route
 from tools.lib.route import Route
 from tools.lib.framereader import FrameReader
@@ -233,7 +233,11 @@ def migrate_sensorEvents(lr, old_logtime=False):
 
   return all_msgs
 
-def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
+
+def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False):
+  if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
+    raise ValueError("whitelist_proc must be a string or iterable")
+
   lr = migrate_carparams(list(lr))
   lr = migrate_sensorEvents(list(lr))
   if frs is None:
@@ -262,33 +266,68 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
       multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)),
       multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
     ],
-    'managerState': [
+    'manager': [
       multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
     ],
     'thermald': [
       multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
     ],
+    'rawgpsd': [
+      multiprocessing.Process(target=replay_service, args=('qcomGnss', lr)),
+      multiprocessing.Process(target=replay_service, args=('gpsLocation', lr)),
+    ],
     'camerad': [
       *cam_procs,
     ],
   }
+  # TODO add configs for modeld, dmonitoringmodeld
+  fakeable_daemons = {}
+  for config in CONFIGS:
+    replayable_messages = set([msg for sub in config.pub_sub.values() for msg in sub])
+    processes = [
+      multiprocessing.Process(target=replay_service, args=(msg, lr)) 
+      for msg in replayable_messages
+    ]
+    fakeable_daemons[config.proc_name] = processes
+
+  additional_fake_daemons = {}
+  if daemons != "all":
+    additional_fake_daemons = fakeable_daemons
+    if isinstance(daemons, str):
+      raise ValueError(f"Invalid value for daemons: {daemons}")
+
+    for d in daemons:
+      if d in fake_daemons:
+        raise ValueError(f"Running daemon {d} is not supported!")
+      
+      if d in fakeable_daemons:
+        del additional_fake_daemons[d]
+
+  all_fake_daemons = {**fake_daemons, **additional_fake_daemons}
 
   try:
     # TODO: make first run of onnxruntime CUDA provider fast
-    managed_processes["modeld"].start()
-    managed_processes["dmonitoringmodeld"].start()
+    if "modeld" not in all_fake_daemons:
+      managed_processes["modeld"].start()
+    if "dmonitoringmodeld" not in all_fake_daemons:
+      managed_processes["dmonitoringmodeld"].start()
     time.sleep(5)
 
     # start procs up
-    ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd']
+    ignore = list(all_fake_daemons.keys()) \
+           + ['ui', 'manage_athenad', 'uploader', 'soundd', 'micd', 'navd']
+    
+    print("Faked daemons:", ", ".join(all_fake_daemons.keys()))
+    print("Running daemons:", ", ".join([key for key in managed_processes.keys() if key not in ignore]))
+
     ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore)
-    for procs in fake_daemons.values():
+    for procs in all_fake_daemons.values():
       for p in procs:
         p.start()
 
     for _ in tqdm(range(60), disable=disable_tqdm):
       # ensure all procs are running
-      for d, procs in fake_daemons.items():
+      for d, procs in all_fake_daemons.items():
         for p in procs:
           if not p.is_alive():
             raise Exception(f"{d}'s {p.name} died")
@@ -297,7 +336,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
     # kill everything
     for p in managed_processes.values():
       p.stop()
-    for procs in fake_daemons.values():
+    for procs in all_fake_daemons.values():
       for p in procs:
         p.terminate()
 
@@ -312,7 +351,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   return seg_path
 
 
-def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
+def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
   if use_route_meta:
     r = Route(route)
     lr = LogReader(r.log_paths()[sidx])
@@ -333,7 +372,7 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKED
   frs = {'roadCameraState': fr}
   if wfr is not None:
     frs['wideRoadCameraState'] = wfr
-  rpath = regen_segment(lr, frs, outdir=outdir, disable_tqdm=disable_tqdm)
+  rpath = regen_segment(lr, frs, daemons, outdir=outdir, disable_tqdm=disable_tqdm)
 
   # compress raw rlog before uploading
   with open(os.path.join(rpath, "rlog"), "rb") as f:
@@ -356,10 +395,18 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKED
 
 
 if __name__ == "__main__":
+  def comma_separated_list(string):
+    if string == "all":
+      return string
+    return string.split(",")
+
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
   parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
+  parser.add_argument("--whitelist-procs", type=comma_separated_list, default="all",
+                      help="Comma-separated whitelist of processes to regen (e.g. controlsd). Pass 'all' to whitelist all processes.")
   parser.add_argument("route", type=str, help="The source route")
   parser.add_argument("seg", type=int, help="Segment in source route")
   args = parser.parse_args()
-  regen_and_save(args.route, args.seg, args.upload, outdir=args.outdir)
+
+  regen_and_save(args.route, args.seg, args.whitelist_procs, args.upload, outdir=args.outdir)

From 45f1f764ea32f05b51e8e8a84ab6ce7ab8eefd95 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 30 Apr 2023 04:27:37 +0800
Subject: [PATCH 029/175] cabana: display current time & values in chart
 (#28042)

* display current time&value in chart

* cleanup

* use macro

* use BrightText

* use x-square

* tiplabel: set point size 9

* add 1 point offset

* change Light color

* lighter color

* use const iterator to avoid implict sharing detachs
---
 tools/cabana/chart/chart.cc        | 99 ++++++++++++++++++++++--------
 tools/cabana/chart/chart.h         |  2 +
 tools/cabana/chart/chartswidget.cc |  2 +-
 tools/cabana/chart/tiplabel.cc     |  3 +
 tools/cabana/dbc/dbc.cc            | 15 +++++
 tools/cabana/dbc/dbc.h             |  1 +
 tools/cabana/signalview.cc         | 12 +---
 7 files changed, 95 insertions(+), 39 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 8b47374fe3512f..23ea21f4fd3d5f 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -5,6 +5,7 @@
 #include <QDrag>
 #include <QGraphicsLayout>
 #include <QGraphicsDropShadowEffect>
+#include <QGraphicsItemGroup>
 #include <QGraphicsOpacityEffect>
 #include <QMenu>
 #include <QMimeData>
@@ -17,6 +18,8 @@
 
 #include "tools/cabana/chart/chartswidget.h"
 
+// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
+const int AXIS_X_TOP_MARGIN = 4;
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
 ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
@@ -39,6 +42,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   setRubberBand(QChartView::HorizontalRubberBand);
   setMouseTracking(true);
   setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
+  signal_value_font.setPointSize(9);
 
   QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
   QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); });
@@ -119,7 +123,7 @@ void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
 }
 
 bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const {
-  return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
+  return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
 }
 
 void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
@@ -143,14 +147,14 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 }
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
-  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) {
+  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
     updateTitle();
     updateSeries(sig);
   }
 }
 
 void ChartView::msgUpdated(MessageId id) {
-  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; }))
+  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id == id; }))
     updateTitle();
 }
 
@@ -189,10 +193,16 @@ void ChartView::updatePlotArea(int left_pos, bool force) {
 
     qreal left, top, right, bottom;
     chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
-    chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()});
+    QSizeF legend_size = chart()->legend()->layout()->minimumSize();
+    legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right());
+    chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size});
+
+    // add top space for signal value
+    int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3;
+    adjust_top = std::max<int>(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin));
+    // add right space for x-axis label
     QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
     x_label_size += QSizeF{5, 5};
-    int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin);
     chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
     chart()->layout()->invalidate();
     resetChartCache();
@@ -229,11 +239,11 @@ void ChartView::updatePlot(double cur, double min, double max) {
 void ChartView::updateSeriesPoints() {
   // Show points when zoomed in enough
   for (auto &s : sigs) {
-    auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
-    auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan);
+    auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
+    auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan);
     if (begin != end) {
       int num_points = std::max<int>((end - begin), 1);
-      QPointF right_pt = end == s.vals.end() ? s.vals.back() : *end;
+      QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end;
       double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points;
 
       if (series_type == SeriesType::Scatter) {
@@ -305,8 +315,8 @@ void ChartView::updateAxisY() {
       unit.clear();
     }
 
-    auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
-    auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan);
+    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
+    auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
     s.min = std::numeric_limits<double>::max();
     s.max = std::numeric_limits<double>::lowest();
     if (can->liveStreaming()) {
@@ -315,7 +325,7 @@ void ChartView::updateAxisY() {
         if (it->y() > s.max) s.max = it->y();
       }
     } else {
-      auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.begin(), first), std::distance(s.vals.begin(), last));
+      auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
       s.min = min_y;
       s.max = max_y;
     }
@@ -530,8 +540,8 @@ void ChartView::showTip(double sec) {
     if (s.series->isVisible()) {
       QString value = "--";
       // use reverse iterator to find last item <= sec.
-      auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
-      if (it != s.vals.rend() && it->x() >= axis_x->min()) {
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; });
+      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
         value = QString::number(it->y());
         s.track_pt = *it;
         x = std::max(x, chart()->mapToPosition(*it).x());
@@ -640,14 +650,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
 }
 
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
-  // draw time line
-  qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x();
-  x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right());
-  qreal y1 = chart()->plotArea().top() - 2;
-  qreal y2 = chart()->plotArea().bottom() + 2;
-  painter->setPen(QPen(chart()->titleBrush().color(), 2));
-  painter->drawLine(QPointF{x, y1}, QPointF{x, y2});
-
+  drawTimeline(painter);
   // draw track points
   painter->setPen(Qt::NoPen);
   qreal track_line_x = -1;
@@ -660,16 +663,17 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
     }
   }
   if (track_line_x > 0) {
+    auto plot_area = chart()->plotArea();
     painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
-    painter->drawLine(QPointF{track_line_x, y1}, QPointF{track_line_x, y2});
+    painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()});
   }
 
   // paint points. OpenGL mode lacks certain features (such as showing points)
   painter->setPen(Qt::NoPen);
   for (auto &s : sigs) {
     if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) {
-      auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
-      auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan);
+      auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
+      auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
       painter->setBrush(s.series->color());
       for (auto it = first; it != last; ++it) {
         painter->drawEllipse(chart()->mapToPosition(*it), 4, 4);
@@ -683,9 +687,8 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
     painter->setPen(Qt::white);
     auto rubber_rect = rubber->geometry().normalized();
     for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
-      QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 1);
-      // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
-      auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -4, 6, 4);
+      QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2);
+      auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN);
       pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
       painter->fillRect(r, Qt::gray);
       painter->drawText(r, Qt::AlignCenter, sec);
@@ -693,6 +696,48 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   }
 }
 
+void ChartView::drawTimeline(QPainter *painter) {
+  const auto plot_area = chart()->plotArea();
+  // draw line
+  qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
+  painter->setPen(QPen(chart()->titleBrush().color(), 2));
+  painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});
+
+  // draw current time
+  QString time_str = QString::number(cur_sec, 'f', 2);
+  QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
+  QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QPainterPath path;
+  path.addRoundedRect(time_str_rect, 3, 3);
+  painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
+  painter->setPen(palette().color(QPalette::BrightText));
+  painter->setFont(axis_x->labelsFont());
+  painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+
+  // draw signal value
+  auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
+  assert(item_group != nullptr);
+  auto legend_markers = item_group->childItems();
+  assert(legend_markers.size() == sigs.size());
+
+  painter->setFont(signal_value_font);
+  painter->setPen(chart()->legend()->labelColor());
+  int i = 0;
+  for (auto &s : sigs) {
+    QString value = "--";
+    if (s.series->isVisible()) {
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; });
+      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
+        value = s.sig->formatValue(it->y());
+      }
+    }
+    QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
+    QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
+    QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
+    painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val);
+  }
+}
+
 QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
   QXYSeries *series = nullptr;
   if (type == SeriesType::Line) {
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index fda9271560e995..4170da4c956b52 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -80,6 +80,7 @@ private slots:
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
   void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawTimeline(QPainter *painter);
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);
@@ -104,6 +105,7 @@ private slots:
   QPixmap chart_pixmap;
   bool can_drop = false;
   double tooltip_x = -1;
+  QFont signal_value_font;
   ChartsWidget *charts_widget;
   friend class ChartsWidget;
 };
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 0a87658c229914..7221ebf5cef456 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -60,7 +60,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
   reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
-  toolbar->addWidget(remove_all_btn = new ToolButton("x", tr("Remove all charts")));
+  toolbar->addWidget(remove_all_btn = new ToolButton("x-square", tr("Remove all charts")));
   toolbar->addWidget(dock_btn = new ToolButton(""));
   main_layout->addWidget(toolbar);
 
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
index 3ee5f00978b183..37c00834c3f969 100644
--- a/tools/cabana/chart/tiplabel.cc
+++ b/tools/cabana/chart/tiplabel.cc
@@ -9,6 +9,9 @@
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
+  QFont font;
+  font.setPointSizeF(8.34563465);
+  setFont(font);
   auto palette = QToolTip::palette();
   if (settings.theme != DARK_THEME) {
     palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 46302ad789b475..909390fd277f44 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -17,6 +17,21 @@ void cabana::Signal::updatePrecision() {
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
 
+QString cabana::Signal::formatValue(double value) const {
+  // Show enum string
+  for (auto &[val, desc] : val_desc) {
+    if (std::abs(value - val.toInt()) < 1e-6) {
+      return desc;
+    }
+  }
+
+  QString val_str = QString::number(value, 'f', precision);
+  if (!unit.isEmpty()) {
+    val_str += " " + unit;
+  }
+  return val_str;
+}
+
 // helper functions
 
 static QVector<int> BIG_ENDIAN_START_BITS = []() {
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index 8b1e5a16e9370b..fdbbc9d1696784 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -57,6 +57,7 @@ namespace cabana {
     ValueDescription val_desc;
     int precision = 0;
     void updatePrecision();
+    QString formatValue(double value) const;
   };
 
   struct Msg {
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 32b0a3940882f6..a35ec4943247a6 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -595,17 +595,7 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   for (auto item : model->root->children) {
     double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig);
-    item->sig_val = QString::number(value, 'f', item->sig->precision);
-    // Show unit
-    if (!item->sig->unit.isEmpty()) {
-      item->sig_val += " " + item->sig->unit;
-    }
-    // Show enum string
-    for (auto &[val, desc] : item->sig->val_desc) {
-      if (std::abs(value - val.toInt()) < 1e-6) {
-        item->sig_val = desc;
-      }
-    }
+    item->sig_val = item->sig->formatValue(value);
     max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
   }
 

From 06756f4533fa1a83c0ac4e7456720ba00c726bf8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Sun, 30 Apr 2023 18:24:20 -0700
Subject: [PATCH 030/175] New process_replay segment with latest ublox logs
 (#28038)

* Add new segment

* Update ref_commit
---
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 2e1c439698c29f..e6c7643963da75 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-627aa0f54e377d1f3954c58e37c0a15b555e20b3
+30fd4867be13af3911b8151bbac959e0bfe898a5
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index a2dd938e2f4870..56eb7b48350dd2 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -25,7 +25,7 @@
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA_2018_HYBRID
-  ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"),        # CHRYSLER.RAM_1500
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
@@ -49,7 +49,7 @@
   ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
   ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
   ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
-  ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),
   ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
   ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),

From e5cec963ea2e9780ccdfb040c57f4338e2f76546 Mon Sep 17 00:00:00 2001
From: nicakp <91095824+nicakp@users.noreply.github.com>
Date: Tue, 2 May 2023 02:37:19 +0630
Subject: [PATCH 031/175] Volkswagen Golf: add missing FW (#28067)

Update values.py
---
 selfdrive/car/volkswagen/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index fad708a691faf2..6cbd805a472a37 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -394,6 +394,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x8704E906016A \xf1\x897697',
       b'\xf1\x8704E906016AD\xf1\x895758',
       b'\xf1\x8704E906016CE\xf1\x899096',
+      b'\xf1\x8704E906016CH\xf1\x899226',
       b'\xf1\x8704E906023AG\xf1\x891726',
       b'\xf1\x8704E906023BN\xf1\x894518',
       b'\xf1\x8704E906024K \xf1\x896811',
@@ -450,6 +451,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x870CW300044T \xf1\x895245',
       b'\xf1\x870CW300045  \xf1\x894531',
       b'\xf1\x870CW300047D \xf1\x895261',
+      b'\xf1\x870CW300047E \xf1\x895261',
       b'\xf1\x870CW300048J \xf1\x890611',
       b'\xf1\x870CW300049H \xf1\x890905',
       b'\xf1\x870D9300012  \xf1\x894904',

From c11d01cf010bab572a13679d7b44ae2599b4076f Mon Sep 17 00:00:00 2001
From: i2020github <63422153+i2020github@users.noreply.github.com>
Date: Mon, 1 May 2023 21:21:46 +0100
Subject: [PATCH 032/175] Toyota: add missing LEXUS_RXH_TSS2 FW (#28060)

* Update values.py

Added one new firmware value to CAR.LEXUS_RXH_TSS2: {
    (Ecu.engine, 0x7e0, None): [

* fix indentation and sort

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
---
 selfdrive/car/toyota/values.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 6dc3072a651888..8f449d071cdc45 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -2050,11 +2050,12 @@ class ToyotaCarInfo(CarInfo):
   },
   CAR.LEXUS_RXH_TSS2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152648831\x00\x00\x00\x00\x00\x00',

From 94100fec5a7cdf4622cd90bfe42f393ec4587766 Mon Sep 17 00:00:00 2001
From: jazzbearz <jazzbearz@gmail.com>
Date: Tue, 2 May 2023 05:49:16 +0900
Subject: [PATCH 033/175] Kia: add missing Korean EV6 fwdCamera FW version 1.05
 (#28040)

* add missing EV6 fwd carmera 1.05 version

* no octal

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index e695ea9d381266..793de68d7f80f0 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1625,6 +1625,7 @@ class Buttons:
       b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
       b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.05 99210-CV000 211027',
       b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
     ],
   },

From a418cb4c2054005372a3ee64f0099c3357157377 Mon Sep 17 00:00:00 2001
From: Tyler Ferrara <tylerferrara123@gmail.com>
Date: Mon, 1 May 2023 14:54:37 -0600
Subject: [PATCH 034/175] HKG: add FW version for 2023 Kia Niro EV (#28057)

* Add 2023 Kia Niro EV fingerprint values

* VW MQB: Config tool update for new EPS (#28056)

* Remove eps and cornerRadar from kia niro values.py

* already here

---------

Co-authored-by: Tyler Ferrara <tjferrara@google.com>
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 793de68d7f80f0..1d69f8cbb997f4 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1328,6 +1328,7 @@ class Buttons:
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
+      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
     ],
   },
   CAR.KIA_NIRO_PHEV: {

From f80c1087fc022207c252e5b4411fc0f514fb7514 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Mon, 1 May 2023 16:03:16 -0700
Subject: [PATCH 035/175] new model: trained with augmented turn desire pulses
 (#28063)

* df733db3-fad2-4485-abe9-59a6a47f2233/449 85f20e13-dd4d-49a8-ba33-98e6afc161d9/700

* update ref commit
---
 selfdrive/modeld/models/supercombo.onnx               | 2 +-
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 13759c62f8a078..d8a8b5ef13acfc 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea
+oid sha256:0007958c9bad4a87eb5c28080b5bfdc24834958fbcbaff448674fa570b0196da
 size 46011200
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index bd026f5710b879..b3cc50e559a03b 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-82db08d52b155336e9a1dadd11485d5acdf2eba0
+9d3cd2e7d5fceaaf0e8a4bd798a24fcf470da7c2

From 0cba0a135d27dbad114a20ac58d9167f29295e50 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 May 2023 16:05:23 -0700
Subject: [PATCH 036/175] Update RELEASES.md

---
 RELEASES.md | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 4f5708cc1a35c3..94908214ef3ec2 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,6 +1,8 @@
-Version 0.9.2 (2023-03-XX)
+Version 0.9.2 (2023-05-XX)
 ========================
-* New driving model, trained on a new dataset
+* New driving model
+  * fixes turn diving
+  * trained on a new dataset
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Chevrolet Trailblazer 2021-22 support thanks to TurboCE!

From 64df41c9afbfb19fd527eb107af5c83691db3202 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 May 2023 21:35:10 -0700
Subject: [PATCH 037/175] test_onroad: enforce CPU usage test for all procs
 (#28024)

* cleanup

* add missing procs

* ugh not systemd

* floor

* unused

* handle laikad

* continue

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/test/test_onroad.py | 131 +++++++++++++++++++++-------------
 1 file changed, 80 insertions(+), 51 deletions(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 81d68aa8778a1d..8faecac82c8594 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import math
 import json
 import os
 import subprocess
@@ -6,6 +7,7 @@
 import numpy as np
 import unittest
 from collections import Counter, defaultdict
+from functools import cached_property
 from pathlib import Path
 
 from cereal import car
@@ -45,6 +47,15 @@
   "./ubloxd": 0.02,
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
+  "system.micd": 10.0,
+  "system.timezoned": 0,
+  "system.sensord.pigeond": 6.0,
+  "selfdrive.boardd.pandad": 0,
+  "selfdrive.statsd": 0.4,
+  "selfdrive.navd.navd": 0.4,
+  "system.loggerd.uploader": 30.0,
+  "system.loggerd.deleter": 0.1,
+  "selfdrive.locationd.laikad": None,  # TODO: laikad cpu usage is sporadic
 }
 
 TIMINGS = {
@@ -71,48 +82,6 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
-def check_cpu_usage(proclogs):
-  result = "\n"
-  result += "------------------------------------------------\n"
-  result += "------------------ CPU Usage -------------------\n"
-  result += "------------------------------------------------\n"
-
-  plogs_by_proc = defaultdict(list)
-  for pl in proclogs:
-    for x in pl.procLog.procs:
-      if len(x.cmdline) > 0:
-        n = list(x.cmdline)[0]
-        plogs_by_proc[n].append(x)
-
-  print(plogs_by_proc.keys())
-
-  r = True
-  dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9
-  for proc_name, expected_cpu in PROCS.items():
-    err = ""
-    cpu_usage = 0.
-    x = plogs_by_proc[proc_name]
-    if len(x) > 2:
-      cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-      cpu_usage = cpu_time / dt * 100.
-      if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
-        # cpu usage is high while playing sounds
-        if not (proc_name == "./_soundd" and cpu_usage < 65.):
-          err = "using more CPU than normal"
-      elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
-        err = "using less CPU than normal"
-    else:
-      err = "NO METRICS FOUND"
-
-    result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
-    if len(err) > 0:
-      r = False
-
-  result += "------------------------------------------------\n"
-  print(result)
-  return r
-
-
 class TestOnroad(unittest.TestCase):
 
   @classmethod
@@ -120,8 +89,8 @@ def setUpClass(cls):
     if "DEBUG" in os.environ:
       segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
-      print(segs[-2])
-      cls.lr = list(LogReader(os.path.join(segs[-2], "rlog")))
+      print(segs[-3])
+      cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
       return
 
     # setup env
@@ -177,6 +146,21 @@ def setUpClass(cls):
     # use the second segment by default as it's the first full segment
     cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
 
+  @cached_property
+  def service_msgs(self):
+    msgs = defaultdict(list)
+    for m in self.lr:
+      msgs[m.which()].append(m)
+    return msgs
+
+  def test_service_frequencies(self):
+    for s, msgs in self.service_msgs.items():
+      if s in ('initData', 'sentinel'):
+        continue
+
+      with self.subTest(service=s):
+        assert len(msgs) >= math.floor(service_list[s].frequency*55)
+
   def test_cloudlog_size(self):
     msgs = [m for m in self.lr if m.which() == 'logMessage']
 
@@ -193,7 +177,7 @@ def test_ui_timings(self):
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug']
+    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -201,15 +185,60 @@ def test_ui_timings(self):
     result += "------------------------------------------------\n"
     print(result)
 
-    self.assertGreater(len(ts), 20*50, "insufficient samples")
     #self.assertLess(max(ts), 30.)
     self.assertLess(np.mean(ts), 10.)
     #self.assertLess(np.std(ts), 5.)
 
   def test_cpu_usage(self):
-    proclogs = [m for m in self.lr if m.which() == 'procLog']
-    self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
-    cpu_ok = check_cpu_usage(proclogs)
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "------------------ CPU Usage -------------------\n"
+    result += "------------------------------------------------\n"
+
+    plogs_by_proc = defaultdict(list)
+    for pl in self.service_msgs['procLog']:
+      for x in pl.procLog.procs:
+        if len(x.cmdline) > 0:
+          n = list(x.cmdline)[0]
+          plogs_by_proc[n].append(x)
+    print(plogs_by_proc.keys())
+
+    cpu_ok = True
+    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
+    for proc_name, expected_cpu in PROCS.items():
+
+      err = ""
+      cpu_usage = 0.
+      x = plogs_by_proc[proc_name]
+      if len(x) > 2:
+        cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
+        cpu_usage = cpu_time / dt * 100.
+
+        if expected_cpu is None:
+          result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu}) SKIPPED\n"
+          continue
+        elif cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
+          # cpu usage is high while playing sounds
+          if not (proc_name == "./_soundd" and cpu_usage < 65.):
+            err = "using more CPU than normal"
+        elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
+          err = "using less CPU than normal"
+      else:
+        err = "NO METRICS FOUND"
+
+      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
+      if len(err) > 0:
+        cpu_ok = False
+
+    # Ensure there's no missing procs
+    all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning])
+    for p in all_procs:
+      with self.subTest(proc=p):
+        assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
+
+    result += "------------------------------------------------\n"
+    print(result)
+
     self.assertTrue(cpu_ok)
 
   def test_camera_processing_time(self):
@@ -234,7 +263,7 @@ def test_mpc_execution_timings(self):
 
     cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s]
+      ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -254,7 +283,7 @@ def test_model_execution_timings(self):
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]
+      ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"

From 9f87df66cb087477bc70af2e5b4e27e6865e7a6f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 1 May 2023 22:02:06 -0700
Subject: [PATCH 038/175] laikad: disable internet in non-replay CI (#28076)

---
 selfdrive/locationd/laikad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 8b07c46aaa1494..d0828058a98614 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -443,7 +443,7 @@ def main(sm=None, pm=None):
   use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
 
   replay = "REPLAY" in os.environ
-  if replay or "CI" in os.environ:
+  if replay:
     use_internet = True
 
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)

From e5678d3a3f67c9280284281c6854890393e131fb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 3 May 2023 01:44:47 +0800
Subject: [PATCH 039/175] cabana: fix the timeline position of the newly
 created chart was always 0 when paused. (#28079)

---
 tools/cabana/chart/chartswidget.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 7221ebf5cef456..cc837e0e334354 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -264,6 +264,7 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
   if (show && !chart) {
     chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
     chart->addSignal(id, sig);
+    updateState();
   } else if (!show && chart) {
     chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
   }

From a16730a9c44fef2775823a4acd8f4e76bbc7dde3 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 3 May 2023 02:29:38 +0800
Subject: [PATCH 040/175] cabana: fixed segfault when search in signals
 (#28078)

---
 tools/cabana/signalview.cc | 42 ++++++++++++++++++++------------------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index a35ec4943247a6..84043f7a1fbec9 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -599,29 +599,31 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
     max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
   }
 
-  // update visible sparkline
-  QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
-  int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
-  int value_width = std::min<int>(max_value_width, size.width() * 0.35);
-  size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
-
   QModelIndex top = tree->indexAt(QPoint(0, 0));
-  QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
-  int start_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
-  int end_row = model->rowCount() - 1;
-  if (bottom.isValid()) {
-    end_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
-  }
-  QFutureSynchronizer<void> synchronizer;
-  for (int i = start_row; i <= end_row; ++i) {
-    auto item = model->getItem(model->index(i, 1));
-    auto &s = item->sparkline;
-    if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) {
-      synchronizer.addFuture(QtConcurrent::run(
-          &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
+  if (top.isValid()) {
+    // update visible sparkline
+    int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
+    int last_visible_row = model->rowCount() - 1;
+    QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
+    if (bottom.isValid()) {
+      last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
+    }
+
+    QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
+    int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
+    int value_width = std::min<int>(max_value_width, size.width() * 0.35);
+    size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
+
+    QFutureSynchronizer<void> synchronizer;
+    for (int i = first_visible_row; i <= last_visible_row; ++i) {
+      auto item = model->getItem(model->index(i, 1));
+      auto &s = item->sparkline;
+      if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) {
+        synchronizer.addFuture(QtConcurrent::run(
+            &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
+      }
     }
   }
-  synchronizer.waitForFinished();
 
   for (int i = 0; i < model->rowCount(); ++i) {
     emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole});

From 50e6c43efd346860c61c8aa053518499c831a624 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 3 May 2023 03:46:28 +0800
Subject: [PATCH 041/175] cabana: display the actual signal time on the track
 line (#28080)

Display the actual signal time on the track line
---
 tools/cabana/chart/chart.cc    | 8 ++++++--
 tools/cabana/chart/tiplabel.cc | 4 ++--
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 23ea21f4fd3d5f..1d61d543dd2814 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -534,8 +534,8 @@ void ChartView::showTip(double sec) {
   }
 
   tooltip_x = chart()->mapToPosition({sec, 0}).x();
-  qreal x = tooltip_x;
-  QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
+  qreal x = -1;
+  QStringList text_list;
   for (auto &s : sigs) {
     if (s.series->isVisible()) {
       QString value = "--";
@@ -553,7 +553,11 @@ void ChartView::showTip(double sec) {
                        .arg(s.series->color().name(), name, value, min, max);
     }
   }
+  if (x < 0) {
+    x = tooltip_x;
+  }
   QPoint pt(x, chart()->plotArea().top());
+  text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
   QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
   tip_label.showText(pt, text, this, visible_rect);
   viewport()->update();
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
index 37c00834c3f969..f34d7e8dfed012 100644
--- a/tools/cabana/chart/tiplabel.cc
+++ b/tools/cabana/chart/tiplabel.cc
@@ -30,9 +30,9 @@ void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const
   if (!text.isEmpty()) {
     QSize extra(1, 1);
     resize(sizeHint() + extra);
-    QPoint tip_pos(pt.x() + 12, rect.top() + 2);
+    QPoint tip_pos(pt.x() + 8, rect.top() + 2);
     if (tip_pos.x() + size().width() >= rect.right()) {
-      tip_pos.rx() = pt.x() - size().width() - 12;
+      tip_pos.rx() = pt.x() - size().width() - 8;
     }
     if (rect.contains({tip_pos, size()})) {
       move(w->mapToGlobal(tip_pos));

From eb5ad17f8ea198d7268fdb0e836f2d2cfe9cae4d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 2 May 2023 15:50:17 -0700
Subject: [PATCH 042/175] boardd: reconnect when comms not healthy (#28075)

* boardd: reconnect when comms not healthy

* update comments

* fix
---
 selfdrive/boardd/boardd.cc | 26 ++++++++++++++++++++------
 1 file changed, 20 insertions(+), 6 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index e56e1c21752726..8694f6dea7c5e7 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -483,12 +483,26 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
     ignition = *ignition_opt;
 
-    // TODO: make this check fast, currently takes 16ms
-    // check if we have new pandas and are offroad
-    if (!ignition && (pandas.size() != Panda::list().size())) {
-      LOGW("Reconnecting to changed amount of pandas!");
-      do_exit = true;
-      break;
+    // check if we should have pandad reconnect
+    if (!ignition) {
+      bool comms_healthy = true;
+      for (const auto &panda : pandas) {
+        comms_healthy &= panda->comms_healthy();
+      }
+
+      if (!comms_healthy) {
+        LOGE("Reconnecting, communication to pandas not healthy");
+        do_exit = true;
+
+      // TODO: list is slow, takes 16ms
+      } else if (pandas.size() != Panda::list().size()) {
+        LOGW("Reconnecting to changed amount of pandas!");
+        do_exit = true;
+      }
+
+      if (do_exit) {
+        break;
+      }
     }
 
     // clear ignition-based params and set new safety on car start

From e3dbf8db2969332237caae51a5b127a4060fef4c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 3 May 2023 10:29:09 -0700
Subject: [PATCH 043/175] bump panda (#28077)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 4160d8d71cbb5c..8e1ca608b0fc3d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 4160d8d71cbb5cd40107834ad4756c4dbffc63b0
+Subproject commit 8e1ca608b0fc3de389d637a1bfb930369220ac96

From a585c4e011061fcd40705d8cebfdd24072abec5c Mon Sep 17 00:00:00 2001
From: teknonut <98994199+teknonut@users.noreply.github.com>
Date: Wed, 3 May 2023 12:34:55 -0700
Subject: [PATCH 044/175] HKG: Add msising FW for 2021 Hyundai Santa Fe
 (#28072)

Update values.py
---
 selfdrive/car/hyundai/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1d69f8cbb997f4..b1e112b568ffb5 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -799,6 +799,7 @@ class Buttons:
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81HM6M1_0a0_H00',
       b'\xf1\x82TACVN5GMI3XXXH0A',
       b'\xf1\x82TMBZN5TMD3XXXG2E',
       b'\xf1\x82TACVN5GSI3XXXH0A',
@@ -819,6 +820,7 @@ class Buttons:
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
       b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
       b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',

From fb743ab10f1f669b35cc218a8ad83ab402a3e974 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 3 May 2023 19:44:59 +0000
Subject: [PATCH 045/175] Hyundai: remove duplicate fwdRadar for Santa Fe
 (#28088)

this is a dup
---
 selfdrive/car/hyundai/values.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index b1e112b568ffb5..b831115e47ebd2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -785,7 +785,6 @@ class Buttons:
   CAR.SANTA_FE_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
     ],
     (Ecu.abs, 0x7d1, None): [

From 5e438fc60e09ac62d3bfe6c98c67ec567f8901ca Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Thu, 4 May 2023 03:51:26 +0800
Subject: [PATCH 046/175] VW MQB: Add FW for 2022 Skoda Superb (#28086)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

route name：cd047d573cc78c34|2023-04-29--17-46-23--0
---
 selfdrive/car/volkswagen/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 6cbd805a472a37..50de72263147c2 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1226,6 +1226,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x8704L906026MT\xf1\x893076',
       b'\xf1\x873G0906259  \xf1\x890004',
       b'\xf1\x873G0906259B \xf1\x890002',
+      b'\xf1\x873G0906259L \xf1\x890003',
       b'\xf1\x873G0906264A \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -1234,6 +1235,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x870D9300012  \xf1\x894940',
       b'\xf1\x870D9300013A \xf1\x894905',
       b'\xf1\x870D9300041H \xf1\x894905',
+      b'\xf1\x870GC300014M \xf1\x892801',
       b'\xf1\x870GC300043  \xf1\x892301',
       b'\xf1\x870D9300043F \xf1\x895202',
     ],
@@ -1243,6 +1245,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
@@ -1250,12 +1253,14 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x873Q0907572B \xf1\x890192',
       b'\xf1\x873Q0907572B \xf1\x890194',
       b'\xf1\x873Q0907572C \xf1\x890195',
       b'\xf1\x875Q0907572R \xf1\x890771',
+      b'\xf1\x875Q0907572S \xf1\x890780',
     ],
   },
 }

From 737499b50eb1403f28f4ff72f390f0c46ddf50cf Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Thu, 4 May 2023 03:53:37 +0800
Subject: [PATCH 047/175] VW MQB: Add FW for 2018 Volkswagen Passat (#28070)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

route name：37e3253d2ac7c823|2023-04-30--20-58-03--1
---
 selfdrive/car/volkswagen/values.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 50de72263147c2..6e7ac15466a924 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -627,7 +627,8 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x870D9300041A \xf1\x894801',
       b'\xf1\x870DD300045T \xf1\x891601',
       b'\xf1\x870DL300011H \xf1\x895201',
-      b'\xf1\x870GC300042H \xf1\x891404',
+      b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870GC300042H \xf1\x891404',      
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
@@ -635,6 +636,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311',
       b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
       b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
+      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
@@ -648,6 +650,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
     ],
     (Ecu.fwdRadar, 0x757, None): [

From bb3388f9d2f573ddd85d8b29a39c2bce472ca7b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 3 May 2023 13:03:25 -0700
Subject: [PATCH 048/175] Laikad: blocking raw_gnss receive (#28083)

* Blocking receive

* redundant

* rm clocks

* timeout irrelevant now
---
 selfdrive/locationd/laikad.py                   | 17 ++---------------
 selfdrive/test/process_replay/process_replay.py |  1 -
 2 files changed, 2 insertions(+), 16 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index d0828058a98614..e9e2e06b4785cd 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -5,7 +5,6 @@
 import shutil
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
-from datetime import datetime
 from enum import IntEnum
 from typing import List, Optional, Dict, Any
 
@@ -88,7 +87,6 @@ def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), a
     self.auto_fetch_navs = auto_fetch_navs
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
-    self.got_first_gnss_msg = False
 
     self.last_report_time = GPSTime(0, 0)
     self.last_fetch_navs_t = GPSTime(0, 0)
@@ -284,7 +282,6 @@ def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
       week, tow, new_meas = self.read_report(gnss_msg)
       self.gps_week = week
       if week > 0:
-        self.got_first_gnss_msg = True
         latest_msg_t = GPSTime(week, tow)
         if self.auto_fetch_navs:
           self.fetch_navs(latest_msg_t, block)
@@ -432,10 +429,7 @@ def main(sm=None, pm=None):
     raw_name = "qcomGnss"
   else:
     raw_name = "ubloxGnss"
-  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000)
-
-  if sm is None:
-    sm = messaging.SubMaster(['clocks',])
+  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
   if pm is None:
     pm = messaging.PubMaster(['gnssMeasurements'])
 
@@ -449,17 +443,10 @@ def main(sm=None, pm=None):
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
 
   while True:
-    for in_msg in messaging.drain_sock(raw_gnss_sock):
+    for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True):
       out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
       pm.send('gnssMeasurements', out_msg)
 
-    sm.update(0)
-    if not laikad.got_first_gnss_msg and sm.updated['clocks']:
-      clocks_msg = sm['clocks']
-      t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
-      if laikad.auto_fetch_navs:
-        laikad.fetch_navs(t, block=replay)
-
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 85cba249412176..4ab2d3031561d9 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -372,7 +372,6 @@ def ublox_rcv_callback(msg, CP, cfg, fsm):
     pub_sub={
       "ubloxGnss": ["gnssMeasurements"],
       "qcomGnss": ["gnssMeasurements"],
-      "clocks": []
     },
     ignore=["logMonoTime"],
     init_callback=get_car_params,

From b37b768f1e4515f4bd6cbf7cd3a24ed3f99f60e2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 3 May 2023 14:26:38 -0700
Subject: [PATCH 049/175] jenkins: source launch_env.sh (#28092)

* jenkins: source launch_env.sh

* cleanup

* cleanup
---
 Jenkinsfile | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Jenkinsfile b/Jenkinsfile
index 88f98f33e94a0f..b861df7d677dd0 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -20,6 +20,10 @@ if [ -f /TICI ]; then
   source /etc/profile
 fi
 
+if [ -d /data/openpilot ]; then
+  source /data/openpilot/launch_env.sh
+fi
+
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
 cd ${env.TEST_DIR} || true

From 786ef2d22e29d3a564b4336d5c1f7c8fa7ba033e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 3 May 2023 22:56:03 +0000
Subject: [PATCH 050/175] bump panda (#28089)

bumppanda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 8e1ca608b0fc3d..810df6b5c18619 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8e1ca608b0fc3de389d637a1bfb930369220ac96
+Subproject commit 810df6b5c18619a048aaf296f332a627fa8f517d

From 48b427bd3dc07943b398b0c25d326d46ebd8a12f Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 3 May 2023 16:01:01 -0700
Subject: [PATCH 051/175] docker: copy body submodule (#28094)

Building `Dockerfile.openpilot` fails with error `missing file body/board/SConscript` as the body submodule isn't copied

This image isn't built in CI
---
 Dockerfile.openpilot | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index acc0fcc784cfab..51907b7a44ba60 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED 1
 
-ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV OPENPILOT_PATH /home/batman/openpilot
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
@@ -23,5 +23,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body
 
 RUN scons --cache-readonly -j$(nproc)

From d5a0a4b3e8a52b5a0e1da325c15cdb99d2a71350 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 3 May 2023 16:52:20 -0700
Subject: [PATCH 052/175] Jenkins tuneup (#28095)

* tuneup

* use service messages

* logmono

* not passive
---
 Jenkinsfile                                   |  8 +-------
 selfdrive/test/test_onroad.py                 | 10 +++++++---
 system/hardware/tici/tests/test_power_draw.py |  6 +++---
 3 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index b861df7d677dd0..89784596897c97 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -185,7 +185,7 @@ pipeline {
           }
         }
 
-        stage('camerad-ar') {
+        stage('camerad') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tici-ar0231", [
@@ -193,12 +193,6 @@ pipeline {
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
-          }
-        }
-
-        stage('camerad-ox') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
             phone_steps("tici-ox03c10", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["test camerad", "python system/camerad/test/test_camerad.py"],
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 8faecac82c8594..679ba363f41d63 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -2,6 +2,7 @@
 import math
 import json
 import os
+import shutil
 import subprocess
 import time
 import numpy as np
@@ -53,7 +54,7 @@
   "selfdrive.boardd.pandad": 0,
   "selfdrive.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,
-  "system.loggerd.uploader": 30.0,
+  "system.loggerd.uploader": 4.0,
   "system.loggerd.deleter": 0.1,
   "selfdrive.locationd.laikad": None,  # TODO: laikad cpu usage is sporadic
 }
@@ -94,14 +95,17 @@ def setUpClass(cls):
       return
 
     # setup env
+    os.environ['PASSIVE'] = "0"
     os.environ['REPLAY'] = "1"
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
-    os.environ['LOGPRINT'] = 'debug'
+    os.environ['LOGPRINT'] = "debug"
 
     params = Params()
     params.clear_all()
     set_params_enabled()
+    if os.path.exists(ROOT):
+      shutil.rmtree(ROOT)
 
     # Make sure athena isn't running
     os.system("pkill -9 -f athena")
@@ -299,7 +303,7 @@ def test_timings(self):
     result += "----------------- Service Timings --------------\n"
     result += "------------------------------------------------\n"
     for s, (maxmin, rsd) in TIMINGS.items():
-      msgs = [m.logMonoTime for m in self.lr if m.which() == s]
+      msgs = [m.logMonoTime for m in self.service_msgs[s]]
       if not len(msgs):
         raise Exception(f"missing {s}")
 
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index f563933285d608..df4852183e584d 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -16,11 +16,11 @@ class Proc:
   name: str
   power: float
   rtol: float = 0.05
-  atol: float = 0.1
+  atol: float = 0.12
   warmup: float = 6.
 
 PROCS = [
-  Proc('camerad', 2.15),
+  Proc('camerad', 2.1),
   Proc('modeld', 0.93, atol=0.2),
   Proc('dmonitoringmodeld', 0.4),
   Proc('encoderd', 0.23),
@@ -60,7 +60,7 @@ def test_camera_procs(self):
     manager_cleanup()
 
     tab = []
-    tab.append(['process', 'expected (W)', 'current (W)'])
+    tab.append(['process', 'expected (W)', 'measured (W)'])
     for proc in PROCS:
       cur = used[proc.name]
       expected = proc.power

From cae43511dc547aac56a47f2d4e0705a7efda70c3 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 00:08:50 +0000
Subject: [PATCH 053/175] UI: cleanup old training guide coords (#28091)

---
 selfdrive/ui/qt/offroad/onboarding.cc |  2 --
 selfdrive/ui/qt/offroad/onboarding.h  | 43 ++++++---------------------
 2 files changed, 9 insertions(+), 36 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 622dcdd3524d48..64cb3579945357 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -40,8 +40,6 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
 }
 
 void TrainingGuide::showEvent(QShowEvent *event) {
-  boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard;
-
   currentIndex = 0;
   image.load(img_path + "step0.png");
   click_timer.start();
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 1be1d8f397e349..e907a1844982b5 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -25,56 +25,31 @@ class TrainingGuide : public QFrame {
   int currentIndex = 0;
 
   // Bounding boxes for each training guide step
-  const QRect continueBtnStandard = {1620, 0, 300, 1080};
-  QVector<QRect> boundingRectStandard {
-    QRect(112, 804, 619, 166),
-    continueBtnStandard,
-    continueBtnStandard,
-    QRect(1476, 565, 253, 308),
-    QRect(1501, 529, 184, 108),
-    continueBtnStandard,
-    QRect(1613, 665, 178, 153),
-    QRect(1220, 0, 420, 730),
-    QRect(1335, 499, 440, 147),
-    QRect(112, 820, 996, 148),
-    QRect(1412, 199, 316, 333),
-    continueBtnStandard,
-    QRect(1237, 63, 683, 1017),
-    continueBtnStandard,
-    QRect(1455, 110, 313, 860),
-    QRect(1253, 519, 383, 228),
-    continueBtnStandard,
-    continueBtnStandard,
-    QRect(630, 804, 626, 164),
-    QRect(108, 804, 426, 164),
-  };
-
-  const QRect continueBtnWide = {1840, 0, 320, 1080};
-  QVector<QRect> boundingRectWide {
+  const QRect continueBtn = {1840, 0, 320, 1080};
+  QVector<QRect> boundingRect {
     QRect(112, 804, 618, 164),
-    continueBtnWide,
-    continueBtnWide,
+    continueBtn,
+    continueBtn,
     QRect(1641, 558, 210, 313),
     QRect(1662, 528, 184, 108),
-    continueBtnWide,
+    continueBtn,
     QRect(1814, 621, 211, 170),
     QRect(1350, 0, 497, 755),
     QRect(1553, 516, 406, 112),
     QRect(112, 804, 1126, 164),
     QRect(1598, 199, 316, 333),
-    continueBtnWide,
+    continueBtn,
     QRect(1364, 90, 796, 990),
-    continueBtnWide,
+    continueBtn,
     QRect(1593, 114, 318, 853),
     QRect(1379, 511, 391, 243),
-    continueBtnWide,
-    continueBtnWide,
+    continueBtn,
+    continueBtn,
     QRect(630, 804, 626, 164),
     QRect(108, 804, 426, 164),
   };
 
   const QString img_path = "../assets/training/";
-  QVector<QRect> boundingRect;
   QElapsedTimer click_timer;
 
 signals:

From d458f20770e54a43f69316d612b8b0e51329cdb7 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 00:27:06 +0000
Subject: [PATCH 054/175] training guide: use comma three image (#28085)

---
 selfdrive/assets/training/step8.png | Bin 874812 -> 709472 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png
index c4e8668332cddc946d1d733b67dbfb77d8a90121..ed235dd13ea6ee045bde251d7008e49199ec8486 100644
GIT binary patch
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zkneqR?d5Ak|Ko?}>3XYLcYq6YY;l#t2Qi=XtSH0YL4Az}`%Oc$GIl=jczKz)y!x2s
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z%Y_R*JszE+7|w_cIQTF|#m{yEj23oIyi{RQUB>ZGVPRSk!LNnu(VRLGR;&ES{f2u4
z6X+#oosv7aN5Cs8^q%4>)#}^;*exwZjcD1+jU=?8v-mG7rZLLG2NH%3mh2uDLxqR;
zXzMIT06nBOt=g=&0H?1_M)Z487dv5EguU2xfhJg_LU8K&>;;OVg`y90v^rj)>Ka|f
zL}5wU$_qmr6vU!y<+xv~r{Q|_=4zn@yowiT<3%WLimLYPIslH~+S+$sHbIPJNOh4t
zdv8mz(9_?w?E2C*rr*{wx8q;-0`mdvlKo2<j}ok8LH8!#;&n$g^^KR&hJV)zOFa4A
zU)z_Fj>g=XKE7CQL+*D|O~8I5JiQ?jYhjWnBC`9gO=#x9XfBk5JhPmAq<uKC88Y0M
zp;hp)1i<C}Y8ND0>#c01dFZ&@HLehvvtKeg=o7IH0DqaV8Y@86MjWN@m%c{Mk#-fb
zAfWXq4NhN%QuPv_ntc>uD0H%zZCSkS8j!;Y^ZjG1G5Ux*#`ULwC(-*M#@B~d3dKNo
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E0EvGOH2?qr


From cd570033d3ecf52958d26f0fb316dba5a1eb2684 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 May 2023 00:29:03 +0000
Subject: [PATCH 055/175] Nissan: use raw speed to calculate angle limits
 (#28097)

use vEgoRaw for calculating limited angle
---
 selfdrive/car/nissan/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 8847551a829b8f..73493a97460cd8 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -30,7 +30,7 @@ def update(self, CC, CS, now_nanos):
 
     if CC.latActive:
       # windup slower
-      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
 
       # Max torque from driver before EPS will give up and not apply torque
       if not bool(CS.out.steeringPressed):

From 2c0d93458a85da7d779449d7ca8a9d9dbb4d99df Mon Sep 17 00:00:00 2001
From: dmcanavan16 <118028690+dmcanavan16@users.noreply.github.com>
Date: Wed, 3 May 2023 20:30:32 -0400
Subject: [PATCH 056/175] Toyota: Add missing HIGHLANDER_TSS2 fw (#28096)

---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8f449d071cdc45..ddcdbab7864ff5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1076,6 +1076,7 @@ class ToyotaCarInfo(CarInfo):
       b'\x01896630E62200\x00\x00\x00\x00',
       b'\x01896630E64100\x00\x00\x00\x00',
       b'\x01896630E64200\x00\x00\x00\x00',
+      b'\x01896630E64400\x00\x00\x00\x00',
       b'\x01896630EB1000\x00\x00\x00\x00',
       b'\x01896630EB1100\x00\x00\x00\x00',
       b'\x01896630EB1200\x00\x00\x00\x00',

From 3aadad24f0e43b7d1e39286239c3408485d4c2a9 Mon Sep 17 00:00:00 2001
From: Vivek Aithal <vivekaithal44@gmail.com>
Date: Wed, 3 May 2023 20:01:48 -0700
Subject: [PATCH 057/175] RAM 1500 5TH GEN: Update offline params (#28099)

* add fric

* no 0 friction offline value

* update refs
---
 selfdrive/car/torque_data/override.yaml  | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 2aa049a89dfe39..16541e50113b1e 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -27,8 +27,8 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new cars
-RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
-RAM HD 5TH GEN: [1.4, 1.4, 0.0]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.2]
+RAM HD 5TH GEN: [1.4, 1.4, 0.1]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e6c7643963da75..ba0b2d9b275336 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-30fd4867be13af3911b8151bbac959e0bfe898a5
+259502668d16e6325e37ee921cfe4a7f8329b83b
\ No newline at end of file

From 177ca52e76023e0e59deea0bd91b690de5b18a5d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 May 2023 03:22:38 +0000
Subject: [PATCH 058/175] car interfaces: assert some friction (#28074)

* assert some friction

* duh

* convention

* order
---
 selfdrive/car/tests/test_car_interfaces.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 8e487224823595..7198218d6a2fbe 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,9 +6,9 @@
 
 from cereal import car
 from selfdrive.car import gen_empty_fingerprint
-from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
+
 
 class TestCarInterfaces(unittest.TestCase):
 
@@ -51,7 +51,7 @@ def test_car_interfaces(self, car_name):
 
       elif tune.which() == 'torque':
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
-        self.assertTrue(not math.isnan(tune.torque.friction))
+        self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
       elif tune.which() == 'indi':
         self.assertTrue(len(tune.indi.outerLoopGainV))

From 8a6312ef1459ffccd482c7ffb2ec28d41f82bca4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 3 May 2023 20:27:32 -0700
Subject: [PATCH 059/175] pandad: support GPIO recovery when in bootstub
 (#28090)

pandad: recover when in bootstub

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/boardd/pandad.py       | 6 +++---
 system/hardware/tici/hardware.py | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index ccd88a62def8ac..23c31f8569f7e9 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -26,7 +26,7 @@ def flash_panda(panda_serial: str) -> Panda:
   panda = Panda(panda_serial)
 
   fw_signature = get_expected_signature(panda)
-  internal_panda = panda.is_internal() and not panda.bootstub
+  internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
   panda_signature = b"" if panda.bootstub else panda.get_signature()
@@ -39,7 +39,7 @@ def flash_panda(panda_serial: str) -> Panda:
 
   if panda.bootstub:
     bootstub_version = panda.get_version()
-    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
+    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
     if internal_panda:
       HARDWARE.recover_internal_panda()
     panda.recover(reset=(not internal_panda))
@@ -95,7 +95,7 @@ def main() -> NoReturn:
       panda_serials = Panda.list()
       if len(panda_serials) == 0:
         if first_run:
-          cloudlog.info("Resetting internal panda")
+          cloudlog.info("No pandas found, resetting internal panda")
           HARDWARE.reset_internal_panda()
           time.sleep(2)  # wait to come back up
         continue
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index ee1d5f52793282..7acc336dd33c66 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -581,8 +581,9 @@ def recover_internal_panda(self):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(2)
+    time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
+    time.sleep(1)
     gpio_set(GPIO.STM_BOOT0, 0)
 
 

From 861e18a1a85f71b0f05342f69791b79316b699f9 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Wed, 3 May 2023 21:52:15 -0700
Subject: [PATCH 060/175] Render map at 256x256 and don't crop (#28101)

---
 selfdrive/navd/map_renderer.cc | 10 ++++------
 selfdrive/navd/map_renderer.py |  2 +-
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 51676bb3a37c51..203470bb4293d1 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -11,7 +11,7 @@
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 
 const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int HEIGHT = 512, WIDTH = 512;
+const int HEIGHT = 256, WIDTH = 256;
 const int NUM_VIPC_BUFFERS = 4;
 
 const int EARTH_CIRCUMFERENCE_METERS = 40075000;
@@ -177,12 +177,10 @@ void MapRenderer::publish(const double render_time) {
   uint8_t* dst = (uint8_t*)buf->addr;
   uint8_t* src = cap.bits();
 
-  // RGB to greyscale and crop
+  // RGB to greyscale
   memset(dst, 128, buf->len);
-  for (int r = 0; r < HEIGHT/2; r++) {
-    for (int c = 0; c < WIDTH/2; c++) {
-      dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3];
-    }
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
   }
 
   vipc_server->send(buf, &extra);
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index ec0edea89ca87b..aa5682169f34b5 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -10,7 +10,7 @@
 from common.ffi_wrapper import suffix
 from common.basedir import BASEDIR
 
-HEIGHT = WIDTH = SIZE = 512
+HEIGHT = WIDTH = SIZE = 256
 METERS_PER_PIXEL = 2
 
 

From beb7f585ae9eae13cc736013bc5cf3393cef8f8a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 May 2023 05:36:32 +0000
Subject: [PATCH 061/175] bump panda (#28102)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 810df6b5c18619..b44df8151a15fa 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 810df6b5c18619a048aaf296f332a627fa8f517d
+Subproject commit b44df8151a15fa3afe8a8943e332eb63605a2245

From d8884004021987d249e91a9d05bbdad3aafefd30 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 May 2023 05:37:31 +0000
Subject: [PATCH 062/175] Ford: curvature rate limit safety (#28059)

* bump panda

* add carcontroller

* add carcontroller

* cmt

* bumppanda

* ubmp
---
 panda                               | 2 +-
 selfdrive/car/ford/carcontroller.py | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/panda b/panda
index b44df8151a15fa..94cd9a0788070e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b44df8151a15fa3afe8a8943e332eb63605a2245
+Subproject commit 94cd9a0788070e4e802e8a6a1c1cc7dae95e8f70
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 6c12a0e6bc9689..d205960605e61c 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -10,14 +10,14 @@
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
-  # Note that we do curvature error limiting after the rate limits since they are just for tuning reasons
-  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
-
   # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
   if v_ego_raw > 9:
     apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
                            current_curvature + CarControllerParams.CURVATURE_ERROR)
 
+  # Curvature rate limit after driver torque limit
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
+
   return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
 
 

From 7e672a63445fe46aaad805942da1a3caaf5e4635 Mon Sep 17 00:00:00 2001
From: BrandonHacks <mariaandbrandon3@gmail.com>
Date: Thu, 4 May 2023 00:42:50 -0500
Subject: [PATCH 063/175] HKG: Add new fw for Kia Sportage 5th Gen (#28100)

Update values.py

New radar fw
---
 selfdrive/car/hyundai/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index b831115e47ebd2..f22e1ba25dfdb1 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1696,6 +1696,7 @@ class Buttons:
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
       b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
+      b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
     ],
   },
   CAR.GENESIS_GV70_1ST_GEN: {

From d05d9dac045221baeda9c6db398a182f304c8ea6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 May 2023 06:55:09 +0000
Subject: [PATCH 064/175] Ford: remove from dashcam (#28103)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* no dashcam 🎉

* update docs

* not these

* update refs

* bump panda
---
 docs/CARS.md                                    | 6 +++++-
 panda                                           | 2 +-
 selfdrive/car/ford/interface.py                 | 6 ++++--
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 3 ++-
 5 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 42305a964a369e..5afa51534f6770 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 244 Supported Cars
+# 248 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -31,6 +31,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
@@ -145,6 +147,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
 |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
 |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
+|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3</a>||
+|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator Plug-in Hybrid 2021">Ford Q3</a>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
diff --git a/panda b/panda
index 94cd9a0788070e..cedb5fd1a6c082 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 94cd9a0788070e4e802e8a6a1c1cc7dae95e8f70
+Subproject commit cedb5fd1a6c0823703280b1941edfed9602a287d
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index ce27bb8adc654d..4fb8642b789173 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -15,8 +15,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
 
-    # These cars are dashcam only until the port is finished
-    ret.dashcamOnly = True
+    # These cars are dashcam only for lack of test coverage.
+    # Once a user confirms each car works and a test route is
+    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
+    ret.dashcamOnly = candidate in {CAR.ESCAPE_MK4, CAR.FOCUS_MK4, CAR.MAVERICK_MK1}
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index ba0b2d9b275336..03b5914416379e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-259502668d16e6325e37ee921cfe4a7f8329b83b
\ No newline at end of file
+f3f5f64fb235039517e8a71f34c01955a1c157de
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 56eb7b48350dd2..2ac4a92cc093da 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -32,9 +32,9 @@
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.CX9_2021
+  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.BRONCO_SPORT_MK1
 
   # Enable when port is tested and dashcamOnly is no longer set
-  #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),  # FORD.BRONCO_SPORT_MK1
   #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.PASSAT_NMS
 ]
@@ -56,6 +56,7 @@
   ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
   ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
   ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
+  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

From 21bcd7db630d5abb41f00e3e9d3a025c26337a92 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Thu, 4 May 2023 12:12:01 +0200
Subject: [PATCH 065/175] Dynamic device type (#28011)

* tizi_device_type

* fix test

* also change it in the C versin
---
 cereal                                       |  2 +-
 system/hardware/tici/hardware.h              | 12 ++++++++--
 system/hardware/tici/hardware.py             | 23 +++++++++-----------
 system/hardware/tici/tests/test_amplifier.py |  4 ++--
 4 files changed, 23 insertions(+), 18 deletions(-)

diff --git a/cereal b/cereal
index 37157b136403ad..b448a8295df8a3 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 37157b136403ad42bb262cae2abcb5329392d1f4
+Subproject commit b448a8295df8a38f0f702fdca89edf5e20670680
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 5f6fb2dc50d532..765b53ba6e2dc7 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -16,8 +16,16 @@ class HardwareTici : public HardwareNone {
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");
   };
-  static std::string get_name() { return "tici"; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; };
+
+  static std::string get_name() {
+    std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
+    return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
+  };
+
+  static cereal::InitData::DeviceType get_device_type() {
+    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
+  };
+
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); };
   static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); };
 
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 7acc336dd33c66..3ed27b22e101eb 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -4,7 +4,7 @@
 import subprocess
 import time
 from enum import IntEnum
-from functools import cached_property
+from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
@@ -91,8 +91,12 @@ def mm(self):
   def amplifier(self):
     return Amplifier()
 
-  @cached_property
-  def model(self):
+  def get_os_version(self):
+    with open("/VERSION") as f:
+      return f.read().strip()
+
+  @lru_cache
+  def get_device_type(self):
     with open("/sys/firmware/devicetree/base/model") as f:
       model = f.read().strip('\x00')
     model = model.split('comma ')[-1]
@@ -101,13 +105,6 @@ def model(self):
       model = 'tici'
     return model
 
-  def get_os_version(self):
-    with open("/VERSION") as f:
-      return f.read().strip()
-
-  def get_device_type(self):
-    return "tici"
-
   def get_sound_card_online(self):
     return (os.path.isfile('/proc/asound/card0/state') and
             open('/proc/asound/card0/state').read().strip() == 'ONLINE')
@@ -424,7 +421,7 @@ def set_power_save(self, powersave_enabled):
     # amplifier, 100mW at idle
     self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
     if not powersave_enabled:
-      self.amplifier.initialize_configuration(self.model)
+      self.amplifier.initialize_configuration(self.get_device_type())
 
     # *** CPU config ***
 
@@ -445,7 +442,7 @@ def set_power_save(self, powersave_enabled):
     # boardd core
     affine_irq(4, "spi_geni")         # SPI
     affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
-    if "tici" in self.model:
+    if "tici" in self.get_device_type():
       affine_irq(4, "xhci-hcd:usb1")  # internal panda USB
 
     # camerad core
@@ -461,7 +458,7 @@ def get_gpu_usage_percent(self):
       return 0
 
   def initialize_hardware(self):
-    self.amplifier.initialize_configuration(self.model)
+    self.amplifier.initialize_configuration(self.get_device_type())
 
     # Allow thermald to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
index 1cad6cfd6b23c0..5d5a86c512e2d0 100755
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -38,7 +38,7 @@ def _check_for_i2c_errors(self, expected):
 
   def test_init(self):
     amp = Amplifier(debug=True)
-    r = amp.initialize_configuration(Tici().model)
+    r = amp.initialize_configuration(Tici().get_device_type())
     assert r
     self._check_for_i2c_errors(False)
 
@@ -59,7 +59,7 @@ def test_init_while_siren_play(self):
       time.sleep(random.randint(0, 5))
 
       amp = Amplifier(debug=True)
-      r = amp.initialize_configuration(Tici().model)
+      r = amp.initialize_configuration(Tici().get_device_type())
       assert r
 
     # make sure we're a good test

From 0b7b25e6cca3c3791e08b1374d4cc812cec75148 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Thu, 4 May 2023 16:35:41 +0200
Subject: [PATCH 066/175] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index b448a8295df8a3..e5cd59ef005725 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit b448a8295df8a38f0f702fdca89edf5e20670680
+Subproject commit e5cd59ef0057256f4fab807f6bf8744634a2cd11

From b53f748a1a328e63dff0a404114c5210eeaf2282 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 4 May 2023 19:50:28 +0200
Subject: [PATCH 067/175] cabana: add option to suppress already known signals
 (#28106)

* suppress using static mask

* use mask in updateLastMsgsTo

* store mask in cabana::Msg

* update mask in the right places

* actually build mask

* restore setting

* less diff
---
 tools/cabana/dbc/dbc.cc                | 24 ++++++++++++++++++++++++
 tools/cabana/dbc/dbc.h                 |  3 +++
 tools/cabana/dbc/dbcfile.cc            | 13 +++++++++++++
 tools/cabana/dbc/dbcfile.h             |  3 +++
 tools/cabana/dbc/dbcmanager.cc         |  9 +++++++++
 tools/cabana/dbc/dbcmanager.h          |  3 +++
 tools/cabana/historylog.cc             |  5 +++--
 tools/cabana/messageswidget.cc         |  6 ++++++
 tools/cabana/settings.cc               |  2 ++
 tools/cabana/settings.h                |  1 +
 tools/cabana/streams/abstractstream.cc | 13 ++++++++-----
 tools/cabana/streams/abstractstream.h  |  2 +-
 12 files changed, 76 insertions(+), 8 deletions(-)

diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index 909390fd277f44..e404bde99cb5c5 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -13,6 +13,30 @@ std::vector<const cabana::Signal*> cabana::Msg::getSignals() const {
   return ret;
 }
 
+void cabana::Msg::updateMask() {
+  mask.clear();
+  for (int i = 0; i < size; i++) {
+    mask.push_back(0x00);
+  }
+
+  for (auto &sig : sigs) {
+    int i = sig.msb / 8;
+    int bits = sig.size;
+    while (i >= 0 && i < size && bits > 0) {
+      int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
+      int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
+
+      int sz = msb - lsb + 1;
+      int shift = (lsb - (i * 8));
+
+      mask[i] |= ((1ULL << sz) - 1) << shift;
+
+      bits -= size;
+      i = sig.is_little_endian ? i - 1 : i + 1;
+    }
+  }
+}
+
 void cabana::Signal::updatePrecision() {
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index fdbbc9d1696784..be0057cf56946a 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -65,6 +65,9 @@ namespace cabana {
     uint32_t size;
     QList<cabana::Signal> sigs;
 
+    QList<uint8_t> mask;
+    void updateMask();
+
     std::vector<const cabana::Signal*> getSignals() const;
     const cabana::Signal *sig(const QString &sig_name) const {
         auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; });
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 0534ce39ff717c..9173080796039c 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -55,6 +55,7 @@ void DBCFile::open(const QString &content) {
       sig.is_little_endian = s.is_little_endian;
       sig.updatePrecision();
     }
+    m.updateMask();
   }
   parseExtraInfo(content);
 
@@ -103,6 +104,7 @@ bool DBCFile::writeContents(const QString &fn) {
 cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) {
   if (auto m = const_cast<cabana::Msg *>(msg(id.address))) {
     m->sigs.push_back(sig);
+    m->updateMask();
     return &m->sigs.last();
   }
 
@@ -113,6 +115,7 @@ cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &si
   if (auto m = const_cast<cabana::Msg *>(msg(id))) {
     if (auto s = (cabana::Signal *)m->sig(sig_name)) {
       *s = sig;
+      m->updateMask();
       return s;
     }
   }
@@ -135,6 +138,7 @@ void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) {
     auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; });
     if (it != m->sigs.end()) {
       m->sigs.erase(it);
+      m->updateMask();
     }
   }
 }
@@ -167,6 +171,15 @@ QString DBCFile::newSignalName(const MessageId &id) {
   return name;
 }
 
+const QList<uint8_t>& DBCFile::mask(const MessageId &id) const {
+  const cabana::Msg *m = msg(id);
+  if (m != nullptr) {
+    return m->mask;
+  } else {
+    return empty_mask;
+  }
+}
+
 std::map<uint32_t, cabana::Msg> DBCFile::getMessages() {
   return msgs;
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index e048dc58397a96..8083704160d65f 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -41,6 +41,8 @@ class DBCFile : public QObject {
   QString newMsgName(const MessageId &id);
   QString newSignalName(const MessageId &id);
 
+  const QList<uint8_t>& mask(const MessageId &id) const;
+
   std::map<uint32_t, cabana::Msg> getMessages();
   const cabana::Msg *msg(const MessageId &id) const;
   const cabana::Msg *msg(uint32_t address) const;
@@ -58,4 +60,5 @@ class DBCFile : public QObject {
   void parseExtraInfo(const QString &content);
   std::map<uint32_t, cabana::Msg> msgs;
   QString name_;
+  QList<uint8_t> empty_mask;
 };
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 390ded8512ad1b..2451ff9b009502 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -188,6 +188,15 @@ QString DBCManager::newSignalName(const MessageId &id) {
   return dbc_file->newSignalName(id);
 }
 
+const QList<uint8_t>& DBCManager::mask(const MessageId &id) const {
+  auto sources_dbc_file = findDBCFile(id);
+  if (!sources_dbc_file) {
+    return empty_mask;
+  }
+  auto [_, dbc_file] = *sources_dbc_file;
+  return dbc_file->mask(id);
+}
+
 std::map<MessageId, cabana::Msg> DBCManager::getMessages(uint8_t source) {
   std::map<MessageId, cabana::Msg> ret;
 
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 96d9380dbdb6d8..3b148bb61d5842 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -39,6 +39,8 @@ class DBCManager : public QObject {
   QString newMsgName(const MessageId &id);
   QString newSignalName(const MessageId &id);
 
+  const QList<uint8_t>& mask(const MessageId &id) const;
+
   std::map<MessageId, cabana::Msg> getMessages(uint8_t source);
   const cabana::Msg *msg(const MessageId &id) const;
   const cabana::Msg* msg(uint8_t source, const QString &name);
@@ -57,6 +59,7 @@ class DBCManager : public QObject {
 
 private:
   SourceSet sources;
+  QList<uint8_t> empty_mask;
 
 public slots:
   void updateSources(const SourceSet &s);
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 4c193666dc99a4..13e8f70a8f7cde 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -138,6 +138,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
 }
 
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
+  const QList<uint8_t> mask;
   const auto &events = can->events(msg_id);
   const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
@@ -150,7 +151,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, freq);
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -163,7 +164,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, freq);
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq);
         it->colors = hex_colors.colors;
       }
     }
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index f7b25bde514898..66523333ad2a35 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -51,6 +51,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   suppress_clear = new QPushButton();
   suppress_layout->addWidget(suppress_add);
   suppress_layout->addWidget(suppress_clear);
+  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this);
+  suppress_defined_signals->setChecked(settings.suppress_defined_signals);
+  suppress_layout->addWidget(suppress_defined_signals);
   main_layout->addLayout(suppress_layout);
 
   // signals/slots
@@ -61,6 +64,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
     view->setUniformRowHeights(!settings.multiple_lines_bytes);
     model->sortMessages();
   });
+  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
+    settings.suppress_defined_signals = (state == Qt::Checked);
+  });
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
   QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index f7593249889efd..d0cada680a4afe 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -38,6 +38,7 @@ void Settings::save() {
   s.setValue("log_livestream", log_livestream);
   s.setValue("log_path", log_path);
   s.setValue("drag_direction", drag_direction);
+  s.setValue("suppress_defined_signals", suppress_defined_signals);
 }
 
 void Settings::load() {
@@ -61,6 +62,7 @@ void Settings::load() {
   log_livestream = s.value("log_livestream", true).toBool();
   log_path = s.value("log_path").toString();
   drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt();
+  suppress_defined_signals = s.value("suppress_defined_signals", false).toBool();
   if (log_path.isEmpty()) {
     log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
   }
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index 11548ef5ccc462..b8a3797f86ae9d 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -36,6 +36,7 @@ class Settings : public QObject {
   int sparkline_range = 15; // 15 seconds
   bool multiple_lines_bytes = true;
   bool log_livestream = true;
+  bool suppress_defined_signals = false;
   QString log_path;
   QString last_dir;
   QString last_route_dir;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 3c7291ea380283..3451c1529121f7 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -27,7 +27,8 @@ void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
 }
 
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
-  all_msgs[id].compute((const char *)data, size, sec, getSpeed());
+  QList<uint8_t> mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList<uint8_t>();
+  all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask);
   if (!new_msgs->contains(id)) {
     new_msgs->insert(id, {});
   }
@@ -67,10 +68,11 @@ void AbstractStream::updateLastMsgsTo(double sec) {
     auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) {
       return e->mono_time > ts;
     });
+    QList<uint8_t> mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList<uint8_t>();
     if (it != ev.crend()) {
       double ts = (*it)->mono_time / 1e9 - routeStartTime();
       auto &m = all_msgs[id];
-      m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed());
+      m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask);
       m.count = std::distance(it, ev.crend());
       m.freq = m.count / std::max(1.0, ts);
     }
@@ -153,7 +155,7 @@ static inline QColor blend(const QColor &a, const QColor &b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
-void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, uint32_t in_freq) {
+void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const QList<uint8_t> &mask, uint32_t in_freq) {
   ts = current_sec;
   ++count;
   freq = in_freq == 0 ? count / std::max(1.0, current_sec) : in_freq;
@@ -171,8 +173,9 @@ void CanData::compute(const char *can_data, const int size, double current_sec,
     const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
 
     for (int i = 0; i < size; ++i) {
-      const uint8_t last = dat[i];
-      const uint8_t cur = can_data[i];
+      const uint8_t mask_byte = (i < mask.size()) ? (~mask[i]) : 0xff;
+      const uint8_t last = dat[i] & mask_byte;
+      const uint8_t cur = can_data[i] & mask_byte;
       const int delta = cur - last;
 
       if (last != cur) {
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index d031b6229cc654..80c11d2f193f44 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -13,7 +13,7 @@
 #include "tools/replay/replay.h"
 
 struct CanData {
-  void compute(const char *dat, const int size, double current_sec, double playback_speed, uint32_t in_freq = 0);
+  void compute(const char *dat, const int size, double current_sec, double playback_speed, const QList<uint8_t> &mask, uint32_t in_freq = 0);
 
   double ts = 0.;
   uint32_t count = 0;

From aa54204c81cfd17eeada96df3671e6cbd12ebc01 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 4 May 2023 19:51:00 +0200
Subject: [PATCH 068/175] cabana: add filter per column (#28034)

* add non functional lineedits

* implement actual filtering

* more efficient modelReset

* less diff

* refactor contains

* make sortMessages static

* cleanup

* regex support

* case insensitive

* uncomment

* set header before restoring state

* force reset

* more regex matching

* update comment

* put back header with clear button

* handle hiding

* handle horizontal scrolling

* whitespace

* dont add that
---
 tools/cabana/messageswidget.cc | 324 ++++++++++++++++++++++++++-------
 tools/cabana/messageswidget.h  |  55 +++++-
 2 files changed, 306 insertions(+), 73 deletions(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 66523333ad2a35..f43185e025716d 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -1,42 +1,46 @@
 #include "tools/cabana/messageswidget.h"
-
 #include <QHBoxLayout>
 #include <QPainter>
 #include <QPushButton>
+#include <QScrollBar>
 #include <QVBoxLayout>
 
 MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0 ,0, 0, 0);
 
-  // message filter
   QHBoxLayout *title_layout = new QHBoxLayout();
-  title_layout->addWidget(filter = new QLineEdit(this));
-  QRegularExpression re("\\S+");
-  filter->setValidator(new QRegularExpressionValidator(re, this));
-  filter->setClearButtonEnabled(true);
-  filter->setPlaceholderText(tr("filter messages"));
+  num_msg_label = new QLabel(this);
+  title_layout->addSpacing(10);
+  title_layout->addWidget(num_msg_label);
+
+  title_layout->addStretch();
   title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines Bytes"), this));
   multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines"));
   multiple_lines_bytes->setChecked(settings.multiple_lines_bytes);
+  QPushButton *clear_filters = new QPushButton(tr("Clear Filters"));
+  title_layout->addWidget(clear_filters);
   main_layout->addLayout(title_layout);
 
   // message table
   view = new MessageView(this);
   model = new MessageListModel(this);
+  header = new MessageViewHeader(this, model);
   auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
+
   view->setItemDelegate(delegate);
   view->setModel(model);
   view->setSortingEnabled(true);
-  view->sortByColumn(0, Qt::AscendingOrder);
+  view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
   view->setAllColumnsShowFocus(true);
   view->setEditTriggers(QAbstractItemView::NoEditTriggers);
   view->setItemsExpandable(false);
   view->setIndentation(0);
   view->setRootIsDecorated(false);
+  view->setHeader(header);
+
   // Must be called before setting any header parameters to avoid overriding
   restoreHeaderState(settings.message_header_state);
-
   view->header()->setSectionsMovable(true);
 
   // Header context menu
@@ -57,21 +61,28 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(suppress_layout);
 
   // signals/slots
-  QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString);
+  QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
+  QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
+  QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters);
   QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
     settings.multiple_lines_bytes = (state == Qt::Checked);
     delegate->setMultipleLines(settings.multiple_lines_bytes);
     view->setUniformRowHeights(!settings.multiple_lines_bytes);
-    model->sortMessages();
+
+    // Reset model to force recalculation of the width of the bytes column
+    model->forceResetModel();
   });
   QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
     settings.suppress_defined_signals = (state == Qt::Checked);
   });
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
   QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
+  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &MessagesWidget::dbcModified);
+  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &MessagesWidget::dbcModified);
+  QObject::connect(dbc(), &DBCManager::signalAdded, this, &MessagesWidget::dbcModified);
+  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &MessagesWidget::dbcModified);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &MessagesWidget::dbcModified);
   QObject::connect(model, &MessageListModel::modelReset, [this]() {
     if (current_msg_id) {
       selectMessage(*current_msg_id);
@@ -97,6 +108,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   });
 
   updateSuppressedButtons();
+  dbcModified();
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
@@ -108,6 +120,11 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   )"));
 }
 
+void MessagesWidget::dbcModified() {
+  num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount()));
+  model->fetchData();
+}
+
 void MessagesWidget::selectMessage(const MessageId &msg_id) {
   if (int row = model->msgs.indexOf(msg_id); row != -1) {
     view->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
@@ -128,7 +145,6 @@ void MessagesWidget::reset() {
   current_msg_id = std::nullopt;
   view->selectionModel()->clear();
   model->reset();
-  filter->clear();
   updateSuppressedButtons();
 }
 
@@ -137,8 +153,14 @@ void MessagesWidget::reset() {
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
-    static const QString titles[] = {"Name", "Bus", "ID", "Freq", "Count", "Bytes"};
-    return titles[section];
+    switch (section) {
+      case Column::NAME: return tr("Name");
+      case Column::SOURCE: return tr("Bus");
+      case Column::ADDRESS: return tr("ID");
+      case Column::FREQ: return tr("Freq");
+      case Column::COUNT: return tr("Count");
+      case Column::DATA: return tr("Bytes");
+    }
   }
   return {};
 }
@@ -157,12 +179,12 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
 
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
-      case 0: return msgName(id);
-      case 1: return id.source;
-      case 2: return QString::number(id.address, 16);
-      case 3: return getFreq(can_data);
-      case 4: return can_data.count;
-      case 5: return toHex(can_data.dat);
+      case Column::NAME: return msgName(id);
+      case Column::SOURCE: return id.source;
+      case Column::ADDRESS: return QString::number(id.address, 16);
+      case Column::FREQ: return getFreq(can_data);
+      case Column::COUNT: return can_data.count;
+      case Column::DATA: return toHex(can_data.dat);
     }
   } else if (role == ColorsRole) {
     QVector<QColor> colors = can_data.colors;
@@ -174,83 +196,173 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
       }
     }
     return QVariant::fromValue(colors);
-  } else if (role == BytesRole && index.column() == 5) {
+  } else if (role == BytesRole && index.column() == Column::DATA) {
     return can_data.dat;
   }
   return {};
 }
 
-void MessageListModel::setFilterString(const QString &string) {
-  auto contains = [](const MessageId &id, const QString &txt) {
-    auto cs = Qt::CaseInsensitive;
-    if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true;
-    // Search by signal name
-    if (const auto msg = dbc()->msg(id)) {
-      for (auto s : msg->getSignals()) {
-        if (s->name.contains(txt, cs)) return true;
-      }
-    }
-    return false;
-  };
-
-  filter_str = string;
-  msgs.clear();
-  for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) {
-    if (filter_str.isEmpty() || contains(it.key(), filter_str)) {
-      msgs.push_back(it.key());
-    }
-  }
-  sortMessages();
+void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
+  filter_str = filters;
+  fetchData();
 }
 
-void MessageListModel::sortMessages() {
-  beginResetModel();
-  if (sort_column == 0) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
+void MessageListModel::sortMessages(Qt::SortOrder sort_order, int sort_column, QList<MessageId> &new_msgs) {
+  if (sort_column == Column::NAME) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
       auto ll = std::pair{msgName(l), l};
       auto rr = std::pair{msgName(r), r};
       return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 1) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
+  } else if (sort_column == Column::SOURCE) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
       auto ll = std::pair{l.source, l};
       auto rr = std::pair{r.source, r};
       return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 2) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
+  } else if (sort_column == Column::ADDRESS) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
       auto ll = std::pair{l.address, l};
       auto rr = std::pair{r.address, r};
       return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 3) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
+  } else if (sort_column == Column::FREQ) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
       auto ll = std::pair{can->lastMessage(l).freq, l};
       auto rr = std::pair{can->lastMessage(r).freq, r};
       return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 4) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
+  } else if (sort_column == Column::COUNT) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
       auto ll = std::pair{can->lastMessage(l).count, l};
       auto rr = std::pair{can->lastMessage(r).count, r};
       return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
   }
-  endResetModel();
 }
 
-void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs) {
-  int prev_row_count = msgs.size();
-  if (filter_str.isEmpty() && msgs.size() != can->last_msgs.size()) {
-    msgs = can->last_msgs.keys();
+static std::pair<unsigned int, unsigned int> parseRange(QString &filter, bool *ok = nullptr, int base = 10) {
+  // Parse out filter string into a range (e.g. "1" -> {1, 1}, "1-3" -> {1, 3}, "1-" -> {1, inf})
+  bool ok1 = true, ok2 = true;
+  unsigned int parsed1 = std::numeric_limits<unsigned int>::min();
+  unsigned int parsed2 = std::numeric_limits<unsigned int>::max();
+
+  auto s = filter.split('-');
+  if (s.size() == 1) {
+    parsed1 = s[0].toUInt(ok, base);
+    return {parsed1, parsed1};
+  } else if (s.size() == 2) {
+    if (!s[0].isEmpty()) parsed1 = s[0].toUInt(&ok1, base);
+    if (!s[1].isEmpty()) parsed2 = s[1].toUInt(&ok2, base);
+
+    *ok = ok1 & ok2;
+    return {parsed1, parsed2};
+  } else {
+    *ok = false;
+    return {0, 0};
+  }
+}
+
+bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, QMap<int, QString> &filters) {
+  auto cs = Qt::CaseInsensitive;
+  bool match = true;
+  bool convert_ok;
+
+  for (int column = Column::NAME; column <= Column::DATA; column++) {
+    if (!filters.contains(column)) continue;
+    QString txt = filters[column];
+
+    QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
+
+    switch (column) {
+      case Column::NAME:
+        {
+          bool name_match = re.match(msgName(id)).hasMatch();
+
+          // Message signals
+          if (const auto msg = dbc()->msg(id)) {
+            for (auto s : msg->getSignals()) {
+              if (re.match(s->name).hasMatch()) {
+                name_match = true;
+                break;
+              }
+            }
+          }
+          if (!name_match) match = false;
+        }
+        break;
+      case Column::SOURCE:
+        {
+          auto source = parseRange(txt, &convert_ok);
+          bool source_match = convert_ok && (id.source >= source.first && id.source <= source.second);
+          if (!source_match) match = false;
+        }
+        break;
+      case Column::ADDRESS:
+        {
+          QString address_str = QString::number(id.address, 16);
+          bool address_re_match = re.match(address_str).capturedLength() == address_str.length();
+
+          auto address = parseRange(txt, &convert_ok, 16);
+          bool address_match = convert_ok && (id.address >= address.first && id.address <= address.second);
+
+          if (!address_re_match && !address_match) match = false;
+        }
+        break;
+      case Column::FREQ:
+        {
+          // TODO: Hide stale messages?
+          auto freq = parseRange(txt, &convert_ok);
+          bool freq_match = convert_ok && (data.freq >= freq.first && data.freq <= freq.second);
+          if (!freq_match) match = false;
+        }
+        break;
+      case Column::COUNT:
+        {
+          auto count = parseRange(txt, &convert_ok);
+          bool count_match = convert_ok && (data.count >= count.first && data.count <= count.second);
+          if (!count_match) match = false;
+        }
+        break;
+      case Column::DATA:
+        {
+          bool data_match = false;
+          data_match |= QString(data.dat.toHex()).contains(txt, cs);
+          data_match |= re.match(QString(data.dat.toHex())).hasMatch();
+          data_match |= re.match(QString(data.dat.toHex(' '))).hasMatch();
+
+          if (!data_match) match = false;
+        }
+        break;
+    }
+  }
+  return match;
+}
+
+
+void MessageListModel::fetchData() {
+  QList<MessageId> new_msgs;
+  for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) {
+    if (matchMessage(it.key(), it.value(), filter_str)) {
+      new_msgs.push_back(it.key());
+    }
   }
-  if (msgs.size() != prev_row_count) {
-    sortMessages();
-    return;
+  sortMessages(sort_order, sort_column, new_msgs);
+
+  if (msgs != new_msgs) {
+    beginResetModel();
+    msgs = new_msgs;
+    endResetModel();
   }
+}
+
+void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs) {
+  QList<MessageId> prev_msgs = msgs;
+  fetchData();
+
   for (int i = 0; i < msgs.size(); ++i) {
     if (new_msgs->contains(msgs[i])) {
-      for (int col = 3; col < columnCount(); ++col)
+      for (int col = Column::FREQ; col < columnCount(); ++col)
         emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
     }
   }
@@ -260,7 +372,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
   if (column != columnCount() - 1) {
     sort_column = column;
     sort_order = order;
-    sortMessages();
+    fetchData();
   }
 }
 
@@ -284,12 +396,17 @@ void MessageListModel::clearSuppress() {
 
 void MessageListModel::reset() {
   beginResetModel();
-  filter_str = "";
+  filter_str.clear();
   msgs.clear();
   clearSuppress();
   endResetModel();
 }
 
+void MessageListModel::forceResetModel() {
+  beginResetModel();
+  endResetModel();
+}
+
 // MessageView
 
 void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -360,3 +477,74 @@ void MessageView::headerContextMenuEvent(const QPoint &pos) {
 
   menu->popup(header()->mapToGlobal(pos));
 }
+
+MessageViewHeader::MessageViewHeader(QWidget *parent, MessageListModel *model) : model(model), QHeaderView(Qt::Horizontal, parent) {
+  QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions);
+  QObject::connect(this, &QHeaderView::sectionMoved, this, &MessageViewHeader::updateHeaderPositions);
+}
+
+void MessageViewHeader::showEvent(QShowEvent *e) {
+
+  for (int i = 0; i < count(); i++) {
+    if (!editors[i]) {
+      QString column_name = model->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
+      editors[i] = new QLineEdit(this);
+      editors[i]->setClearButtonEnabled(true);
+      editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name));
+
+      QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters);
+    }
+    editors[i]->show();
+  }
+  QHeaderView::showEvent(e);
+}
+
+void MessageViewHeader::updateFilters() {
+  QMap<int, QString> filters;
+  for (int i = 0; i < count(); i++) {
+    if (editors[i]) {
+      QString filter = editors[i]->text();
+      if (!filter.isEmpty()) {
+        filters[i] = filter;
+      }
+    }
+  }
+  emit filtersUpdated(filters);
+}
+
+void MessageViewHeader::clearFilters() {
+  for (QLineEdit *editor : editors) {
+    editor->clear();
+  }
+}
+
+void MessageViewHeader::updateHeaderPositions() {
+  QSize sz = QHeaderView::sizeHint();
+  for (int i = 0; i < count(); i++) {
+    if (editors[i]) {
+      int h = editors[i]->sizeHint().height();
+      editors[i]->move(sectionViewportPosition(i), sz.height());
+      editors[i]->resize(sectionSize(i), h);
+      editors[i]->setHidden(isSectionHidden(i));
+    }
+  }
+}
+
+void MessageViewHeader::updateGeometries() {
+  if (editors[0]) {
+    setViewportMargins(0, 0, 0, editors[0]->sizeHint().height());
+  } else {
+    setViewportMargins(0, 0, 0, 0);
+  }
+  QHeaderView::updateGeometries();
+  updateHeaderPositions();
+}
+
+
+QSize MessageViewHeader::sizeHint() const {
+  QSize sz = QHeaderView::sizeHint();
+  if (editors[0]) {
+    sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height());
+  }
+  return sz;
+}
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index ef5467b053ab1e..c5594679192fd2 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -4,6 +4,7 @@
 #include <QCheckBox>
 #include <QContextMenuEvent>
 #include <QHeaderView>
+#include <QLabel>
 #include <QLineEdit>
 #include <QMenu>
 #include <QSet>
@@ -16,23 +17,37 @@ class MessageListModel : public QAbstractTableModel {
 Q_OBJECT
 
 public:
+
+  enum Column {
+    NAME = 0,
+    SOURCE,
+    ADDRESS,
+    FREQ,
+    COUNT,
+    DATA,
+  };
+
   MessageListModel(QObject *parent) : QAbstractTableModel(parent) {}
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
-  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 6; }
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; }
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
-  void setFilterString(const QString &string);
+  void setFilterStrings(const QMap<int, QString> &filters);
   void msgsReceived(const QHash<MessageId, CanData> *new_msgs = nullptr);
-  void sortMessages();
+  void fetchData();
   void suppress();
   void clearSuppress();
   void reset();
+  void forceResetModel();
   QList<MessageId> msgs;
   QSet<std::pair<MessageId, int>> suppressed_bytes;
 
 private:
-  QString filter_str;
+  static void sortMessages(Qt::SortOrder sort_order, int sort_column, QList<MessageId> &new_msgs);
+  static bool matchMessage(const MessageId &id, const CanData &data, QMap<int, QString> &filters);
+
+  QMap<int, QString> filter_str;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
 };
@@ -48,6 +63,32 @@ class MessageView : public QTreeView {
   void headerContextMenuEvent(const QPoint &pos);
 };
 
+class MessageViewHeader : public QHeaderView {
+  // https://stackoverflow.com/a/44346317
+
+  Q_OBJECT
+public:
+  MessageViewHeader(QWidget *parent, MessageListModel *model);
+  void showEvent(QShowEvent *e) override;
+  void updateHeaderPositions();
+
+  void updateGeometries() override;
+  QSize sizeHint() const override;
+
+public slots:
+  void clearFilters();
+
+signals:
+  void filtersUpdated(const QMap<int, QString> &filters);
+
+private:
+  void updateFilters();
+
+  QMap<int, QLineEdit *> editors;
+  QMap<int, QSet<QString>> values;
+  MessageListModel *model;
+};
+
 class MessagesWidget : public QWidget {
   Q_OBJECT
 
@@ -59,15 +100,19 @@ class MessagesWidget : public QWidget {
   void updateSuppressedButtons();
   void reset();
 
+public slots:
+  void dbcModified();
+
 signals:
   void msgSelectionChanged(const MessageId &message_id);
 
 protected:
   MessageView *view;
+  MessageViewHeader *header;
   std::optional<MessageId> current_msg_id;
-  QLineEdit *filter;
   QCheckBox *multiple_lines_bytes;
   MessageListModel *model;
   QPushButton *suppress_add;
   QPushButton *suppress_clear;
+  QLabel *num_msg_label;
 };

From 5c9935cc82bde9f0622c5177464b0b9bb21cbf8e Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 4 May 2023 19:59:26 +0200
Subject: [PATCH 069/175] cabana: improve panda startup dialog (#28104)

* create combo box for serial numbers

* configure bus speeds
---
 tools/cabana/streams/pandastream.cc | 100 ++++++++++++++++++++++++++--
 tools/cabana/streams/pandastream.h  |  14 +++-
 2 files changed, 109 insertions(+), 5 deletions(-)

diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 6eab40a652b1e7..5b3bf890e8b4d8 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -1,9 +1,12 @@
 #include "tools/cabana/streams/pandastream.h"
 
-#include <QFormLayout>
+#include <QLabel>
 #include <QMessageBox>
+#include <QPushButton>
 #include <QVBoxLayout>
 
+#include "selfdrive/ui/qt/util.h"
+
 PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
   if (config.serial.isEmpty()) {
     auto serials = Panda::list();
@@ -97,16 +100,105 @@ OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWi
   main_layout->addStretch(1);
 
   QFormLayout *form_layout = new QFormLayout();
-  form_layout->addRow(tr("Serial"), serial_edit = new QLineEdit(this));
-  serial_edit->setPlaceholderText(tr("Leave empty to use default serial"));
 
+  QHBoxLayout *serial_layout = new QHBoxLayout();
+  serial_edit = new QComboBox();
+  serial_edit->setFixedWidth(300);
+  serial_layout->addWidget(serial_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  serial_layout->addWidget(refresh);
+  form_layout->addRow(tr("Serial"), serial_layout);
   main_layout->addLayout(form_layout);
+
+  config_layout = new QFormLayout();
+  main_layout->addLayout(config_layout);
+
   main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials);
+  QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm);
+
+  // Populate serials
+  refreshSerials();
+  buildConfigForm();
+}
+
+void OpenPandaWidget::refreshSerials() {
+  serial_edit->clear();
+  for (auto serial : Panda::list()) {
+    serial_edit->addItem(QString::fromStdString(serial));
+  }
+}
+
+void OpenPandaWidget::buildConfigForm() {
+  clearLayout(config_layout);
+  QString serial = serial_edit->currentText();
+
+  bool has_fd = false;
+  bool has_panda = !serial.isEmpty();
+
+  if (has_panda) {
+    try {
+      Panda panda = Panda(serial.toStdString());
+      has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
+    } catch (const std::exception& e) {
+      has_panda = false;
+    }
+  }
+
+  if (has_panda) {
+    config.serial = serial;
+    config.bus_config.resize(3);
+    for (int i = 0; i < config.bus_config.size(); i++) {
+      QHBoxLayout *bus_layout = new QHBoxLayout;
+
+      // CAN Speed
+      bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):")));
+      QComboBox *can_speed = new QComboBox;
+      for (int j = 0; j < std::size(speeds); j++) {
+        can_speed->addItem(QString::number(speeds[j]));
+
+        if (data_speeds[j] == config.bus_config[i].can_speed_kbps) {
+          can_speed->setCurrentIndex(j);
+        }
+      }
+      QObject::connect(can_speed, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];});
+      bus_layout->addWidget(can_speed);
+
+      // CAN-FD Speed
+      if (has_fd) {
+        QCheckBox *enable_fd = new QCheckBox("CAN-FD");
+        bus_layout->addWidget(enable_fd);
+        bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):")));
+        QComboBox *data_speed = new QComboBox;
+        for (int j = 0; j < std::size(data_speeds); j++) {
+          data_speed->addItem(QString::number(data_speeds[j]));
+
+          if (data_speeds[j] == config.bus_config[i].data_speed_kbps) {
+            data_speed->setCurrentIndex(j);
+          }
+        }
+
+        data_speed->setEnabled(false);
+        bus_layout->addWidget(data_speed);
+
+        QObject::connect(data_speed, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];});
+        QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled);
+        QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;});
+      }
+
+      config_layout->addRow(tr("Bus %1:").arg(i), bus_layout);
+    }
+  } else {
+    config.serial = "";
+    config_layout->addWidget(new QLabel(tr("No panda found")));
+  }
 }
 
 bool OpenPandaWidget::open() {
   try {
-    PandaStreamConfig config = {.serial = serial_edit->text()};
     *stream = new PandaStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index df7ccded516497..f726c5cfb67172 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -1,8 +1,15 @@
 #pragma once
 
+#include <QComboBox>
+#include <QFormLayout>
+#include <QVBoxLayout>
+
 #include "tools/cabana/streams/livestream.h"
 #include "selfdrive/boardd/panda.h"
 
+const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
+const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
+
 struct BusConfig {
   int can_speed_kbps = 500;
   int data_speed_kbps = 2000;
@@ -40,5 +47,10 @@ class OpenPandaWidget : public AbstractOpenStreamWidget {
   QString title() override { return tr("&Panda"); }
 
 private:
-  QLineEdit *serial_edit;
+  void refreshSerials();
+  void buildConfigForm();
+
+  QComboBox *serial_edit;
+  QFormLayout *config_layout;
+  PandaStreamConfig config = {};
 };

From 7a31bd12af859b44ad40315aafa791a1c2eab3f6 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 4 May 2023 19:59:37 +0200
Subject: [PATCH 070/175] qt/util.c: clearLayout, support QFormLayout (#28105)

---
 selfdrive/ui/qt/util.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 2e222f59569b57..c844cb2ba03ccb 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -59,7 +59,8 @@ void configFont(QPainter &p, const QString &family, int size, const QString &sty
 }
 
 void clearLayout(QLayout* layout) {
-  while (QLayoutItem* item = layout->takeAt(0)) {
+  while (layout->count() > 0) {
+    QLayoutItem* item = layout->takeAt(0);
     if (QWidget* widget = item->widget()) {
       widget->deleteLater();
     }

From 9b0d140400381db831ab3f8c7d758bf446f10feb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 4 May 2023 11:07:40 -0700
Subject: [PATCH 071/175] tizi: more amp retries (#28082)

---
 system/hardware/tici/amplifier.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index 979bc757f67d20..5b656a40fa88b1 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -124,12 +124,13 @@ def _set_configs(self, configs: List[AmpConfig]) -> None:
 
   def set_configs(self, configs: List[AmpConfig]) -> bool:
     # retry in case panda is using the amp
-    for _ in range(10):
+    tries = 15
+    for i in range(15):
       try:
         self._set_configs(configs)
         return True
       except OSError:
-        print("Failed to set amp config, retrying...")
+        print(f"Failed to set amp config, {tries - i - 1} retries left")
         time.sleep(0.02)
     return False
 

From 10a1b8b7b172420047fab5caa84829dd510e1e38 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 5 May 2023 02:21:41 +0800
Subject: [PATCH 072/175] params: cleanup old params that aren't defined
 (#28017)

* delete files that are not defined in the keys

* assert after create file

* remove util::remove_files_in_dir

* cleanup

* fix up test

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 common/params.cc            | 17 +++++++++++------
 common/tests/test_params.py |  9 +++++++++
 common/tests/test_util.cc   | 17 -----------------
 common/util.cc              | 16 ----------------
 common/util.h               |  1 -
 5 files changed, 20 insertions(+), 40 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index 428830a1121307..a5e6381d9c87d4 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -305,14 +305,19 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
   FileLock file_lock(params_path + "/.lock");
 
-  if (key_type == ALL) {
-    util::remove_files_in_dir(getParamPath());
-  } else {
-    for (auto &[key, type] : keys) {
-      if (type & key_type) {
-        unlink(getParamPath(key).c_str());
+  // 1) delete params of key_type
+  // 2) delete files that are not defined in the keys.
+  if (DIR *d = opendir(getParamPath().c_str())) {
+    struct dirent *de = NULL;
+    while ((de = readdir(d))) {
+      if (de->d_type != DT_DIR) {
+        auto it = keys.find(de->d_name);
+        if (it == keys.end() || (it->second & key_type)) {
+          unlink(getParamPath(de->d_name).c_str());
+        }
       }
     }
+    closedir(d);
   }
 
   fsync_dir(getParamPath());
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index ec13e822179f4c..d432218c8a7c13 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -1,7 +1,9 @@
+import os
 import threading
 import time
 import tempfile
 import shutil
+import uuid
 import unittest
 
 from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
@@ -28,9 +30,16 @@ def test_params_get_cleared_manager_start(self):
     self.params.put("CarParams", "test")
     self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
+
+    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
+    with open(undefined_param, "w") as f:
+      f.write("test")
+    assert os.path.isfile(undefined_param)
+
     self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
     assert self.params.get("CarParams") is None
     assert self.params.get("DongleId") is not None
+    assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
     self.params.put("DongleId", "bob")
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index b70cc9044afc9d..25ecf09aa9db83 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") {
     REQUIRE(util::create_directories("", 0755) == false);
   }
 }
-
-TEST_CASE("util::remove_files_in_dir") {
-  std::string tmp_dir = "/tmp/test_remove_all_in_dir";
-  system("rm /tmp/test_remove_all_in_dir -rf");
-  REQUIRE(util::create_directories(tmp_dir, 0755));
-  const int tmp_file_cnt = 10;
-  for (int i = 0; i < tmp_file_cnt; ++i) {
-    std::string tmp_file = tmp_dir + "/test_XXXXXX";
-    int fd = mkstemp((char*)tmp_file.c_str());
-    close(fd);
-    REQUIRE(util::file_exists(tmp_file.c_str()));
-  }
-
-  REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt);
-  util::remove_files_in_dir(tmp_dir);
-  REQUIRE(util::read_files_in_dir(tmp_dir).empty());
-}
diff --git a/common/util.cc b/common/util.cc
index 10dff6a9ea29bf..ee1080cbdf2a82 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -99,22 +99,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
   return ret;
 }
 
-void remove_files_in_dir(const std::string &path) {
-  DIR *d = opendir(path.c_str());
-  if (!d) return;
-
-  std::string fn;
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      fn = path + "/" + de->d_name;
-      unlink(fn.c_str());
-    }
-  }
-
-  closedir(d);
-}
-
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
   int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {
diff --git a/common/util.h b/common/util.h
index 028074384e19eb..c80dc234f2a20c 100644
--- a/common/util.h
+++ b/common/util.h
@@ -81,7 +81,6 @@ std::string dir_name(std::string const& path);
 // **** file fhelpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
 
 FILE* safe_fopen(const char* filename, const char* mode);

From 068ff038afaf54eb69e4d99a6ff91422f1175e56 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 4 May 2023 11:23:30 -0700
Subject: [PATCH 073/175] add ford to release notes

---
 RELEASES.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/RELEASES.md b/RELEASES.md
index 94908214ef3ec2..8e79802c1be363 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -6,11 +6,16 @@ Version 0.9.2 (2023-05-XX)
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Explorer 2020-22 support
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Lexus ES 2017-18 support
+* Lincoln Aviator 2021 supuport
+* Lincoln Aviator Plug-in Hybrid 2021 support
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 
+
 Version 0.9.1 (2023-02-28)
 ========================
 * New driving model

From 4ed6412ee5c7c41eaf8b6715a8ce030a7ae9aecc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 5 May 2023 02:27:03 +0800
Subject: [PATCH 074/175] cabana: Make the close button on TabBar look
 consistent and adaptable to different templates. (#28065)

consistent and adaptable to different templates
---
 tools/cabana/chart/chartswidget.cc |  3 +--
 tools/cabana/chart/chartswidget.h  |  3 +--
 tools/cabana/detailwidget.cc       |  3 +--
 tools/cabana/detailwidget.h        |  2 +-
 tools/cabana/util.cc               | 25 ++++++++++++++++++++++++-
 tools/cabana/util.h                | 11 +++++++++++
 6 files changed, 39 insertions(+), 8 deletions(-)

diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index cc837e0e334354..3a735e29789da8 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -65,13 +65,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   main_layout->addWidget(toolbar);
 
   // tabbar
-  tabbar = new QTabBar(this);
+  tabbar = new TabBar(this);
   tabbar->setAutoHide(true);
   tabbar->setExpanding(false);
   tabbar->setDrawBase(true);
   tabbar->setAcceptDrops(true);
   tabbar->setChangeCurrentOnDrag(true);
-  tabbar->setTabsClosable(true);
   tabbar->setUsesScrollButtons(true);
   main_layout->addWidget(tabbar);
 
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 25e5b8e1941987..ee0c07292da6ce 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -3,7 +3,6 @@
 #include <QGridLayout>
 #include <QLabel>
 #include <QScrollArea>
-#include <QTabBar>
 #include <QTimer>
 #include <QUndoCommand>
 #include <QUndoStack>
@@ -95,7 +94,7 @@ public slots:
   ToolButton *remove_all_btn;
   QList<ChartView *> charts;
   std::unordered_map<int, QList<ChartView *>> tab_charts;
-  QTabBar *tabbar;
+  TabBar *tabbar;
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index dd12d4c8a34d95..a9bbf15980c5ab 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -13,8 +13,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   main_layout->setContentsMargins(0, 0, 0, 0);
 
   // tabbar
-  tabbar = new QTabBar(this);
-  tabbar->setTabsClosable(true);
+  tabbar = new TabBar(this);
   tabbar->setUsesScrollButtons(true);
   tabbar->setAutoHide(true);
   tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 074ce3b4d34639..ce65adb34ea168 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -41,7 +41,7 @@ class DetailWidget : public QWidget {
   QLabel *time_label, *warning_icon, *warning_label;
   ElidedLabel *name_label;
   QWidget *warning_widget;
-  QTabBar *tabbar;
+  TabBar *tabbar;
   QTabWidget *tab_widget;
   QToolButton *remove_btn;
   LogsWidget *history_log;
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 7bae2a7bb43be8..d95d6ac5258ace 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -131,6 +131,29 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
   painter->setPen(old_pen);
 }
 
+// TabBar
+
+int TabBar::addTab(const QString &text) {
+  int index = QTabBar::addTab(text);
+  QToolButton *btn = new ToolButton("x", tr("Close Tab"));
+  int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn);
+  int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn);
+  btn->setFixedSize({width, height});
+  setTabButton(index, QTabBar::RightSide, btn);
+  QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked);
+  return index;
+}
+
+void TabBar::closeTabClicked() {
+  QObject *object = sender();
+  for (int i = 0; i < count(); ++i) {
+    if (tabButton(i, QTabBar::RightSide) == object) {
+      emit tabCloseRequested(i);
+      break;
+    }
+  }
+}
+
 QColor getColor(const cabana::Signal *sig) {
   float h = 19 * (float)sig->lsb / 64.0;
   h = fmod(h, 1.0);
@@ -191,7 +214,7 @@ void setTheme(int theme) {
       new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
       new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
       new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));;
-      new_palette.setColor(QPalette::Light, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::Light, QColor("#777777"));
       new_palette.setColor(QPalette::Dark, QColor("#353535"));
     } else {
       new_palette = style->standardPalette();
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index 5a3d129a76d18b..dcf1ac0cbf2c3b 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -122,4 +122,15 @@ class ToolButton : public QToolButton {
   int theme;
 };
 
+class TabBar : public QTabBar {
+  Q_OBJECT
+
+public:
+  TabBar(QWidget *parent) : QTabBar(parent) {}
+  int addTab(const QString &text);
+
+private:
+  void closeTabClicked();
+};
+
 int num_decimals(double num);

From e410de004f935371d6c131c873b948094823dbf4 Mon Sep 17 00:00:00 2001
From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com>
Date: Thu, 4 May 2023 16:45:39 -0300
Subject: [PATCH 075/175] fix typo on RELEASES.md (#28109)

---
 RELEASES.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 8e79802c1be363..df4a072cb47e0f 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -11,7 +11,7 @@ Version 0.9.2 (2023-05-XX)
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Lexus ES 2017-18 support
-* Lincoln Aviator 2021 supuport
+* Lincoln Aviator 2021 support
 * Lincoln Aviator Plug-in Hybrid 2021 support
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 

From 4ee6c68ba5a61362481c8189f8a89e31fd09d390 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 21:04:54 +0000
Subject: [PATCH 076/175] Ford: cleanup long control and send stopping signal
 (#28110)

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/ford/carcontroller.py | 13 ++++++-------
 selfdrive/car/ford/fordcan.py       |  6 ++++--
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index d205960605e61c..edce3418be76ce 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -6,6 +6,7 @@
   create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
 from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
 
+LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
@@ -83,15 +84,13 @@ def update(self, CC, CS, now_nanos):
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
-      precharge_brake = accel < -0.1
-      if accel > -0.5:
-        gas = accel
-        decel = False
-      else:
+      gas = accel
+      decel = accel < 0.0
+      if accel < -0.5:
         gas = -5.0
-        decel = True
 
-      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
+      stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index b56a3185c261b6..81e08c36715677 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
   return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
 
 
-def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
+def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: bool, stopping: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -111,8 +111,10 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, precharg
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
-    "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0,  # Pre-charge brake request: 0=No, 1=Yes
+    "AccResumEnbl_B_Rq": 1 if long_active else 0,
+    "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
     "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
+    "AccStopStat_B_Rq": 1 if stopping else 0,
   }
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)
 

From fd54a1e351077cbd8a99740265440d6972d70cfb Mon Sep 17 00:00:00 2001
From: Aaron Fields <Spirotot@users.noreply.github.com>
Date: Thu, 4 May 2023 17:42:46 -0400
Subject: [PATCH 077/175] Chrysler: Pacifica Hybrid 2023 support (#28098)

* Adding 2023 Chrysler Pacifica Hybrid fingerprint.

* Update docs.
---
 docs/CARS.md                     | 2 +-
 selfdrive/car/chrysler/values.py | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 5afa51534f6770..13f5cc7752b47b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -29,7 +29,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
 |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-22">FCA</a>||
+|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA</a>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 8799f073c956d3..a9d1a528ca309c 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -67,7 +67,7 @@ class ChryslerCarInfo(CarInfo):
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
-  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: [
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
@@ -127,6 +127,9 @@ class ChryslerCarInfo(CarInfo):
     # Based on "8190c7275a24557b|2020-02-24--09-57-23"
   {
     168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+  },
+  {
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
   }],
   CAR.JEEP_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8

From 51d41a3336683b81acbd764660c523f8d6f3758b Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 21:47:39 +0000
Subject: [PATCH 078/175] test Ford in process replay (#28112)

---
 selfdrive/test/process_replay/test_processes.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 2ac4a92cc093da..ecb2bb02ca98f0 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -60,7 +60,7 @@
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "ford", "mazda", "tesla"]
+excluded_interfaces = ["mock", "mazda", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

From a0d2e4e711b5ca4f8e5267d6bf7c8f2e32765692 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 17:21:36 -0700
Subject: [PATCH 079/175] Ford: add Escape test route and remove dashcam only
 (#28113)

* Ford: add Escape Mk4 test route

* generate docs

* remove from non_tested

* fix model years

* clearer packages for EU

* docs

* 2020 hybrid

26b2cace68e36212

1FMCU9DZ9LUA82589

* 2021 phev

1FMCU0LZXMUA80767

f8eaaccd2a90aef8

* add this too

* more docs
---
 docs/CARS.md                    |  8 +++++++-
 selfdrive/car/ford/interface.py |  2 +-
 selfdrive/car/ford/values.py    | 10 ++++++----
 selfdrive/car/tests/routes.py   |  2 +-
 4 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 13f5cc7752b47b..d25563b465e734 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 248 Supported Cars
+# 254 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -32,7 +32,13 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA</a>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
+|Ford|Escape Hybrid 2020|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020">Ford Q3</a>||
+|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
+|Ford|Kuga 2020-22 Hybrid|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22 Hybrid">Ford Q3</a>||
+|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 4fb8642b789173..01c5dd377b7f1f 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -18,7 +18,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # These cars are dashcam only for lack of test coverage.
     # Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.ESCAPE_MK4, CAR.FOCUS_MK4, CAR.MAVERICK_MK1}
+    ret.dashcamOnly = candidate in {CAR.FOCUS_MK4, CAR.MAVERICK_MK1}
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 9315a97e8948d2..b1801bf24e9443 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -72,16 +72,18 @@ class FordCarInfo(CarInfo):
   CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
     FordCarInfo("Ford Escape 2020-22"),
-    FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
-    FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
-    FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Driver Assistance Pack"),
+    FordCarInfo("Ford Escape Hybrid 2020"),
+    FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"),
+    FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
+    FordCarInfo("Ford Kuga 2020-22 Hybrid", "Adaptive Cruise Control with Lane Centering"),
+    FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
   ],
   CAR.EXPLORER_MK6: [
     FordCarInfo("Ford Explorer 2020-22"),
     FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
     FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],
-  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Driver Assistance Pack"),
+  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
   CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
 
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 3935461e612dfa..e657a6f8c4ffbc 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -16,7 +16,6 @@
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.ESCAPE_MK4,
   FORD.FOCUS_MK4,
   FORD.MAVERICK_MK1,
   GM.CADILLAC_ATS,
@@ -47,6 +46,7 @@
   CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
 
   CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
+  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 

From d8b9317122fc634d3ed811e321e5258fa3a50d35 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 18:15:53 -0700
Subject: [PATCH 080/175] add more Ford to release notes

---
 RELEASES.md                  | 6 ++++++
 docs/CARS.md                 | 4 ++--
 selfdrive/car/ford/values.py | 4 ++--
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index df4a072cb47e0f..4259e5cc0ad3ce 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -7,7 +7,13 @@ Version 0.9.2 (2023-05-XX)
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
 * Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Escape Hybrid 2020-22 support
+* Ford Escape Plug-in Hybrid 2021-22 support
 * Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Kuga Hybrid 2020-22 support
+* Ford Kuga Plug-in Hybrid 2020-22 support
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Lexus ES 2017-18 support
diff --git a/docs/CARS.md b/docs/CARS.md
index d25563b465e734..f86111011b8532 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -33,11 +33,11 @@ A supported vehicle is one that just works when you install a comma three. All s
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
-|Ford|Escape Hybrid 2020|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020">Ford Q3</a>||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020-22">Ford Q3</a>||
 |Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
-|Ford|Kuga 2020-22 Hybrid|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22 Hybrid">Ford Q3</a>||
+|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Hybrid 2020-22">Ford Q3</a>||
 |Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index b1801bf24e9443..4daf66698d90d6 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -72,10 +72,10 @@ class FordCarInfo(CarInfo):
   CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
     FordCarInfo("Ford Escape 2020-22"),
-    FordCarInfo("Ford Escape Hybrid 2020"),
+    FordCarInfo("Ford Escape Hybrid 2020-22"),
     FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"),
     FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
-    FordCarInfo("Ford Kuga 2020-22 Hybrid", "Adaptive Cruise Control with Lane Centering"),
+    FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
     FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
   ],
   CAR.EXPLORER_MK6: [

From acae532a3b95c56543b0bb5ab312254f65444ec7 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 19:43:06 -0700
Subject: [PATCH 081/175] docs: 250 cars

---
 README.md                      | 2 +-
 docs/CARS.md                   | 1 +
 selfdrive/car/CARS_template.md | 1 +
 3 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index a71a9e671ed66b..3223cda2f3697c 100755
--- a/README.md
+++ b/README.md
@@ -42,7 +42,7 @@ To use openpilot in a car, you need four things
 * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
 * This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
 The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
diff --git a/docs/CARS.md b/docs/CARS.md
index f86111011b8532..776037e39d4994 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -292,6 +292,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 8a879954fa1c74..c571e6bec721c6 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -39,6 +39,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |

From a951463346b39892df4adcc997a4962e3fe87677 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 4 May 2023 22:42:34 -0700
Subject: [PATCH 082/175] Ford: log ACC faults (#28111)

* log ford acc faults

* whoops...
---
 selfdrive/car/ford/carstate.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 21af1062f3646a..9b8e966228a35b 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -48,6 +48,7 @@ def update(self, cp, cp_cam):
     ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
+    ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:

From 16f0f1561b716cbb75149185dac31b15386e7984 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 4 May 2023 23:35:14 -0700
Subject: [PATCH 083/175] Ford: add Explorer Hybrid 2020-22

---
 RELEASES.md                  | 1 +
 docs/CARS.md                 | 3 ++-
 selfdrive/car/ford/values.py | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/RELEASES.md b/RELEASES.md
index 4259e5cc0ad3ce..d058771bbfa3ca 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -11,6 +11,7 @@ Version 0.9.2 (2023-05-XX)
 * Ford Escape Hybrid 2020-22 support
 * Ford Escape Plug-in Hybrid 2021-22 support
 * Ford Explorer 2020-22 support
+* Ford Explorer Hybrid 2020-22 support
 * Ford Kuga 2020-22 support
 * Ford Kuga Hybrid 2020-22 support
 * Ford Kuga Plug-in Hybrid 2020-22 support
diff --git a/docs/CARS.md b/docs/CARS.md
index 776037e39d4994..67f1029bad6f87 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 254 Supported Cars
+# 255 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -36,6 +36,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020-22">Ford Q3</a>||
 |Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
+|Ford|Explorer Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer Hybrid 2020-22">Ford Q3</a>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
 |Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Hybrid 2020-22">Ford Q3</a>||
 |Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 4daf66698d90d6..00cbb7de0077b9 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -80,6 +80,7 @@ class FordCarInfo(CarInfo):
   ],
   CAR.EXPLORER_MK6: [
     FordCarInfo("Ford Explorer 2020-22"),
+    FordCarInfo("Ford Explorer Hybrid 2020-22"),
     FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
     FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],

From bd8a56cf30588be8b5c8494e1cbcfa124321693a Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 5 May 2023 20:28:46 +0200
Subject: [PATCH 084/175] panda_comms.h add missing <string> include (#28117)

---
 selfdrive/boardd/panda_comms.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h
index 506b96b3722519..f93d2921709ebd 100644
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@@ -1,8 +1,9 @@
 #pragma once
 
-#include <mutex>
 #include <atomic>
 #include <cstdint>
+#include <mutex>
+#include <string>
 #include <vector>
 
 #ifndef __APPLE__

From b3a3040d09f32e45fd21c72d518ac57a29b2f27d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 5 May 2023 20:28:54 +0200
Subject: [PATCH 085/175] cabana: fix rounding error in filter sizehint
 (#28116)

---
 tools/cabana/messageswidget.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index f43185e025716d..1d86a53ad11a9a 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -544,7 +544,7 @@ void MessageViewHeader::updateGeometries() {
 QSize MessageViewHeader::sizeHint() const {
   QSize sz = QHeaderView::sizeHint();
   if (editors[0]) {
-    sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height());
+    sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1);
   }
   return sz;
 }

From 884e36bc9dfae0f5d374e41feee4f222e2cb62f7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 5 May 2023 16:11:16 -0700
Subject: [PATCH 086/175] ui: more granular accel gradient in experimental mode
 (#27391)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* add accel

* debugging

* use uiPlan for acceleration

* draw on same frame, ui color enhancements

* adjustments

* not needed

* add back alerts and wide cam

* use linear accel -> saturation (red -> green transition is more gradual, should be easier to understand)

* 1.5x was good from the non-linear previous commit

* fix crash?

* revert draw on same frame

* bump lightness add lightness mod with comment for future use (reverting in next commit)

* revert (but keep lightness bump)

* max accel isn't blueish (#3DFF3D)

* clean up

* revert lightness

* remove experiment

* try a different domain

* doesn't work

This reverts commit 7a398b03920d6d2d2c804d1290803bc533051fc1.

* clean that up

* actually should be 0.75

* some clean up

* debug timing

* fix

* debug

* round

* revert wide

* not used

* clean up

* remove slow qDebug

* this too

* draw max constant points, ensure we draw first and last

* clean up

* more clean up

* draft

* Revert "draft"

This reverts commit 59db097611dc633f397c509bf95490eb0614b7f0.

* Revert "Revert "draft""

This reverts commit ee86c385b39dbe36430effd58fc5c41ede51f9f0.

* simplify

* clean that up

* and all that

* and more

* aaaand that

* aaaand that

* track vert is created in update_line_data, it us the sum of two equal
len lists

* keep debugging stuff around

* keep debugging stuff around

* remove prints

* rm that

* moreee

* use existing helper 😄

* clean up

* make it const

* F

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/ui/qt/onroad.cc | 40 ++++++++++++++++++++++++---------------
 1 file changed, 25 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 009798a5697b65..7aac6febaf7fed 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -511,24 +511,34 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   }
 
   // paint path
-  QLinearGradient bg(0, height(), 0, height() / 4);
-  float start_hue, end_hue;
+  QLinearGradient bg(0, height(), 0, 0);
   if (sm["controlsState"].getControlsState().getExperimentalMode()) {
-    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration();
-    float acceleration_future = 0;
-    if (acceleration.getZ().size() > 16) {
-      acceleration_future = acceleration.getX()[16];  // 2.5 seconds
-    }
-    start_hue = 60;
-    // speed up: 120, slow down: 0
-    end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0);
+    const QVector<QPointF> right_points = scene.track_vertices.mid(0, scene.track_vertices.length() / 2);
+
+    for (int i = 0; i < right_points.length(); i++) {
+      const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+      if (i >= acceleration.size()) break;
+
+      // Some points are out of frame
+      if (right_points[i].y() < 0 || right_points[i].y() > height()) continue;
+
+      // Flip so 0 is bottom of frame
+      float lin_grad_point = (height() - right_points[i].y()) / height();
 
-    // FIXME: painter.drawPolygon can be slow if hue is not rounded
-    end_hue = int(end_hue * 100 + 0.5) / 100;
+      // speed up: 120, slow down: 0
+      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+      // FIXME: painter.drawPolygon can be slow if hue is not rounded
+      path_hue = int(path_hue * 100 + 0.5) / 100;
+
+      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
+      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+
+      // Skip a point, unless next is last
+      i += (i + 2) < right_points.length() ? 1 : 0;
+    }
 
-    bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
   } else {
     bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
     bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));

From 4e951e4524e2035d8382d08ab6028c4bc326ab6a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 6 May 2023 03:03:28 -0700
Subject: [PATCH 087/175] Lane Departure Warning: fix desire index bug (#28119)

don't subtract 1
---
 selfdrive/controls/controlsd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1391d6570c28d8..e1a12dc7b29385 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -707,8 +707,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     if len(desire_prediction) and ldw_allowed:
       right_lane_visible = model_v2.laneLineProbs[2] > 0.5
       left_lane_visible = model_v2.laneLineProbs[1] > 0.5
-      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
-      r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
+      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft]
+      r_lane_change_prob = desire_prediction[Desire.laneChangeRight]
 
       lane_lines = model_v2.laneLines
       l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))

From 758a9d7c24e4736dd94cfbab127ab1414b3423a0 Mon Sep 17 00:00:00 2001
From: JWingate80 <john_wingate@hotmail.com>
Date: Sun, 7 May 2023 02:18:06 -0400
Subject: [PATCH 088/175] HKG: Genesis GV80 2023 support (#28069)

* Update values.py

* Update values.py

* Update routes.py

* Update values.py

* Update values.py

* Update interface.py

* Update override.yaml

* Updated car name in torque settings to the correct one

* Removed unused ECU's from GV80

Fix AssertionError: 3 != 0 : GENESIS GV80 2023: Car model has ECUs not in auxiliary request whitelists: Ecu.eps, Ecu.transmission, Ecu.engine

* Update routes.py

Updated to a better route

* Update routes.py

* Update test_models.py

* Update test_models.py

* Hopefully this route will work...

* Update selfdrive/car/hyundai/values.py

* Update selfdrive/car/hyundai/values.py

* this could use some cargo

* don't need to combine just yet

* add to docs and releases

* Update routes.py

* Update RELEASES.md

* Update routes.py

Updated route, hopefully this one works...

* Update selfdrive/car/tests/routes.py

* alphabetical

* update docs

* Update routes.py

Hopefully this route works

* Update routes.py

Trying segment 1 for GV80

* bump

* no need

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
---
 RELEASES.md                             |  1 +
 docs/CARS.md                            |  3 ++-
 selfdrive/car/hyundai/interface.py      |  4 ++++
 selfdrive/car/hyundai/values.py         | 15 +++++++++++++--
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/torque_data/override.yaml |  1 +
 6 files changed, 22 insertions(+), 3 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index d058771bbfa3ca..ede5e530c313bb 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -15,6 +15,7 @@ Version 0.9.2 (2023-05-XX)
 * Ford Kuga 2020-22 support
 * Ford Kuga Hybrid 2020-22 support
 * Ford Kuga Plug-in Hybrid 2020-22 support
+* Genesis GV80 2023 support thanks to JWingate80!
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Lexus ES 2017-18 support
diff --git a/docs/CARS.md b/docs/CARS.md
index 67f1029bad6f87..2febdd53b6935b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 255 Supported Cars
+# 256 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -48,6 +48,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
 |Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
+|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M</a>||
 |GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 3363ea8eea5aae..59d7319de0f6fe 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -229,6 +229,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.mass = 2200
       ret.wheelbase = 3.15
       ret.steerRatio = 12.069
+    elif candidate == CAR.GENESIS_GV80:
+      ret.mass = 2258. + STD_CARGO_KG
+      ret.wheelbase = 2.95
+      ret.steerRatio = 14.14
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f22e1ba25dfdb1..1ad8896b97f0ca 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -125,6 +125,7 @@ class CAR:
   GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
   GENESIS_G80 = "GENESIS G80 2017"
   GENESIS_G90 = "GENESIS G90 2017"
+  GENESIS_GV80 = "GENESIS GV80 2023"
 
 
 class Footnote(Enum):
@@ -250,6 +251,7 @@ def init_make(self, CP: car.CarParams):
   CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
   CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h),
   CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
+  CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness=Harness.hyundai_m),
 }
 
 class Buttons:
@@ -1738,6 +1740,14 @@ class Buttons:
       b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
     ],
   },
+  CAR.GENESIS_GV80: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JX1 MFC  AT USA LHD 1.00 1.02 99211-T6110 220513',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
+    ],
+  },
 }
 
 CHECKSUM = {
@@ -1752,10 +1762,10 @@ class Buttons:
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1825,4 +1835,5 @@ class Buttons:
   CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index e657a6f8c4ffbc..538f59d39cc686 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -144,6 +144,7 @@
   CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
+  CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 
   CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
   CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 16541e50113b1e..ad63bd7fbd028f 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -46,6 +46,7 @@ GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
 KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
 KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
 KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
+GENESIS GV80 2023: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

From c4501e4bc1cb7a242207e910c0b61af20c3c677d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 7 May 2023 15:43:45 -0700
Subject: [PATCH 089/175] controlsd: remove procs from ignore list (#26848)

* trim list

* check for file
---
 Jenkinsfile                     | 3 +--
 selfdrive/controls/controlsd.py | 5 +----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 89784596897c97..8a2f83be2f5ba5 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -19,8 +19,7 @@ source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
 fi
-
-if [ -d /data/openpilot ]; then
+if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
 fi
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e1a12dc7b29385..b1fd9378c217a7 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -28,7 +28,6 @@
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
 from system.hardware import HARDWARE
-from selfdrive.manager.process_config import managed_processes
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -37,9 +36,7 @@
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
-IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
-                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
-                   {k for k, v in managed_processes.items() if not v.enabled}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState

From d7adee9766909f40e2d534274635b15e75e3737b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 8 May 2023 07:48:21 +0800
Subject: [PATCH 090/175] cabana: clear all cached values in chart after
 changing signal properties in live mode (#28125)

---
 tools/cabana/chart/chart.cc        | 4 ++--
 tools/cabana/chart/chart.h         | 2 +-
 tools/cabana/chart/chartswidget.cc | 3 ++-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 1d61d543dd2814..7840ffd673628a 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -259,10 +259,10 @@ void ChartView::updateSeriesPoints() {
   }
 }
 
-void ChartView::updateSeries(const cabana::Signal *sig) {
+void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
   for (auto &s : sigs) {
     if (!sig || s.sig == sig) {
-      if (!can->liveStreaming()) {
+      if (clear) {
         s.vals.clear();
         s.step_vals.clear();
         s.last_value_mono_time = 0;
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index 4170da4c956b52..3bb191e5cdda7d 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -27,7 +27,7 @@ class ChartView : public QChartView {
   ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
   void addSignal(const MessageId &msg_id, const cabana::Signal *sig);
   bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const;
-  void updateSeries(const cabana::Signal *sig = nullptr);
+  void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true);
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
   void updatePlotArea(int left, bool force = false);
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 3a735e29789da8..d244b0c6cc758a 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -149,8 +149,9 @@ void ChartsWidget::updateTabBar() {
 
 void ChartsWidget::eventsMerged() {
   QFutureSynchronizer<void> future_synchronizer;
+  bool clear = !can->liveStreaming();
   for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
+    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear));
   }
 }
 

From f7e024f2f22139153aa8ee5ce9a9713bd51d99f0 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 8 May 2023 07:48:47 +0800
Subject: [PATCH 091/175] cabana: show and edit all messages present in DBC
 files (#28108)

* show all messages present in DBC files

* set last section stretch

* user can't resize data section

* re-fetch if filtering freq|count|data

* reserve set space

* use contains

* emit signalAdded for all related sources
---
 tools/cabana/dbc/dbc.h                 |  1 +
 tools/cabana/dbc/dbcfile.cc            |  2 +
 tools/cabana/dbc/dbcmanager.cc         |  1 +
 tools/cabana/dbc/dbcmanager.h          |  1 +
 tools/cabana/detailwidget.cc           |  4 +-
 tools/cabana/messageswidget.cc         | 74 +++++++++++++++++---------
 tools/cabana/messageswidget.h          | 10 ++--
 tools/cabana/signalview.cc             |  4 +-
 tools/cabana/streams/abstractstream.cc | 11 +++-
 tools/cabana/streams/abstractstream.h  |  4 +-
 10 files changed, 77 insertions(+), 35 deletions(-)

diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index be0057cf56946a..045eb3558dc0b2 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -61,6 +61,7 @@ namespace cabana {
   };
 
   struct Msg {
+    uint32_t address;
     QString name;
     uint32_t size;
     QList<cabana::Signal> sigs;
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 9173080796039c..f1a01c4079c683 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -39,6 +39,7 @@ void DBCFile::open(const QString &content) {
   msgs.clear();
   for (auto &msg : dbc->msgs) {
     auto &m = msgs[msg.address];
+    m.address = msg.address;
     m.name = msg.name.c_str();
     m.size = msg.size;
     for (auto &s : msg.sigs) {
@@ -145,6 +146,7 @@ void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) {
 
 void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size) {
   auto &m = msgs[id.address];
+  m.address = id.address;
   m.name = name;
   m.size = size;
 }
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 2451ff9b009502..9667dd8f2add03 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -119,6 +119,7 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   cabana::Signal *s = dbc_file->addSignal(id, sig);
 
   if (s != nullptr) {
+    dbc_sources.insert(id.source);
     for (uint8_t source : dbc_sources) {
       emit signalAdded({.source = source, .address = id.address}, s);
     }
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 3b148bb61d5842..699c280b4c4711 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -15,6 +15,7 @@
 
 typedef QSet<uint8_t> SourceSet;
 const SourceSet SOURCE_ALL = {};
+const int INVALID_SOURCE = 0xff;
 
 class DBCManager : public QObject {
   Q_OBJECT
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index a9bbf15980c5ab..0feb4642f4b2a3 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -129,7 +129,9 @@ void DetailWidget::refresh() {
   QStringList warnings;
   auto msg = dbc()->msg(msg_id);
   if (msg) {
-    if (msg->size != can->lastMessage(msg_id).dat.size()) {
+    if (msg_id.source == INVALID_SOURCE) {
+      warnings.push_back(tr("No messages received."));
+    } else if (msg->size != can->lastMessage(msg_id).dat.size()) {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
     for (auto s : binary_view->getOverlappingSignals()) {
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 1d86a53ad11a9a..d42468f1888864 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -15,10 +15,11 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   title_layout->addWidget(num_msg_label);
 
   title_layout->addStretch();
-  title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines Bytes"), this));
+  title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this));
   multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines"));
   multiple_lines_bytes->setChecked(settings.multiple_lines_bytes);
-  QPushButton *clear_filters = new QPushButton(tr("Clear Filters"));
+  QPushButton *clear_filters = new QPushButton(tr("&Clear Filters"));
+  clear_filters->setEnabled(false);
   title_layout->addWidget(clear_filters);
   main_layout->addLayout(title_layout);
 
@@ -42,6 +43,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   // Must be called before setting any header parameters to avoid overriding
   restoreHeaderState(settings.message_header_state);
   view->header()->setSectionsMovable(true);
+  view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed);
 
   // Header context menu
   view->header()->setContextMenuPolicy(Qt::CustomContextMenu);
@@ -62,6 +64,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
 
   // signals/slots
   QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
+  QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap<int, QString> &filters) {
+    clear_filters->setEnabled(!filters.isEmpty());
+  });
   QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
   QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters);
   QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
@@ -108,7 +113,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   });
 
   updateSuppressedButtons();
-  dbcModified();
 
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
@@ -122,12 +126,13 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
 
 void MessagesWidget::dbcModified() {
   num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount()));
-  model->fetchData();
+  model->dbcModified();
 }
 
 void MessagesWidget::selectMessage(const MessageId &msg_id) {
-  if (int row = model->msgs.indexOf(msg_id); row != -1) {
-    view->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
+  auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id);
+  if (it != model->msgs.cend()) {
+    view->selectionModel()->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
   }
 }
 
@@ -180,11 +185,11 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   if (role == Qt::DisplayRole) {
     switch (index.column()) {
       case Column::NAME: return msgName(id);
-      case Column::SOURCE: return id.source;
+      case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A" ;
       case Column::ADDRESS: return QString::number(id.address, 16);
-      case Column::FREQ: return getFreq(can_data);
-      case Column::COUNT: return can_data.count;
-      case Column::DATA: return toHex(can_data.dat);
+      case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A";
+      case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A";
+      case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A";
     }
   } else if (role == ColorsRole) {
     QVector<QColor> colors = can_data.colors;
@@ -196,7 +201,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
       }
     }
     return QVariant::fromValue(colors);
-  } else if (role == BytesRole && index.column() == Column::DATA) {
+  } else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) {
     return can_data.dat;
   }
   return {};
@@ -207,7 +212,15 @@ void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
   fetchData();
 }
 
-void MessageListModel::sortMessages(Qt::SortOrder sort_order, int sort_column, QList<MessageId> &new_msgs) {
+void MessageListModel::dbcModified() {
+  dbc_address.clear();
+  for (const auto &[_, m] : dbc()->getMessages(0)) {
+    dbc_address.insert(m.address);
+  }
+  fetchData();
+}
+
+void MessageListModel::sortMessages(std::vector<MessageId> &new_msgs) {
   if (sort_column == Column::NAME) {
     std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
       auto ll = std::pair{msgName(l), l};
@@ -241,7 +254,7 @@ void MessageListModel::sortMessages(Qt::SortOrder sort_order, int sort_column, Q
   }
 }
 
-static std::pair<unsigned int, unsigned int> parseRange(QString &filter, bool *ok = nullptr, int base = 10) {
+static std::pair<unsigned int, unsigned int> parseRange(const QString &filter, bool *ok = nullptr, int base = 10) {
   // Parse out filter string into a range (e.g. "1" -> {1, 1}, "1-3" -> {1, 3}, "1-" -> {1, inf})
   bool ok1 = true, ok2 = true;
   unsigned int parsed1 = std::numeric_limits<unsigned int>::min();
@@ -263,14 +276,14 @@ static std::pair<unsigned int, unsigned int> parseRange(QString &filter, bool *o
   }
 }
 
-bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, QMap<int, QString> &filters) {
+bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters) {
   auto cs = Qt::CaseInsensitive;
   bool match = true;
   bool convert_ok;
 
   for (int column = Column::NAME; column <= Column::DATA; column++) {
     if (!filters.contains(column)) continue;
-    QString txt = filters[column];
+    const QString &txt = filters[column];
 
     QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
 
@@ -341,25 +354,38 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, QM
 
 
 void MessageListModel::fetchData() {
-  QList<MessageId> new_msgs;
-  for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) {
-    if (matchMessage(it.key(), it.value(), filter_str)) {
+  std::vector<MessageId> new_msgs;
+  new_msgs.reserve(can->last_msgs.size() + dbc_address.size());
+
+  auto address = dbc_address;
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) {
       new_msgs.push_back(it.key());
     }
+    address.remove(it.key().address);
+  }
+
+  // merge all DBC messages
+  for (auto &addr : address) {
+    MessageId id{.source = INVALID_SOURCE, .address = addr};
+    if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) {
+      new_msgs.push_back(id);
+    }
   }
-  sortMessages(sort_order, sort_column, new_msgs);
+
+  sortMessages(new_msgs);
 
   if (msgs != new_msgs) {
     beginResetModel();
-    msgs = new_msgs;
+    msgs = std::move(new_msgs);
     endResetModel();
   }
 }
 
-void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs) {
-  QList<MessageId> prev_msgs = msgs;
-  fetchData();
-
+void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids) {
+  if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) {
+    fetchData();
+  }
   for (int i = 0; i < msgs.size(); ++i) {
     if (new_msgs->contains(msgs[i])) {
       for (int col = Column::FREQ; col < columnCount(); ++col)
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index c5594679192fd2..036758e6367cf8 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -34,20 +34,22 @@ Q_OBJECT
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
   void setFilterStrings(const QMap<int, QString> &filters);
-  void msgsReceived(const QHash<MessageId, CanData> *new_msgs = nullptr);
+  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
   void fetchData();
   void suppress();
   void clearSuppress();
   void reset();
   void forceResetModel();
-  QList<MessageId> msgs;
+  void dbcModified();
+  std::vector<MessageId> msgs;
   QSet<std::pair<MessageId, int>> suppressed_bytes;
 
 private:
-  static void sortMessages(Qt::SortOrder sort_order, int sort_column, QList<MessageId> &new_msgs);
-  static bool matchMessage(const MessageId &id, const CanData &data, QMap<int, QString> &filters);
+  void sortMessages(std::vector<MessageId> &new_msgs);
+  bool matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters);
 
   QMap<int, QString> filter_str;
+  QSet<uint32_t> dbc_address;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
 };
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 84043f7a1fbec9..124f9f6b9aa5cf 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -590,9 +590,9 @@ void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
 }
 
 void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
-  if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id))) return;
-
   const auto &last_msg = can->lastMessage(model->msg_id);
+  if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return;
+
   for (auto item : model->root->children) {
     double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig);
     item->sig_val = item->sig->formatValue(value);
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 3451c1529121f7..355e65b6c54e96 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -12,6 +12,7 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
 
 void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
   auto prev_src_size = sources.size();
+  auto prev_msg_size = last_msgs.size();
   for (auto it = messages->begin(); it != messages->end(); ++it) {
     const auto &id = it.key();
     last_msgs[id] = it.value();
@@ -21,7 +22,7 @@ void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
     emit sourcesUpdated(sources);
   }
   emit updated();
-  emit msgsReceived(messages);
+  emit msgsReceived(messages, prev_msg_size != last_msgs.size());
   delete messages;
   processing = false;
 }
@@ -50,6 +51,12 @@ bool AbstractStream::postEvents() {
   return false;
 }
 
+const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
+  static std::vector<const CanEvent *> empty_events;
+  auto it = events_.find(id);
+  return it != events_.end() ? it->second : empty_events;
+}
+
 const CanData &AbstractStream::lastMessage(const MessageId &id) {
   static CanData empty_data = {};
   auto it = last_msgs.find(id);
@@ -81,7 +88,7 @@ void AbstractStream::updateLastMsgsTo(double sec) {
   // use a timer to prevent recursive calls
   QTimer::singleShot(0, [this]() {
     emit updated();
-    emit msgsReceived(&last_msgs);
+    emit msgsReceived(&last_msgs, true);
   });
 }
 
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 80c11d2f193f44..9b317b3ed6729b 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -55,7 +55,7 @@ class AbstractStream : public QObject {
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
   const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
-  const std::vector<const CanEvent *> &events(const MessageId &id) const { return events_.at(id); }
+  const std::vector<const CanEvent *> &events(const MessageId &id) const;
   virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
 
 signals:
@@ -65,7 +65,7 @@ class AbstractStream : public QObject {
   void streamStarted();
   void eventsMerged();
   void updated();
-  void msgsReceived(const QHash<MessageId, CanData> *);
+  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
 
 public:

From 64123404312cc423955403c58287dcdac3e11319 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Mon, 8 May 2023 13:33:23 +0200
Subject: [PATCH 092/175] Continuous harness detection (#28129)

* log sbu voltages

* bump submodules
---
 cereal                     | 2 +-
 panda                      | 2 +-
 selfdrive/boardd/boardd.cc | 2 ++
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/cereal b/cereal
index e5cd59ef005725..feef4530affd31 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit e5cd59ef0057256f4fab807f6bf8744634a2cd11
+Subproject commit feef4530affd31b3c1816eebb52e8a684d8c7329
diff --git a/panda b/panda
index cedb5fd1a6c082..2c937656cfb071 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit cedb5fd1a6c0823703280b1941edfed9602a287d
+Subproject commit 2c937656cfb0710ae03d25ff86d167345cbbf26d
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 8694f6dea7c5e7..a7fa9186d06550 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -388,6 +388,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setFanStallCount(health.fan_stall_count);
     ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
     ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
+    ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+    ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
 
     std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
 

From 984029b6064aff44f2d3b442357b50bd8857afed Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 May 2023 13:48:42 -0700
Subject: [PATCH 093/175] test onroad: ensure 100% engageability (#28132)

---
 selfdrive/test/helpers.py     |  8 +++++++-
 selfdrive/test/test_onroad.py | 11 +++++++++++
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 8cc996c28dbf35..281c902933d933 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -2,8 +2,9 @@
 import time
 from functools import wraps
 
-from system.hardware import PC
+import cereal.messaging as messaging
 from selfdrive.manager.process_config import managed_processes
+from system.hardware import PC
 from system.version import training_version, terms_version
 
 
@@ -15,6 +16,11 @@ def set_params_enabled():
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
 
+  # valid calib
+  msg = messaging.new_message('liveCalibration')
+  msg.liveCalibration.validBlocks = 20
+  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+  params.put("CalibrationParams", msg.to_bytes())
 
 def phone_only(f):
   @wraps(f)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 679ba363f41d63..64d8febeebc319 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -338,6 +338,17 @@ def test_startup(self):
     expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
     self.assertEqual(startup_alert, expected, "wrong startup alert")
 
+  def test_engagable(self):
+    no_entries = Counter()
+    for m in self.service_msgs['carEvents']:
+      for evt in m.carEvents:
+        if evt.noEntry:
+          no_entries[evt.name] += 1
+
+    eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
+    assert all(eng), \
+           f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
+
 
 if __name__ == "__main__":
   unittest.main()

From e780cca8b63987776d6408c3e1f64fb4c292a78f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 May 2023 14:27:04 -0700
Subject: [PATCH 094/175] seldrive: use common sig handler (#28127)

* Update main.cc

* Update util.h

* same for navd
---
 selfdrive/navd/main.cc      | 14 ++------------
 selfdrive/ui/qt/util.h      |  1 +
 selfdrive/ui/soundd/main.cc |  8 ++------
 3 files changed, 5 insertions(+), 18 deletions(-)

diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
index b6eec10328bc10..8cef07edcf8dc6 100644
--- a/selfdrive/navd/main.cc
+++ b/selfdrive/navd/main.cc
@@ -7,22 +7,12 @@
 #include "selfdrive/navd/map_renderer.h"
 #include "system/hardware/hw.h"
 
-
-
-void sigHandler(int s) {
-  qInfo() << "Shutting down";
-  std::signal(s, SIG_DFL);
-
-  qApp->quit();
-}
-
-
 int main(int argc, char *argv[]) {
   qInstallMessageHandler(swagLogMessageHandler);
 
   QApplication app(argc, argv);
-  std::signal(SIGINT, sigHandler);
-  std::signal(SIGTERM, sigHandler);
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
 
   MapRenderer * m = new MapRenderer(get_mapbox_settings());
   assert(m);
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 5b66ec9fa48498..b86bbcf8995f24 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -17,6 +17,7 @@ QMap<QString, QString> getSupportedLanguages();
 void configFont(QPainter &p, const QString &family, int size, const QString &style);
 void clearLayout(QLayout* layout);
 void setQtSurfaceFormat();
+void sigTermHandler(int s);
 QString timeAgo(const QDateTime &date);
 void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
 void initApp(int argc, char *argv[], bool disable_hidpi = true);
diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc
index 64088deff83d21..c6c7434ca44393 100644
--- a/selfdrive/ui/soundd/main.cc
+++ b/selfdrive/ui/soundd/main.cc
@@ -5,17 +5,13 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/soundd/sound.h"
 
-void sigHandler(int s) {
-  qApp->quit();
-}
-
 int main(int argc, char **argv) {
   qInstallMessageHandler(swagLogMessageHandler);
   setpriority(PRIO_PROCESS, 0, -20);
 
   QApplication a(argc, argv);
-  std::signal(SIGINT, sigHandler);
-  std::signal(SIGTERM, sigHandler);
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
 
   Sound sound;
   return a.exec();

From c575e1a52f22823718aedf0e4ea2e95095c53492 Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Tue, 9 May 2023 05:31:04 +0800
Subject: [PATCH 095/175] VW MQB: Add FW for 2018 Volkswagen Tiguan (#28130)

---
 selfdrive/car/volkswagen/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 6e7ac15466a924..8ed9bcfb514cfa 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -764,6 +764,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x875N0906259  \xf1\x890002',
       b'\xf1\x875NA906259H \xf1\x890002',
+      b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x8783A907115B \xf1\x890005',
       b'\xf1\x8783A907115F \xf1\x890002',
@@ -780,6 +781,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
       b'\xf1\x870DL300013G \xf1\x892119',
@@ -790,6 +792,7 @@ def init_make(self, CP: car.CarParams):
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
+      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
@@ -801,6 +804,7 @@ def init_make(self, CP: car.CarParams):
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',

From 6fbb9410116daad6240180a91e6b5e1cd313db80 Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Tue, 9 May 2023 05:32:46 +0800
Subject: [PATCH 096/175]  VW MQB: Add FW for 2018 Volkswagen Passat (#28131)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* VW MQB: Add FW for 2018 Volkswagen Passat

route name：fd81eb7cc97ce831|2023-05-08--12-43-12--0

* missing trans

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/values.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8ed9bcfb514cfa..3c96053998badc 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -617,6 +617,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x8704L906026FP\xf1\x892012',
       b'\xf1\x8704L906026GA\xf1\x892013',
       b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x873G0906259B \xf1\x890002',
       b'\xf1\x873G0906264  \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -628,7 +629,8 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x870DD300045T \xf1\x891601',
       b'\xf1\x870DL300011H \xf1\x895201',
       b'\xf1\x870CW300042H \xf1\x891601',
-      b'\xf1\x870GC300042H \xf1\x891404',      
+      b'\xf1\x870GC300042H \xf1\x891404',
+      b'\xf1\x870D9300018C \xf1\x895297',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
@@ -638,6 +640,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
       b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111',
     ],

From 0e967aebc459a9ff17697fd24189e8e8d329474c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 May 2023 15:07:07 -0700
Subject: [PATCH 097/175] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 2c937656cfb071..98a15f2a90bf04 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2c937656cfb0710ae03d25ff86d167345cbbf26d
+Subproject commit 98a15f2a90bf04f4eb68654163ef9601eff84280

From 154a42dcbd8b1b15c8ace508e40283a704a2f682 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 May 2023 15:09:00 -0700
Subject: [PATCH 098/175] gate no gps alert on valid localizer inputs (#28135)

---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b1fd9378c217a7..13404d1e2cb9b6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -408,7 +408,7 @@ def update_events(self, CS):
     # TODO: fix simulator
     if not SIMULATION:
       if not NOSENSOR:
-        if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
+        if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
           # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
           self.events.add(EventName.noGps)
 

From 219b0708f3feb30a8e3d21cb9d473e6dee984510 Mon Sep 17 00:00:00 2001
From: Vivek Aithal <vivekaithal44@gmail.com>
Date: Mon, 8 May 2023 18:05:00 -0700
Subject: [PATCH 099/175] RAM 1500 5TH GEN: Reduce friction (#28138)

* reduce ram friction

* u[pdate refs
---
 selfdrive/car/torque_data/override.yaml  | 4 ++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index ad63bd7fbd028f..afd4624a8173d6 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -27,8 +27,8 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new cars
-RAM 1500 5TH GEN: [2.0, 2.0, 0.2]
-RAM HD 5TH GEN: [1.4, 1.4, 0.1]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
+RAM HD 5TH GEN: [1.4, 1.4, 0.05]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 03b5914416379e..da40d7f3176d28 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f3f5f64fb235039517e8a71f34c01955a1c157de
\ No newline at end of file
+8f4acbdd7e5ec131a6cfd34f59a2072e7ecc1099
\ No newline at end of file

From 78ba67e211bd1df3d4f7ba6e1cd331e90e238ee1 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 8 May 2023 18:43:54 -0700
Subject: [PATCH 100/175] camerad: write static AE settings only once (#28134)

* this is free

* illusion of choice
---
 system/camerad/cameras/camera_qcom2.cc | 7 +------
 system/camerad/cameras/sensor2_i2c.h   | 6 ++++++
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index e8b8bdc77a7411..4325eccde52a25 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -1179,19 +1179,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
     uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
 
     uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
-    uint32_t min_gain = ox03c10_analog_gains_reg[0];
-    uint32_t spd_gain = 0xF00;
 
     struct i2c_random_wr_payload exp_reg_array[] = {
       {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
       {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
       {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
-      {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF},
+      {0x35c2, vs_time&0xFF},
 
       {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
-      {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF},
-      {0x3548, spd_gain>>8}, {0x3549, spd_gain&0xFF},
-      {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF},
     };
     sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
   }
diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h
index 4db4bfd4d856e1..9170c5183a58c0 100644
--- a/system/camerad/cameras/sensor2_i2c.h
+++ b/system/camerad/cameras/sensor2_i2c.h
@@ -752,6 +752,12 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x5486, 0x08}, {0x5487, 0xDE},
   {0x5686, 0x08}, {0x5687, 0xDE},
   {0x5886, 0x08}, {0x5887, 0xDE},
+
+  // fixed gains
+  {0x3588, 0x01}, {0x3589, 0x00},
+  {0x35c8, 0x01}, {0x35c9, 0x00},
+  {0x3548, 0x0F}, {0x3549, 0x00},
+  {0x35c1, 0x00},
 };
 
 struct i2c_random_wr_payload init_array_ar0231[] = {

From e24d28fd4512d8fd41a4a9ba610b1d450a3734a0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 8 May 2023 19:21:22 -0700
Subject: [PATCH 101/175] loggerd: log HW-specific extras (#28084)

* loggerd: log HW-specific extras

* fix value

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/hardware/base.h          |  4 ++++
 system/hardware/tici/hardware.h |  7 +++++++
 system/loggerd/logger.cc        | 12 +++++++++++-
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/system/hardware/base.h b/system/hardware/base.h
index 6cfc1d8743ea2f..5460099723c20d 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -18,6 +18,10 @@ class HardwareNone {
 
   static std::string get_serial() { return "cccccc"; }
 
+  static std::map<std::string, std::string> get_init_logs() {
+    return {};
+  }
+
   static void reboot() {}
   static void poweroff() {}
   static void set_brightness(int percent) {}
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 765b53ba6e2dc7..ca67ee9a87911d 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -73,6 +73,13 @@ class HardwareTici : public HardwareNone {
     std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
   }
 
+
+  static std::map<std::string, std::string> get_init_logs() {
+    return {
+      {"/BUILD", util::read_file("/BUILD")},
+    };
+  }
+
   static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
   static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };
 };
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 0599aa1e54c013..a3152aa88ae6a0 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -70,7 +70,9 @@ kj::Array<capnp::word> logger_build_init_data() {
     "df -h",  // usage for all filesystems
   };
 
-  auto commands = init.initCommands().initEntries(log_commands.size());
+  auto hw_logs = Hardware::get_init_logs();
+
+  auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
   for (int i = 0; i < log_commands.size(); i++) {
     auto lentry = commands[i];
 
@@ -80,6 +82,14 @@ kj::Array<capnp::word> logger_build_init_data() {
     lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size()));
   }
 
+  int i = log_commands.size();
+  for (auto [key, value] : hw_logs) {
+    auto lentry = commands[i];
+    lentry.setKey(key);
+    lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size()));
+    i++;
+  }
+
   return capnp::messageToFlatArray(msg);
 }
 

From fb29d0f3bfe69c83f73e3af09235bd4c8287aaac Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 8 May 2023 22:03:30 -0700
Subject: [PATCH 102/175] Ford: add alert for steering wheel angle not ready
 (#28140)

* add event for steering angle calibrating

* how about this

how about this

* rename

* more openpilot-y

* add comment to code

* move to top

* better wording

* more general

* fix

* ?

* above

* bump cereal to master

* add more comms
---
 cereal                           | 2 +-
 selfdrive/car/ford/carstate.py   | 7 +++++++
 selfdrive/car/ford/interface.py  | 3 +++
 selfdrive/controls/lib/events.py | 6 ++++++
 4 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/cereal b/cereal
index feef4530affd31..8902e7a77815ca 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit feef4530affd31b3c1816eebb52e8a684d8c7329
+Subproject commit 8902e7a77815ca08e795b3006274d02379da7ca6
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 9b8e966228a35b..f27e9bb98179b7 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -16,9 +16,15 @@ def __init__(self, CP):
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
+    self.vehicle_sensors_valid = False
+
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
+    # The vehicle usually recovers out of this state within a minute of normal driving
+    self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
+
     # car speed
     ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
@@ -106,6 +112,7 @@ def get_can_parser(CP):
       ("AccStopMde_D_Rq", "EngBrakeData"),                   # PCM ACC standstill
       ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"),              # PCM ACC enable
       ("StePinComp_An_Est", "SteeringPinion_Data"),          # PSCM estimated steering angle (deg)
+      ("StePinCompAnEst_D_Qf", "SteeringPinion_Data"),       # PSCM estimated steering angle (quality flag)
                                                              # Calculates steering angle (and offset) from pinion
                                                              # angle and driving measurements.
                                                              # StePinRelInit_An_Sns is the pinion angle, initialised
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 01c5dd377b7f1f..df41a8db9d91e3 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -76,6 +76,9 @@ def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
+    if not self.CS.vehicle_sensors_valid:
+      events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
+
     ret.events = events.to_msg()
 
     return ret
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 89fc8d83570eb1..70506ca9acfc3b 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -945,4 +945,10 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
   },
 
+  EventName.vehicleSensorsInvalid: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
+    ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
+  },
+
 }

From 933be2e128b363a77ca525554198822629733afc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 10 May 2023 01:04:06 +0800
Subject: [PATCH 103/175] cabana: cleanup mainwin (#28142)

* Remove redundant calls to updateLoadSaveMenus()

* cleanup updateLoadSavemenus

* helper function closeFile

* remove redundant calls to remindSaveChanges()

* remove unnecessary call to updateRecentFiles

* cleanup
---
 tools/cabana/mainwin.cc | 257 ++++++++++------------------------------
 tools/cabana/mainwin.h  |  14 +--
 2 files changed, 70 insertions(+), 201 deletions(-)

diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 891bfc4bb13087..2954824fd40eb3 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -55,12 +55,9 @@ MainWindow::MainWindow() : QMainWindow() {
   main_win = this;
   qInstallMessageHandler(qLogMessageHandler);
 
-  for (const QString &fn : {"./dbc/car_fingerprint_to_dbc.json", "./tools/cabana/dbc/car_fingerprint_to_dbc.json"}) {
-    QFile json_file(fn);
-    if (json_file.open(QIODevice::ReadOnly)) {
-      fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
-      break;
-    }
+  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
+  if (json_file.open(QIODevice::ReadOnly)) {
+    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
 
   setStyleSheet(QString(R"(QMainWindow::separator {
@@ -72,11 +69,10 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
   QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
-  QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint);
-  QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
+  QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::streamStarted);
   QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateSources);
+  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
@@ -89,8 +85,8 @@ void MainWindow::createActions() {
     file_menu->addSeparator();
   }
 
-  file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New);
-  file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open);
+  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
+  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
 
@@ -109,7 +105,8 @@ void MainWindow::createActions() {
   auto dbc_names = allDBCNames();
   std::sort(dbc_names.begin(), dbc_names.end());
   for (const auto &name : dbc_names) {
-    load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile);
+    QString dbc_name = QString::fromStdString(name);
+    load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); });
   }
 
   file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
@@ -139,10 +136,8 @@ void MainWindow::createActions() {
   edit_menu->addSeparator();
 
   QMenu *commands_menu = edit_menu->addMenu(tr("Command &List"));
-  auto undo_view = new QUndoView(UndoStack::instance());
-  undo_view->setWindowTitle(tr("Command List"));
   QWidgetAction *commands_act = new QWidgetAction(this);
-  commands_act->setDefaultWidget(undo_view);
+  commands_act->setDefaultWidget(new QUndoView(UndoStack::instance()));
   commands_menu->addAction(commands_act);
 
   QMenu *tools_menu = menuBar()->addMenu(tr("&Tools"));
@@ -257,39 +252,24 @@ void MainWindow::openRoute() {
   }
 }
 
-void MainWindow::newFile() {
-  remindSaveChanges();
-  dbc()->closeAll();
-  dbc()->open(SOURCE_ALL, "", "");
-  updateLoadSaveMenus();
+void MainWindow::newFile(SourceSet s) {
+  closeFile(s);
+  dbc()->open(s, "", "");
 }
 
-void MainWindow::openFile() {
+void MainWindow::openFile(SourceSet s) {
   remindSaveChanges();
   QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
   if (!fn.isEmpty()) {
-    loadFile(fn);
+    loadFile(fn, s);
   }
 }
 
-void MainWindow::openFileForSource(SourceSet s) {
-  QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
-    loadFile(fn, s, false);
-  }
-}
-
-void MainWindow::newFileForSource(SourceSet s) {
-  remindSaveChanges();
+    closeFile(s);
 
-  dbc()->close(s);
-  dbc()->open(s, "", "");
-}
-
-void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) {
-  if (!fn.isEmpty()) {
     QString dbc_fn = fn;
-
     // Prompt user to load auto saved file if it exists.
     if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
       auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
@@ -299,16 +279,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) {
       }
     }
 
-    auto dbc_name = QFileInfo(fn).baseName();
     QString error;
-
-    if (close_all) {
-      dbc()->closeAll();
-    }
-
-    dbc()->close(s);
-    bool ret = dbc()->open(s, dbc_fn, &error);
-    if (ret) {
+    if (dbc()->open(s, dbc_fn, &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -316,79 +288,54 @@ void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) {
       msg_box.setDetailedText(error);
       msg_box.exec();
     }
-
-    updateLoadSaveMenus();
-  }
-}
-
-void MainWindow::openOpendbcFile() {
-  if (auto action = qobject_cast<QAction *>(sender())) {
-    remindSaveChanges();
-    loadDBCFromOpendbc(action->text());
   }
 }
 
 void MainWindow::openRecentFile() {
   if (auto action = qobject_cast<QAction *>(sender())) {
-    remindSaveChanges();
     loadFile(action->data().toString());
   }
 }
 
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  remindSaveChanges();
-
   QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
-
-  dbc()->closeAll();
-  dbc()->open(SOURCE_ALL, opendbc_file_path);
-
-  updateLoadSaveMenus();
+  loadFile(opendbc_file_path);
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
-  remindSaveChanges();
+  closeFile(s);
+
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
-
-  if (close_all) {
-    dbc()->closeAll();
-  }
-
-  dbc()->close(s);
   bool ret = dbc()->open(s, "", dbc_str, &error);
   if (ret && dbc()->msgCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
     QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
-    if (!error.isEmpty()) {
-      msg_box.setDetailedText(error);
-    }
+    msg_box.setDetailedText(error);
     msg_box.exec();
   }
 }
 
-void MainWindow::loadDBCFromFingerprint() {
-  // Don't overwrite already loaded DBC
-  if (dbc()->msgCount()) {
-    return;
-  }
-
-  remindSaveChanges();
+void MainWindow::streamStarted() {
   auto fingerprint = can->carFingerprint();
   if (can->liveStreaming()) {
     video_dock->setWindowTitle(can->routeName());
   } else {
     video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint));
   }
-  if (!fingerprint.isEmpty()) {
-    auto dbc_name = fingerprint_to_dbc[fingerprint];
-    if (dbc_name != QJsonValue::Undefined) {
-      loadDBCFromOpendbc(dbc_name.toString());
-      return;
+
+  // Don't overwrite already loaded DBC
+  if (!dbc()->msgCount()) {
+    if (!fingerprint.isEmpty()) {
+      auto dbc_name = fingerprint_to_dbc[fingerprint];
+      if (dbc_name != QJsonValue::Undefined) {
+        loadDBCFromOpendbc(dbc_name.toString());
+        return;
+      }
     }
+    newFile();
   }
-  newFile();
 }
 
 void MainWindow::save() {
@@ -407,7 +354,6 @@ void MainWindow::saveAs() {
   }
 }
 
-
 void MainWindow::autoSave() {
   if (!UndoStack::instance()->isClean()) {
     for (auto &[_, dbc_file] : dbc()->dbc_files) {
@@ -424,12 +370,19 @@ void MainWindow::cleanupAutoSaveFile() {
   }
 }
 
+void MainWindow::closeFile(SourceSet s) {
+  remindSaveChanges();
+  if (s == SOURCE_ALL) {
+    dbc()->closeAll();
+  } else {
+    dbc()->close(s);
+  }
+}
+
 void MainWindow::closeFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
   remindSaveChanges();
-
   dbc()->close(dbc_file);
-
   // Ensure we always have at least one file open
   if (dbc()->dbcCount() == 0) {
     newFile();
@@ -438,43 +391,21 @@ void MainWindow::closeFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-
-  SourceSet s;
-  for (auto &[s_, dbc_file_] : dbc()->dbc_files) {
-    if (dbc_file_ == dbc_file) {
-      s = s_;
-      break;
-    }
-  }
-
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
-    updateRecentFiles(dbc_file->filename);
+    updateLoadSaveMenus();
   } else if (!dbc_file->isEmpty()) {
-    QString fn = QFileDialog::getSaveFileName(this, tr("Save File (bus: %1)").arg(toString(s)), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
-    if (!fn.isEmpty()) {
-      dbc_file->saveAs(fn);
-      updateRecentFiles(fn);
-    }
+    saveFileAs(dbc_file);
   }
-
   UndoStack::instance()->setClean();
   statusBar()->showMessage(tr("File saved"), 2000);
-  updateLoadSaveMenus();
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
-  assert(dbc_file != nullptr);
-
-  SourceSet s;
-  for (auto &[s_, dbc_file_] : dbc()->dbc_files) {
-    if (dbc_file_ == dbc_file) {
-      s = s_;
-      break;
-    }
-  }
-
-  QString fn = QFileDialog::getSaveFileName(this, tr("Save File (bus: %1)").arg(toString(s)), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
+  auto it = std::find_if(dbc()->dbc_files.begin(), dbc()->dbc_files.end(), [=](auto &f) { return f.second == dbc_file; });
+  assert(it != dbc()->dbc_files.end());
+  QString title = tr("Save File (bus: %1)").arg(toString(it->first));
+  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn);
     updateRecentFiles(fn);
@@ -486,10 +417,8 @@ void MainWindow::removeBusFromFile(DBCFile *dbc_file, uint8_t source) {
   assert(dbc_file != nullptr);
   SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)};
   dbc()->removeSourcesFromFile(dbc_file, ss);
-  updateLoadSaveMenus();
 }
 
-
 void MainWindow::saveToClipboard() {
   // Copy all open DBC files to clipboard. Should not be called with more than 1 file open
   for (auto &[s, dbc_file] : dbc()->dbc_files) {
@@ -504,28 +433,20 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
   QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
 }
 
-void MainWindow::updateSources(const SourceSet &s) {
-  sources = s;
-  updateLoadSaveMenus();
-}
-
 void MainWindow::updateLoadSaveMenus() {
   int cnt = dbc()->nonEmptyDBCCount();
-  save_dbc->setEnabled(cnt > 0);
-
   if (cnt > 1) {
     save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
   } else {
     save_dbc->setText(tr("Save DBC..."));
   }
-
+  save_dbc->setEnabled(cnt > 0);
   save_dbc_as->setEnabled(cnt == 1);
 
   // TODO: Support clipboard for multiple files
   copy_dbc_to_clipboard->setEnabled(cnt == 1);
 
-
-  QList<uint8_t> sources_sorted = sources.toList();
+  QList<uint8_t> sources_sorted = can->sources.toList();
   std::sort(sources_sorted.begin(), sources_sorted.end());
 
   manage_dbcs_menu->clear();
@@ -536,24 +457,9 @@ void MainWindow::updateLoadSaveMenus() {
     SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)};
 
     QMenu *bus_menu = new QMenu(this);
-
-    // New
-    QAction *new_action = new QAction(this);
-    new_action->setText(tr("New DBC File..."));
-    QObject::connect(new_action, &QAction::triggered, [=]() { newFileForSource(ss); });
-    bus_menu->addAction(new_action);
-
-    // Open
-    QAction *open_action = new QAction(this);
-    open_action->setText(tr("Open DBC File..."));
-    QObject::connect(open_action, &QAction::triggered, [=]() { openFileForSource(ss); });
-    bus_menu->addAction(open_action);
-
-    // Open
-    QAction *load_clipboard_action = new QAction(this);
-    load_clipboard_action->setText(tr("Load DBC From Clipboard..."));
-    QObject::connect(load_clipboard_action, &QAction::triggered, [=]() { loadFromClipboard(ss, false); });
-    bus_menu->addAction(load_clipboard_action);
+    bus_menu->addAction(tr("New DBC File..."), [=]() { newFile(ss); });
+    bus_menu->addAction(tr("Open DBC File..."), [=]() { openFile(ss); });
+    bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
 
     // Show sub-menu for each dbc for this source.
     QStringList bus_menu_fns;
@@ -563,46 +469,15 @@ void MainWindow::updateLoadSaveMenus() {
         continue;
       }
 
-      QString fn = dbc_file->filename.isEmpty() ? "untitled" : QFileInfo(dbc_file->filename).baseName();
-      // QMenu *manage_menu = bus_menu;
-
       bus_menu->addSeparator();
-      QAction *fn_action = new QAction(this);
-      fn_action->setText(fn + " (" + toString(src) + ")");
-      fn_action->setEnabled(false);
-      bus_menu->addAction(fn_action);
-
-      // Save
-      QAction *save_action = new QAction(this);
-      save_action->setText(tr("Save..."));
-      bus_menu->addAction(save_action);
-      QObject::connect(save_action, &QAction::triggered, [=](){ saveFile(it.second); });
-
-      // Save as
-      QAction *save_as_action = new QAction(this);
-      save_as_action->setText(tr("Save As..."));
-      bus_menu->addAction(save_as_action);
-      QObject::connect(save_as_action, &QAction::triggered, [=](){ saveFileAs(it.second); });
-
-      // Copy to clipboard
-      QAction *save_clipboard_action = new QAction(this);
-      save_clipboard_action->setText(tr("Copy to Clipboard..."));
-      bus_menu->addAction(save_clipboard_action);
-      QObject::connect(save_clipboard_action, &QAction::triggered, [=](){ saveFileToClipboard(it.second); });
-
-      // Remove from this bus
-      QAction *remove_action = new QAction(this);
-      remove_action->setText(tr("Remove from this bus..."));
-      bus_menu->addAction(remove_action);
-      QObject::connect(remove_action, &QAction::triggered, [=](){ removeBusFromFile(it.second, source); });
-
-      // Close/Remove from all buses
-      QAction *close_action = new QAction(this);
-      close_action->setText(tr("Remove from all buses..."));
-      bus_menu->addAction(close_action);
-      QObject::connect(close_action, &QAction::triggered, [=](){ closeFile(it.second); });
-
-      bus_menu_fns << fn;
+      bus_menu->addAction(dbc_file->name() + " (" + toString(src) + ")")->setEnabled(false);
+      bus_menu->addAction(tr("Save..."), [=]() { saveFile(it.second); });
+      bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(it.second); });
+      bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(it.second); });
+      bus_menu->addAction(tr("Remove from this bus..."), [=]() { removeBusFromFile(it.second, source); });
+      bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(it.second); });
+
+      bus_menu_fns << dbc_file->name();
     }
 
     manage_dbcs_menu->addMenu(bus_menu);
@@ -612,8 +487,7 @@ void MainWindow::updateLoadSaveMenus() {
 
   QStringList title;
   for (auto &[src, dbc_file] : dbc()->dbc_files) {
-    QString fn = dbc_file->filename.isEmpty() ? "untitled" : QFileInfo(dbc_file->filename).baseName();
-    title.push_back(tr("(%1) %2").arg(toString(src)).arg(fn));
+    title.push_back(tr("(%1) %2").arg(toString(src), dbc_file->name()));
   }
   setWindowFilePath(title.join(" | "));
 }
@@ -646,9 +520,8 @@ void MainWindow::updateRecentFileActions() {
 void MainWindow::remindSaveChanges() {
   bool discard_changes = false;
   while (!UndoStack::instance()->isClean() && !discard_changes) {
-    int ret = (QMessageBox::question(this, tr("Unsaved Changes"),
-                                     tr("You have unsaved changes. Press ok to save them, cancel to discard."),
-                                     QMessageBox::Ok | QMessageBox::Cancel));
+    QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard.");
+    int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel));
     if (ret == QMessageBox::Ok) {
       save();
     } else {
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 5e76d86e5ceb02..0782c316bb2ba3 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -21,20 +21,18 @@ class MainWindow : public QMainWindow {
   MainWindow();
   void dockCharts(bool dock);
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
-  void loadFile(const QString &fn, SourceSet s = SOURCE_ALL, bool close_all = true);
+  void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
 
 public slots:
   void openRoute();
-  void newFile();
-  void openFile();
+  void newFile(SourceSet s = SOURCE_ALL);
+  void openFile(SourceSet s = SOURCE_ALL);
   void openRecentFile();
-  void openOpendbcFile();
   void loadDBCFromOpendbc(const QString &name);
-  void loadDBCFromFingerprint();
+  void streamStarted();
   void save();
   void saveAs();
   void saveToClipboard();
-  void updateSources(const SourceSet &s);
 
 signals:
   void showMessage(const QString &msg, int timeout);
@@ -42,14 +40,13 @@ public slots:
 
 protected:
   void remindSaveChanges();
+  void closeFile(SourceSet s = SOURCE_ALL);
   void closeFile(DBCFile *dbc_file);
   void saveFile(DBCFile *dbc_file);
   void saveFileAs(DBCFile *dbc_file);
   void saveFileToClipboard(DBCFile *dbc_file);
   void removeBusFromFile(DBCFile *dbc_file, uint8_t source);
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
-  void openFileForSource(SourceSet s);
-  void newFileForSource(SourceSet s);
   void autoSave();
   void cleanupAutoSaveFile();
   void updateRecentFiles(const QString &fn);
@@ -90,7 +87,6 @@ public slots:
   QAction *copy_dbc_to_clipboard = nullptr;
   int prev_undostack_index = 0;
   int prev_undostack_count = 0;
-  SourceSet sources;
   friend class OnlineHelp;
 };
 

From 17f1a320b1e8d3174db16aacfa9159c9dd0527c7 Mon Sep 17 00:00:00 2001
From: lachezartodorov <38905492+lachezartodorov@users.noreply.github.com>
Date: Tue, 9 May 2023 23:38:56 +0300
Subject: [PATCH 104/175] Added FW for VW Passat B8 2018 (#28120)

---
 selfdrive/car/volkswagen/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 3c96053998badc..0330dd034bc714 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -639,6 +639,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111',
       b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211',
       b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
+      b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900',

From b9517fdc1b7fe9a7d1186c6ea1fd96d6ff0a5d5b Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 May 2023 13:40:08 -0700
Subject: [PATCH 105/175] Added FW for VW Passat B8 2018 (#28148)

add missing
---
 selfdrive/car/volkswagen/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 0330dd034bc714..174d7ffb0953d4 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -631,6 +631,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x870CW300042H \xf1\x891601',
       b'\xf1\x870GC300042H \xf1\x891404',
       b'\xf1\x870D9300018C \xf1\x895297',
+      b'\xf1\x870GC300043  \xf1\x892301',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',

From a599890feda4fd57bed1bfff947d7092198fd0b7 Mon Sep 17 00:00:00 2001
From: Vivek Aithal <vivekaithal44@gmail.com>
Date: Tue, 9 May 2023 14:26:58 -0700
Subject: [PATCH 106/175] Lateral Planner: Calibrate model speed with vEgo
 (#28049)

* calibrate speed in the lateral planner

* make speed err helper fn

* check if trans has values

* clip the vel_err

* update refs
---
 selfdrive/controls/lib/drive_helpers.py        | 12 +++++++++++-
 selfdrive/controls/lib/lateral_planner.py      |  5 +++--
 selfdrive/controls/lib/longitudinal_planner.py |  5 ++---
 selfdrive/test/process_replay/ref_commit       |  2 +-
 4 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index cd6525949cf50b..7cbcbc3d4991a0 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,6 +1,6 @@
 import math
 
-from cereal import car
+from cereal import car, log
 from common.conversions import Conversions as CV
 from common.numpy_fast import clip, interp
 from common.realtime import DT_MDL
@@ -23,6 +23,8 @@
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
 
+MAX_VEL_ERR = 5.0
+
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 CRUISE_LONG_PRESS = 50
@@ -200,3 +202,11 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric
   )
   friction = float(friction_interp) if friction_compensation else 0.0
   return friction
+
+
+def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
+  # ToDo: Try relative error, and absolute speed
+  if len(modelV2.temporalPose.trans):
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    return float(vel_err)
+  return 0.0
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 7230b5ad1434d2..da6465ac24b12d 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -4,7 +4,7 @@
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
 from selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
 from cereal import log
@@ -51,6 +51,7 @@ def reset_mpc(self, x0=np.zeros(4)):
   def update(self, sm):
     # clip speed , lateral planning is not possible at 0 speed
     measured_curvature = sm['controlsState'].curvature
+    v_ego_car = sm['carState'].vEgo
 
     # Parse model predictions
     md = sm['modelV2']
@@ -60,7 +61,7 @@ def update(self, sm):
       self.plan_yaw = np.array(md.orientation.z)
       self.plan_yaw_rate = np.array(md.orientationRate.z)
       self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
-      car_speed = np.linalg.norm(self.velocity_xyz, axis=1)
+      car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
       self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
       self.v_ego = self.v_plan[0]
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index e959b14ee3fad4..3089499687c9f2 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -11,7 +11,7 @@
 from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from system.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
@@ -106,8 +106,7 @@ def update(self, sm):
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
-    if len(sm['modelV2'].temporalPose.trans):
-      self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego
+    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
 
     if force_slow_decel:
       v_cruise = 0.0
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index da40d7f3176d28..8e4d9f5afce4ab 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8f4acbdd7e5ec131a6cfd34f59a2072e7ecc1099
\ No newline at end of file
+b4a208cb84a99eb15116d2a445c278b00275fdd5
\ No newline at end of file

From 4fe1b638f8f3399187647ba168d87ee7a8b19459 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 9 May 2023 15:44:53 -0700
Subject: [PATCH 107/175] pandad: improve startup time (#28137)

* pandad: improve startup time

* add test

* reset with gpio

* adjust threshold

* fix

* no panda

* fix

* check unknown

* increase for boardd

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 panda                                         |  2 +-
 selfdrive/boardd/pandad.py                    | 40 ++++++++++---------
 .../boardd/tests/test_boardd_loopback.py      |  5 ++-
 selfdrive/boardd/tests/test_pandad.py         | 19 +++++++--
 4 files changed, 42 insertions(+), 24 deletions(-)

diff --git a/panda b/panda
index 98a15f2a90bf04..da7c57748648e7 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 98a15f2a90bf04f4eb68654163ef9601eff84280
+Subproject commit da7c57748648e786c99621271b5a88d11bcd90fa
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 23c31f8569f7e9..7060f679637f57 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -81,16 +81,18 @@ def main() -> NoReturn:
   params = Params()
 
   while True:
-    count += 1
-    cloudlog.event("pandad.flash_and_connect", count=count)
     try:
+      count += 1
+      cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
       # Flash all Pandas in DFU mode
-      for serial in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-        PandaDFU(serial).recover()
-      time.sleep(1)
+      dfu_serials = PandaDFU.list()
+      if len(dfu_serials) > 0:
+        for serial in dfu_serials:
+          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+          PandaDFU(serial).recover()
+        time.sleep(1)
 
       panda_serials = Panda.list()
       if len(panda_serials) == 0:
@@ -107,17 +109,6 @@ def main() -> NoReturn:
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
-      # check health for lost heartbeat
-      for panda in pandas:
-        health = panda.health()
-        if health["heartbeat_lost"]:
-          params.put_bool("PandaHeartbeatLost", True)
-          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-
-        if first_run:
-          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          panda.reset()
-
       # Ensure internal panda is present if expected
       internal_pandas = [panda for panda in pandas if panda.is_internal()]
       if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
@@ -133,7 +124,20 @@ def main() -> NoReturn:
       # log panda fw versions
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
 
-      # close all pandas
+      for panda in pandas:
+        # check health for lost heartbeat
+        health = panda.health()
+        if health["heartbeat_lost"]:
+          params.put_bool("PandaHeartbeatLost", True)
+          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
+
+        if first_run:
+          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
+          if panda.is_internal():
+            HARDWARE.reset_internal_panda()
+          else:
+            panda.reset(reconnect=False)
+
       for p in pandas:
         p.close()
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index 6217561bd1affa..dcf150257388fd 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -6,7 +6,7 @@
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from cereal import car
+from cereal import car, log
 from common.params import Params
 from common.spinner import Spinner
 from common.timeout import Timeout
@@ -36,7 +36,8 @@ def test_loopback(self):
 
     with Timeout(60, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
-      while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
+      while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+          any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
         sm.update(1000)
 
     num_pandas = len(sm['pandaStates'])
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 09dba6ec7a42dc..50d24f4fe35176 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -3,8 +3,9 @@
 import unittest
 
 import cereal.messaging as messaging
-from panda import Panda
+from cereal import log
 from common.gpio import gpio_set, gpio_init
+from panda import Panda
 from selfdrive.test.helpers import phone_only
 from selfdrive.manager.process_config import managed_processes
 from system.hardware import HARDWARE
@@ -20,10 +21,10 @@ def _wait_for_boardd(self, timeout=30):
     sm = messaging.SubMaster(['peripheralState'])
     for _ in range(timeout):
       sm.update(1000)
-      if sm.updated['peripheralState']:
+      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
         break
 
-    if not sm.updated['peripheralState']:
+    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
   @phone_only
@@ -54,6 +55,18 @@ def test_internal_panda_reset(self):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
+  @phone_only
+  def test_best_case_startup_time(self):
+    # run once so we're setup
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+    managed_processes['pandad'].stop()
+
+    # should be fast this time
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(8)
+
+
   #def test_out_of_date_fw(self):
   #  pass
 

From d738f6671171fba63d48dc046752c4010670a6fb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 May 2023 17:27:09 -0700
Subject: [PATCH 108/175] update boardd blocking comment

---
 selfdrive/boardd/tests/test_boardd_loopback.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index dcf150257388fd..c389ea4885c91a 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -45,7 +45,7 @@ def test_loopback(self):
     self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
                                                    connect another panda for multipanda tests.")
 
-    # boardd blocks on CarVin and CarParams
+    # boardd blocks on FirmwareQueryDone, ControlsReady, and CarParams
     cp = car.CarParams.new_message()
 
     safety_config = car.CarParams.SafetyConfig.new_message()

From 2ec14c2065dfee6f624e592eff2f9d96b784ad61 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 10 May 2023 11:25:53 +0800
Subject: [PATCH 109/175] ui/drawLaneLines: read the accel from the submaster
 outside of the loop (#28145)

* read the accel from the submaster outside of the loop.

* const max_idx

* remove data copy and converting from list to vector

* correct name is len

* fix drawing last point

* add comment, remove right_points

* fix

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/ui/qt/onroad.cc | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7aac6febaf7fed..7e28fa811383ce 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -513,17 +513,17 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // paint path
   QLinearGradient bg(0, height(), 0, 0);
   if (sm["controlsState"].getControlsState().getExperimentalMode()) {
-    const QVector<QPointF> right_points = scene.track_vertices.mid(0, scene.track_vertices.length() / 2);
-
-    for (int i = 0; i < right_points.length(); i++) {
-      const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-      if (i >= acceleration.size()) break;
+    // The first half of track_vertices are the points for the right side of the path
+    // and the indices match the positions of accel from uiPlan
+    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
 
+    for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
-      if (right_points[i].y() < 0 || right_points[i].y() > height()) continue;
+      if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
 
       // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - right_points[i].y()) / height();
+      float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
 
       // speed up: 120, slow down: 0
       float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
@@ -536,7 +536,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
       bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
 
       // Skip a point, unless next is last
-      i += (i + 2) < right_points.length() ? 1 : 0;
+      i += (i + 2) < max_len ? 1 : 0;
     }
 
   } else {

From 3ba60a6a96db5a36ece78d555c5c1e377342fe77 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 9 May 2023 20:32:47 -0700
Subject: [PATCH 110/175] training guide: higher quality image (#28152)

* use better image

* update touch area bounding box
---
 selfdrive/assets/training/step8.png  | Bin 709472 -> 728928 bytes
 selfdrive/ui/qt/offroad/onboarding.h |   2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/assets/training/step8.png b/selfdrive/assets/training/step8.png
index ed235dd13ea6ee045bde251d7008e49199ec8486..77ff9d736855513ac42b1211fc6616cf01914f80 100644
GIT binary patch
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P<++qV5V>+0v!MS25Z>wW

diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index e907a1844982b5..d347d1e613d9f8 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -35,7 +35,7 @@ class TrainingGuide : public QFrame {
     continueBtn,
     QRect(1814, 621, 211, 170),
     QRect(1350, 0, 497, 755),
-    QRect(1553, 516, 406, 112),
+    QRect(1540, 386, 468, 238),
     QRect(112, 804, 1126, 164),
     QRect(1598, 199, 316, 333),
     continueBtn,

From c59d7d116163081292b05e91e2837c57a36a7c2f Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 9 May 2023 21:18:52 -0700
Subject: [PATCH 111/175] Ford: fix LateralMotionControl2 checksum (#28147)

* Ford: fix LateralMotionControl2 checksum

* loop is nice

* these are redundant

* need to shift left, before didn't match

* same, but more conventional

* whoops

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/ford/fordcan.py | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 81e08c36715677..d12badd9f5fa5c 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -5,11 +5,15 @@
 
 
 def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
+  curvature = (dat[2] << 3) | ((dat[3]) >> 5)
+  curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
+  path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
+  path_offset = ((dat[4] & 0x3) << 8) | dat[5]
+
   checksum = mode + counter
-  checksum += dat[2] + ((dat[3] & 0xE0) >> 5)           # curvature
-  checksum += dat[6] + ((dat[7] & 0xE0) >> 5)           # curvature rate
-  checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2)  # path angle
-  checksum += (dat[4] & 0x3) + dat[5]                   # path offset
+  for sig_val in (curvature, curvature_rate, path_angle, path_offset):
+    checksum += sig_val + (sig_val >> 8)
+
   return 0xFF - (checksum & 0xFF)
 
 

From b8fa7f58ea8db77d2f7a9e70d139019b24a29da7 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 9 May 2023 21:25:23 -0700
Subject: [PATCH 112/175] onroad transition: clear params and start safety
 setter thread (#28151)

* rename from ignition to onroad/offroad

* forgot one

* clear in manager

* don't clear in boardd anymore

fix

* params isn't used here

* add comment

* Revert "add comment"

This reverts commit 54fb6660501679e5a989c3f06c0a438bdb04dc7e.

* write params in manager

* first part is self explanatory

* remove these from thermald now

* start safety setter thread with IsOnroad

* drivesss

* more

* less

* come back

* makes sense here
---
 common/params.cc               | 34 +++++++++++++++++-----------------
 common/params.h                |  4 ++--
 common/params_pyx.pyx          |  4 ++--
 selfdrive/boardd/boardd.cc     | 14 +++++++-------
 selfdrive/manager/manager.py   | 15 +++++++++++++++
 selfdrive/thermald/thermald.py |  3 ---
 6 files changed, 43 insertions(+), 31 deletions(-)

diff --git a/common/params.cc b/common/params.cc
index a5e6381d9c87d4..c3a50fd1096bc7 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -92,15 +92,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
     {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
@@ -111,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
@@ -137,7 +137,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
@@ -150,30 +150,30 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
-    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"OpenpilotEnabledToggle", PERSISTENT},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterState", CLEAR_ON_MANAGER_START},
     {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
@@ -191,13 +191,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_NavDestinations", PERSISTENT},
     {"ApiCache_Owner", PERSISTENT},
     {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
     {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
     {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
     {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
diff --git a/common/params.h b/common/params.h
index aecb3ee471e4c6..24b1bffeb1a88f 100644
--- a/common/params.h
+++ b/common/params.h
@@ -7,8 +7,8 @@
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
+  CLEAR_ON_ONROAD_TRANSITION = 0x08,
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   ALL = 0xFFFFFFFF
 };
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 9d8933609fffcb..abb3199d059073 100755
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -9,8 +9,8 @@ cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
+    CLEAR_ON_ONROAD_TRANSITION
+    CLEAR_ON_OFFROAD_TRANSITION
     ALL
 
   cdef cppclass c_Params "Params":
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index a7fa9186d06550..0c19d1eb082e32 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -466,7 +466,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
   SubMaster sm({"controlsState"});
 
   Panda *peripheral_panda = pandas[0];
-  bool ignition_last = false;
+  bool is_onroad = false;
+  bool is_onroad_last = false;
   std::future<bool> safety_future;
 
   LOGD("start panda state thread");
@@ -507,19 +508,18 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
       }
     }
 
-    // clear ignition-based params and set new safety on car start
-    if (ignition && !ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION_ON);
+    is_onroad = params.getBool("IsOnroad");
+
+    // set new safety on onroad transition, after params are cleared
+    if (is_onroad && !is_onroad_last) {
       if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
         safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
       } else {
         LOGW("Safety setter thread already running");
       }
-    } else if (!ignition && ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION_OFF);
     }
 
-    ignition_last = ignition;
+    is_onroad_last = is_onroad;
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index e63053fefd2e04..55116637774b26 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -138,10 +138,25 @@ def manager_thread() -> None:
 
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
+  started_prev = False
+
   while True:
     sm.update()
 
     started = sm['deviceState'].started
+
+    if started and not started_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
+    elif not started and started_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+
+    # initialize and update onroad params, which drives boardd's safety setter thread
+    if started != started_prev or sm.frame == 0:
+      params.put_bool("IsOnroad", started)
+      params.put_bool("IsOffroad", not started)
+
+    started_prev = started
+
     ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
 
     running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 531e0b04d186b2..57387e5186e72a 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -313,9 +313,6 @@ def thermald_thread(end_event, hw_queue):
       should_start = should_start and all(startup_conditions.values())
 
     if should_start != should_start_prev or (count == 0):
-      params.put_bool("IsOnroad", should_start)
-      params.put_bool("IsOffroad", not should_start)
-
       params.put_bool("IsEngaged", False)
       engaged_prev = False
       HARDWARE.set_power_save(not should_start)

From 3f8fc8f6f8635797a61d4c6bb0fa787517d444b7 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 11 May 2023 01:19:28 +0800
Subject: [PATCH 113/175] cabana: partial match on ID filter (#28158)

---
 tools/cabana/messageswidget.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index d42468f1888864..60aadb3673aaa5 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -313,8 +313,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
         break;
       case Column::ADDRESS:
         {
-          QString address_str = QString::number(id.address, 16);
-          bool address_re_match = re.match(address_str).capturedLength() == address_str.length();
+          bool address_re_match = re.match(QString::number(id.address, 16)).hasMatch();
 
           auto address = parseRange(txt, &convert_ok, 16);
           bool address_match = convert_ok && (id.address >= address.first && id.address <= address.second);

From 147c1bd82058d686341b634cfd3daa768abc74ff Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 10 May 2023 13:42:31 -0700
Subject: [PATCH 114/175] Ford: explicitly copy signals to forward (#28156)

* just ford

* no need to copy this

* or these

* or these

* match DBC order

* remove these

* used in carcontroller

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
---
 selfdrive/car/ford/carstate.py |  4 --
 selfdrive/car/ford/fordcan.py  | 97 ++++++++++++++++++++++++++++++----
 2 files changed, 86 insertions(+), 15 deletions(-)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index f27e9bb98179b7..20560b342a9cd1 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -133,7 +133,6 @@ def get_can_parser(CP):
       ("AccButtnGapIncPress", "Steering_Data_FD1"),
       ("AslButtnOnOffCnclPress", "Steering_Data_FD1"),
       ("AslButtnOnOffPress", "Steering_Data_FD1"),
-      ("CcAslButtnCnclPress", "Steering_Data_FD1"),
       ("LaSwtchPos_D_Stat", "Steering_Data_FD1"),
       ("CcAslButtnCnclResPress", "Steering_Data_FD1"),
       ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"),
@@ -147,7 +146,6 @@ def get_can_parser(CP):
       ("CcAslButtnSetDecPress", "Steering_Data_FD1"),
       ("CcAslButtnSetIncPress", "Steering_Data_FD1"),
       ("CcAslButtnSetPress", "Steering_Data_FD1"),
-      ("CcAsllButtnResPress", "Steering_Data_FD1"),
       ("CcButtnOffPress", "Steering_Data_FD1"),
       ("CcButtnOnOffCnclPress", "Steering_Data_FD1"),
       ("CcButtnOnOffPress", "Steering_Data_FD1"),
@@ -241,9 +239,7 @@ def get_cam_can_parser(CP):
       ("FeatNoIpmaActl", "IPMA_Data"),
       ("PersIndexIpma_D_Actl", "IPMA_Data"),
       ("AhbcRampingV_D_Rq", "IPMA_Data"),           # AHB ramping
-      ("LaActvStats_D_Dsply", "IPMA_Data"),         # LKAS status (lines)
       ("LaDenyStats_B_Dsply", "IPMA_Data"),         # LKAS error
-      ("LaHandsOff_D_Dsply", "IPMA_Data"),          # LKAS hands on chime
       ("CamraDefog_B_Req", "IPMA_Data"),            # Windshield heater?
       ("CamraStats_D_Dsply", "IPMA_Data"),          # Camera status
       ("DasAlrtLvl_D_Dsply", "IPMA_Data"),          # DAS alert level
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index d12badd9f5fa5c..f35a2d81a3cbe7 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -150,10 +150,37 @@ def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_v
   else:
     status = 0    # Off
 
-  values = {
-    **stock_values,
-    "Tja_D_Stat": status,
-  }
+  values = {s: stock_values[s] for s in [
+    "HaDsply_No_Cs",
+    "HaDsply_No_Cnt",
+    "AccStopStat_D_Dsply",       # ACC stopped status message
+    "AccTrgDist2_D_Dsply",       # ACC target distance
+    "AccStopRes_B_Dsply",
+    "TjaWarn_D_Rq",              # TJA warning
+    "TjaMsgTxt_D_Dsply",         # TJA text
+    "IaccLamp_D_Rq",             # iACC status icon
+    "AccMsgTxt_D2_Rq",           # ACC text
+    "FcwDeny_B_Dsply",           # FCW disabled
+    "FcwMemStat_B_Actl",         # FCW enabled setting
+    "AccTGap_B_Dsply",           # ACC time gap display setting
+    "CadsAlignIncplt_B_Actl",
+    "AccFllwMde_B_Dsply",        # ACC follow mode display setting
+    "CadsRadrBlck_B_Actl",
+    "CmbbPostEvnt_B_Dsply",      # AEB event status
+    "AccStopMde_B_Dsply",        # ACC stop mode display setting
+    "FcwMemSens_D_Actl",         # FCW sensitivity setting
+    "FcwMsgTxt_D_Rq",            # FCW text
+    "AccWarn_D_Dsply",           # ACC warning
+    "FcwVisblWarn_B_Rq",         # FCW visible alert
+    "FcwAudioWarn_B_Rq",         # FCW audio alert
+    "AccTGap_D_Dsply",           # ACC time gap
+    "AccMemEnbl_B_RqDrv",        # ACC adaptive/normal setting
+    "FdaMem_B_Stat",             # FDA enabled setting
+  ]}
+
+  values.update({
+    "Tja_D_Stat": status,        # TJA status
+  })
   return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
 
 
@@ -200,11 +227,26 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
 
   hands_on_wheel_dsply = 1 if steer_alert else 0
 
-  values = {
-    **stock_values,
+  values = {s: stock_values[s] for s in [
+    "FeatConfigIpmaActl",
+    "FeatNoIpmaActl",
+    "PersIndexIpma_D_Actl",
+    "AhbcRampingV_D_Rq",     # AHB ramping
+    "LaDenyStats_B_Dsply",   # LKAS error
+    "CamraDefog_B_Req",      # Windshield heater?
+    "CamraStats_D_Dsply",    # Camera status
+    "DasAlrtLvl_D_Dsply",    # DAS alert level
+    "DasStats_D_Dsply",      # DAS status
+    "DasWarn_D_Dsply",       # DAS warning
+    "AhbHiBeam_D_Rq",        # AHB status
+    "Passthru_63",
+    "Passthru_48",
+  ]}
+
+  values.update({
     "LaActvStats_D_Dsply": lines,                 # LKAS status (lines) [0|31]
     "LaHandsOff_D_Dsply": hands_on_wheel_dsply,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-  }
+  })
   return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
 
 
@@ -218,10 +260,43 @@ def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tj
   Frequency is 10Hz.
   """
 
-  values = {
-    **stock_values,
+  values = {s: stock_values[s] for s in [
+    "HeadLghtHiFlash_D_Stat",  # SCCM Passthrough the remaining buttons
+    "TurnLghtSwtch_D_Stat",    # SCCM Turn signal switch
+    "WiprFront_D_Stat",
+    "LghtAmb_D_Sns",
+    "AccButtnGapDecPress",
+    "AccButtnGapIncPress",
+    "AslButtnOnOffCnclPress",
+    "AslButtnOnOffPress",
+    "LaSwtchPos_D_Stat",
+    "CcAslButtnCnclResPress",
+    "CcAslButtnDeny_B_Actl",
+    "CcAslButtnIndxDecPress",
+    "CcAslButtnIndxIncPress",
+    "CcAslButtnOffCnclPress",
+    "CcAslButtnOnOffCncl",
+    "CcAslButtnOnPress",
+    "CcAslButtnResDecPress",
+    "CcAslButtnResIncPress",
+    "CcAslButtnSetDecPress",
+    "CcAslButtnSetIncPress",
+    "CcAslButtnSetPress",
+    "CcButtnOffPress",
+    "CcButtnOnOffCnclPress",
+    "CcButtnOnOffPress",
+    "CcButtnOnPress",
+    "HeadLghtHiFlash_D_Actl",
+    "HeadLghtHiOn_B_StatAhb",
+    "AhbStat_B_Dsply",
+    "AccButtnGapTogglePress",
+    "WiprFrontSwtch_D_Stat",
+    "HeadLghtHiCtrl_D_RqAhb",
+  ]}
+
+  values.update({
     "CcAslButtnCnclPress": 1 if cancel else 0,      # CC cancel button
     "CcAsllButtnResPress": 1 if resume else 0,      # CC resume button
-    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # TJA toggle button
-  }
+    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # LCA/TJA toggle button
+  })
   return packer.make_can_msg("Steering_Data_FD1", bus, values)

From 1a3125bb8fae70485256099b1be36dfd55129e7d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 10 May 2023 13:56:44 -0700
Subject: [PATCH 115/175] bootlog: log agnos partition hashes (#28141)

* bootlog: log agnos partition hashes

* full path

* trimming

* slot

* boot is big

* give some time to start

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 system/hardware/tici/hardware.h      | 20 +++++++++++++++++++-
 system/loggerd/tests/test_loggerd.py |  1 +
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index ca67ee9a87911d..fba67d96c872ee 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -75,9 +75,27 @@ class HardwareTici : public HardwareNone {
 
 
   static std::map<std::string, std::string> get_init_logs() {
-    return {
+    std::map<std::string, std::string> ret = {
       {"/BUILD", util::read_file("/BUILD")},
     };
+
+    std::string bs = util::check_output("abctl --boot_slot");
+    ret["boot slot"] = bs.substr(0, bs.find_first_of("\n"));
+
+    std::string temp = util::read_file("/dev/disk/by-partlabel/ssd");
+    temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
+    ret["boot temp"] = temp;
+
+    // TODO: log something from system and boot
+    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+      for (std::string slot : {"a", "b"}) {
+        std::string partition = part + "_" + slot;
+        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+        ret[partition] = hash.substr(0, hash.find_first_of(" "));
+      }
+    }
+
+    return ret;
   }
 
   static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index f39b8bb9d6ed3e..a2166016e024c3 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -133,6 +133,7 @@ def test_rotation(self):
       os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
       managed_processes["loggerd"].start()
       managed_processes["encoderd"].start()
+      time.sleep(1)
 
       fps = 20.0
       for n in range(1, int(num_segs*length*fps)+1):

From 720df4d150913e9ee98165d2bb03a18d7566e746 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 11 May 2023 04:57:55 +0800
Subject: [PATCH 116/175] cabana: cleanup DBCFile (#28160)

---
 tools/cabana/dbc/dbc.cc     |  8 +---
 tools/cabana/dbc/dbc.h      |  4 +-
 tools/cabana/dbc/dbcfile.cc | 82 +++++++------------------------------
 tools/cabana/dbc/dbcfile.h  | 16 +++-----
 4 files changed, 22 insertions(+), 88 deletions(-)

diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index e404bde99cb5c5..ac91922e014abc 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -14,11 +14,7 @@ std::vector<const cabana::Signal*> cabana::Msg::getSignals() const {
 }
 
 void cabana::Msg::updateMask() {
-  mask.clear();
-  for (int i = 0; i < size; i++) {
-    mask.push_back(0x00);
-  }
-
+  mask = QVector<uint8_t>(size, 0x00).toList();
   for (auto &sig : sigs) {
     int i = sig.msb / 8;
     int bits = sig.size;
@@ -117,5 +113,3 @@ std::pair<int, int> getSignalRange(const cabana::Signal *s) {
   int to = from + s->size - 1;
   return {from, to};
 }
-
-std::vector<std::string> allDBCNames() { return get_dbc_names(); }
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index 045eb3558dc0b2..7daa258ecd210d 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -1,9 +1,7 @@
 #pragma once
 
-#include <map>
 #include <QList>
 #include <QMetaType>
-#include <QObject>
 #include <QString>
 
 #include "opendbc/can/common_dbc.h"
@@ -86,4 +84,4 @@ int bigEndianStartBitsIndex(int start_bit);
 int bigEndianBitIndex(int index);
 void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size);
 std::pair<int, int> getSignalRange(const cabana::Signal *s);
-std::vector<std::string> allDBCNames();
+inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index f1a01c4079c683..fd20c0af193693 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -1,26 +1,21 @@
 #include "tools/cabana/dbc/dbcfile.h"
 
-#include <QDebug>
-
 #include <QFile>
 #include <QFileInfo>
 #include <QRegularExpression>
 #include <QTextStream>
-#include <QVector>
 #include <limits>
+#include <numeric>
 #include <sstream>
 
-
 DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
   QFile file(dbc_file_name);
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
-
+    filename = dbc_file_name;
     // Remove auto save file extension
     if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
-      filename = dbc_file_name.left(dbc_file_name.length() - AUTO_SAVE_EXTENSION.length());
-    } else {
-      filename = dbc_file_name;
+      filename.chop(AUTO_SAVE_EXTENSION.length());
     }
     open(file.readAll());
   } else {
@@ -68,9 +63,8 @@ bool DBCFile::save() {
   if (writeContents(filename)) {
     cleanupAutoSaveFile();
     return true;
-  } else {
-    return false;
   }
+  return false;
 }
 
 bool DBCFile::saveAs(const QString &new_filename) {
@@ -79,11 +73,7 @@ bool DBCFile::saveAs(const QString &new_filename) {
 }
 
 bool DBCFile::autoSave() {
-  if (!filename.isEmpty()) {
-    return writeContents(filename + AUTO_SAVE_EXTENSION);
-  } else {
-    return false;
-  }
+  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
 }
 
 void DBCFile::cleanupAutoSaveFile() {
@@ -97,9 +87,8 @@ bool DBCFile::writeContents(const QString &fn) {
   if (file.open(QIODevice::WriteOnly)) {
     file.write(generateDBC().toUtf8());
     return true;
-  } else {
-    return false;
   }
+  return false;
 }
 
 cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) {
@@ -108,7 +97,6 @@ cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &si
     m->updateMask();
     return &m->sigs.last();
   }
-
   return nullptr;
 }
 
@@ -120,19 +108,13 @@ cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &si
       return s;
     }
   }
-
   return nullptr;
 }
 
 cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) {
-  if (auto m = const_cast<cabana::Msg *>(msg(id))) {
-    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; });
-    if (it != m->sigs.end()) {
-     return &(*it);
-    }
-  }
-  return nullptr;
- }
+  auto m = msg(id);
+  return m ? (cabana::Signal *)m->sig(sig_name) : nullptr;
+}
 
 void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) {
   if (auto m = const_cast<cabana::Msg *>(msg(id))) {
@@ -164,30 +146,16 @@ QString DBCFile::newSignalName(const MessageId &id) {
   assert(m != nullptr);
 
   QString name;
-
   for (int i = 1; /**/; ++i) {
     name = QString("NEW_SIGNAL_%1").arg(i);
     if (m->sig(name) == nullptr) break;
   }
-
   return name;
 }
 
 const QList<uint8_t>& DBCFile::mask(const MessageId &id) const {
-  const cabana::Msg *m = msg(id);
-  if (m != nullptr) {
-    return m->mask;
-  } else {
-    return empty_mask;
-  }
-}
-
-std::map<uint32_t, cabana::Msg> DBCFile::getMessages() {
-  return msgs;
-}
-
-const cabana::Msg *DBCFile::msg(const MessageId &id) const {
-  return msg(id.address);
+  auto m = msg(id);
+  return m ? m->mask : empty_mask;
 }
 
 const cabana::Msg *DBCFile::msg(uint32_t address) const {
@@ -196,16 +164,10 @@ const cabana::Msg *DBCFile::msg(uint32_t address) const {
 }
 
 const cabana::Msg* DBCFile::msg(const QString &name) {
-  for (auto &[_, msg] : msgs) {
-    if (msg.name == name) {
-      return &msg;
-    }
-  }
-
-  return nullptr;
+  auto it = std::find_if(msgs.cbegin(), msgs.cend(), [&name](auto &m) { return m.second.name == name; });
+  return it != msgs.cend() ? &(it->second) : nullptr;
 }
 
-
 QStringList DBCFile::signalNames() const {
   // Used for autocompletion
   QStringList ret;
@@ -225,23 +187,7 @@ int DBCFile::signalCount(const MessageId &id) const {
 }
 
 int DBCFile::signalCount() const {
-  int total = 0;
-  for (auto const& [_, msg] : msgs) {
-    total += msg.sigs.size();
-  }
-  return total;
-}
-
-int DBCFile::msgCount() const {
-  return msgs.size();
-}
-
-QString DBCFile::name() const {
-  return name_.isEmpty() ? "untitled" : name_;
-}
-
-bool DBCFile::isEmpty() const {
-  return (signalCount() == 0) && name_.isEmpty();
+  return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); });
 }
 
 void DBCFile::parseExtraInfo(const QString &content) {
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 8083704160d65f..15ecdf89c6efc8 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -2,17 +2,12 @@
 
 #include <map>
 #include <QList>
-#include <QMetaType>
-#include <QObject>
 #include <QString>
-#include <QSet>
-#include <QDebug>
 
 #include "tools/cabana/dbc/dbc.h"
 
 const QString AUTO_SAVE_EXTENSION = ".tmp";
 
-
 class DBCFile : public QObject {
   Q_OBJECT
 
@@ -43,16 +38,17 @@ class DBCFile : public QObject {
 
   const QList<uint8_t>& mask(const MessageId &id) const;
 
-  std::map<uint32_t, cabana::Msg> getMessages();
-  const cabana::Msg *msg(const MessageId &id) const;
+  inline std::map<uint32_t, cabana::Msg> getMessages() const { return msgs; }
   const cabana::Msg *msg(uint32_t address) const;
   const cabana::Msg* msg(const QString &name);
+  inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); };
+
   QStringList signalNames() const;
   int signalCount(const MessageId &id) const;
   int signalCount() const;
-  int msgCount() const;
-  QString name() const;
-  bool isEmpty() const;
+  inline int msgCount() const { return msgs.size(); }
+  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
+  inline bool isEmpty() const { return (signalCount() == 0) && name_.isEmpty(); }
 
   QString filename;
 

From 3e3d1a7d4b3944bb88ad2f663a1cf1fb2f1f83b2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 10 May 2023 14:34:40 -0700
Subject: [PATCH 117/175] Toyota: explicitly copy signals to forward (#28157)

* and toyota

* only if filled
---
 selfdrive/car/toyota/toyotacan.py | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index a78b70608cd68a..103136135073dc 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -99,6 +99,13 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
 
   # lane sway functionality
   # not all cars have LKAS_HUD — update with camera values if available
-  values.update(stock_lkas_hud)
+  if len(stock_lkas_hud):
+    values.update({s: stock_lkas_hud[s] for s in [
+      "LANE_SWAY_FLD",
+      "LANE_SWAY_BUZZER",
+      "LANE_SWAY_WARNING",
+      "LANE_SWAY_SENSITIVITY",
+      "LANE_SWAY_TOGGLE",
+    ]})
 
   return packer.make_can_msg("LKAS_HUD", 0, values)

From d845c79f7cb0e522e9361c8a758f77d94855b647 Mon Sep 17 00:00:00 2001
From: heemanshoe <heemanshoe@gmail.com>
Date: Wed, 10 May 2023 15:10:07 -0700
Subject: [PATCH 118/175] HKG: Genesis GV70 2023 support (#28154)

* Updated values.py

Added fingerprinting for 2023 Genesis GV70

* Updated values.py

2023 GV70: needed a different harness than the one originally listed (M instead of L)

* Update values.py

Removed L harness line (just in case)

* should be good

* fix

* update docs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                    | 5 +++--
 selfdrive/car/hyundai/values.py | 7 ++++++-
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 2febdd53b6935b..bdf745d2b5558b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 256 Supported Cars
+# 257 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -47,7 +47,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
-|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 2022-23">Hyundai L</a>||
+|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L</a>||
+|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M</a>||
 |GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1ad8896b97f0ca..128dac1cde600d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -248,7 +248,10 @@ def init_make(self, CP: car.CarParams):
   ],
   CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
+  CAR.GENESIS_GV70_1ST_GEN: [
+    HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness=Harness.hyundai_m),
+  ],
   CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h),
   CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
   CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness=Harness.hyundai_m),
@@ -1705,10 +1708,12 @@ class Buttons:
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
       b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR200 220125',
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR300 220125',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
       b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR200         ',
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR300         ',
     ],
   },
   CAR.GENESIS_GV60_EV_1ST_GEN: {

From 5ca14c072f240d564f967f5e2c84b69387dc7b78 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Thu, 11 May 2023 13:38:07 +0200
Subject: [PATCH 119/175] can states plotjuggler layout

---
 tools/plotjuggler/layouts/can-states.xml | 72 ++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100644 tools/plotjuggler/layouts/can-states.xml

diff --git a/tools/plotjuggler/layouts/can-states.xml b/tools/plotjuggler/layouts/can-states.xml
new file mode 100644
index 00000000000000..8c761517e617b8
--- /dev/null
+++ b/tools/plotjuggler/layouts/can-states.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter count="2" sizes="0.500381;0.499619" orientation="-">
+     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-17755.925000" top="771630.925000" left="0.000000"/>
+        <limitY/>
+        <curve color="#1f77b4" name="/pandaStates/0/canState0/totalRxCnt"/>
+        <curve color="#d62728" name="/pandaStates/0/canState1/totalRxCnt"/>
+        <curve color="#1ac938" name="/pandaStates/0/canState2/totalRxCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-18545.500000" top="760365.500000" left="0.000000"/>
+        <limitY/>
+        <curve color="#ff7f0e" name="/pandaStates/0/canState0/totalTxCnt"/>
+        <curve color="#f14cc1" name="/pandaStates/0/canState1/totalTxCnt"/>
+        <curve color="#9467bd" name="/pandaStates/0/canState2/totalTxCnt"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+     <DockSplitter count="3" sizes="0.333333;0.333333;0.333333" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-1.350000" top="55.350000" left="0.000000"/>
+        <limitY/>
+        <curve color="#ff7f0e" name="/pandaStates/0/canState0/totalRxLostCnt"/>
+        <curve color="#f14cc1" name="/pandaStates/0/canState1/totalRxLostCnt"/>
+        <curve color="#9467bd" name="/pandaStates/0/canState2/totalRxLostCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-0.050000" top="2.050000" left="0.000000"/>
+        <limitY/>
+        <curve color="#17becf" name="/pandaStates/0/canState0/totalTxLostCnt"/>
+        <curve color="#bcbd22" name="/pandaStates/0/canState1/totalTxLostCnt"/>
+        <curve color="#1f77b4" name="/pandaStates/0/canState2/totalTxLostCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-0.100000" top="0.100000" left="0.000000"/>
+        <limitY/>
+        <curve color="#17becf" name="/pandaStates/0/canState0/busOffCnt"/>
+        <curve color="#1ac938" name="/pandaStates/0/canState1/busOffCnt"/>
+        <curve color="#bcbd22" name="/pandaStates/0/canState2/busOffCnt"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

From f01652cc41590b08371a98f84f36d67f262c428a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 12 May 2023 01:42:25 +0800
Subject: [PATCH 120/175] cabana: fix the frequency was incorrect when replay
 from a specified segment (#28165)

---
 tools/cabana/streams/abstractstream.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 355e65b6c54e96..701ecbb258088b 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -165,7 +165,8 @@ static inline QColor blend(const QColor &a, const QColor &b) {
 void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const QList<uint8_t> &mask, uint32_t in_freq) {
   ts = current_sec;
   ++count;
-  freq = in_freq == 0 ? count / std::max(1.0, current_sec) : in_freq;
+  const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime());
+  freq = in_freq == 0 ? count / std::max(1.0, sec_to_first_event) : in_freq;
   if (dat.size() != size) {
     dat.resize(size);
     bit_change_counts.resize(size);

From 40dd150fc6f6a7da8bd46b47fbede85bf5751860 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 11 May 2023 12:57:55 -0700
Subject: [PATCH 121/175] cabana: remove dead image from readme

---
 tools/cabana/README.md | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 921decff3c22bf..cfda056636647c 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -1,7 +1,5 @@
 # Cabana
 
-<img src="https://cabana.comma.ai/img/cabana.jpg" width="640" height="267" />
-
 Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai).
 
 ## Usage Instructions

From 432f316e8df9fd614f784f0b5b3b445d14cc5f8e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 11 May 2023 15:22:09 -0700
Subject: [PATCH 122/175] ui: catch silent EGL failure (#28169)

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/ui/qt/qt_window.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
index d630b560bb967f..b83db706711e84 100644
--- a/selfdrive/ui/qt/qt_window.cc
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -19,6 +19,10 @@ void setMainWindow(QWidget *w) {
   wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
   wl_surface_commit(s);
   w->showFullScreen();
+
+  // ensure we have a valid eglDisplay, otherwise the ui will silently fail
+  void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());
+  assert(egl != nullptr);
 #endif
 }
 

From 344064d6bd45b6d0f54e1eedfc73b87a856efe3e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 11 May 2023 23:35:07 -0700
Subject: [PATCH 123/175] Ford: hybrids are unsupported (#28171)

* hybrid fords are dashcammed

* something like this?

* just do an alert

* good comment

* space

* bb

bb

* top

* Update selfdrive/car/ford/interface.py

* add a noEntry

* remove from release notes

* sad :(

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
---
 RELEASES.md                      | 6 ------
 docs/CARS.md                     | 8 +-------
 selfdrive/car/ford/carstate.py   | 9 +++++++++
 selfdrive/car/ford/interface.py  | 2 ++
 selfdrive/car/ford/values.py     | 6 ------
 selfdrive/controls/lib/events.py | 1 +
 6 files changed, 13 insertions(+), 19 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index ede5e530c313bb..7dd53cff84af9e 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -8,19 +8,13 @@ Version 0.9.2 (2023-05-XX)
 * Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
 * Ford Bronco Sport 2021-22 support
 * Ford Escape 2020-22 support
-* Ford Escape Hybrid 2020-22 support
-* Ford Escape Plug-in Hybrid 2021-22 support
 * Ford Explorer 2020-22 support
-* Ford Explorer Hybrid 2020-22 support
 * Ford Kuga 2020-22 support
-* Ford Kuga Hybrid 2020-22 support
-* Ford Kuga Plug-in Hybrid 2020-22 support
 * Genesis GV80 2023 support thanks to JWingate80!
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Lexus ES 2017-18 support
 * Lincoln Aviator 2021 support
-* Lincoln Aviator Plug-in Hybrid 2021 support
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 
 
diff --git a/docs/CARS.md b/docs/CARS.md
index bdf745d2b5558b..f0ad95853671d0 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 257 Supported Cars
+# 251 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -33,13 +33,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Hybrid 2020-22">Ford Q3</a>||
-|Ford|Escape Plug-in Hybrid 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape Plug-in Hybrid 2021-22">Ford Q3</a>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
-|Ford|Explorer Hybrid 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer Hybrid 2020-22">Ford Q3</a>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Hybrid 2020-22">Ford Q3</a>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Ford Q3</a>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
@@ -157,7 +152,6 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
 |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
 |Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3</a>||
-|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator Plug-in Hybrid 2021">Ford Q3</a>||
 |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 20560b342a9cd1..1281b65d1d3d69 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -17,10 +17,16 @@ def __init__(self, CP):
       self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
 
     self.vehicle_sensors_valid = False
+    self.hybrid_platform = False
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    # Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
+    # we do not support these cars at this time.
+    # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
+    self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
+
     # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
     # The vehicle usually recovers out of this state within a minute of normal driving
     self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
@@ -99,6 +105,8 @@ def update(self, cp, cp_cam):
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
+      ("TrnAinTq_D_Qf", "VehicleOperatingModes"),            # Used to detect hybrid or ICE platform variant
+
       ("Veh_V_ActlBrk", "BrakeSysFeatures"),                 # ABS vehicle speed (kph)
       ("VehYaw_W_Actl", "Yaw_Data_FD1"),                     # ABS vehicle yaw rate (rad/s)
       ("VehStop_D_Stat", "DesiredTorqBrk"),                  # ABS vehicle stopped
@@ -160,6 +168,7 @@ def get_can_parser(CP):
 
     checks = [
       # sig_address, frequency
+      ("VehicleOperatingModes", 100),
       ("BrakeSysFeatures", 50),
       ("Yaw_Data_FD1", 100),
       ("DesiredTorqBrk", 50),
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index df41a8db9d91e3..f74cafdd9a3204 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -78,6 +78,8 @@ def _update(self, c):
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     if not self.CS.vehicle_sensors_valid:
       events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
+    if self.CS.hybrid_platform:
+      events.add(car.CarEvent.EventName.startupNoControl)
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 00cbb7de0077b9..1ec34b21917904 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -72,17 +72,11 @@ class FordCarInfo(CarInfo):
   CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
     FordCarInfo("Ford Escape 2020-22"),
-    FordCarInfo("Ford Escape Hybrid 2020-22"),
-    FordCarInfo("Ford Escape Plug-in Hybrid 2021-22"),
     FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
-    FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
-    FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
   ],
   CAR.EXPLORER_MK6: [
     FordCarInfo("Ford Explorer 2020-22"),
-    FordCarInfo("Ford Explorer Hybrid 2020-22"),
     FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
-    FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
   CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 70506ca9acfc3b..12b78d7ee352b9 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -358,6 +358,7 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   # Car is recognized, but marked as dashcam only
   EventName.startupNoControl: {
     ET.PERMANENT: StartupAlert("Dashcam mode"),
+    ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
   },
 
   # Car is not recognized

From e08952acc8613d697e7ef3198dc186688629427b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 12 May 2023 11:33:48 -0700
Subject: [PATCH 124/175] controlsd: disable controlsdLagging event during
 process replay (#28177)

Disable controlsdLagging event during process replay
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 13404d1e2cb9b6..f40fc6accf01bf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -333,7 +333,7 @@ def update_events(self, CS):
           self.events.add(EventName.cameraMalfunction)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
-    if self.rk.lagging:
+    if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
     if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
       self.events.add(EventName.radarFault)

From 1a5f29ecc6a657ec4ecfe9e60b47177e0f1dbad4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 12 May 2023 13:01:00 -0700
Subject: [PATCH 125/175] macOS: disable camerad and sensord build (#28164)

* Disable camerad and sensord on Darwin

* Add gcc@12 to mac_setup as it's required by panda

* Update panda
---
 SConstruct         | 20 +++++++++-----------
 panda              |  2 +-
 tools/mac_setup.sh |  1 +
 3 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/SConstruct b/SConstruct
index 320590b05882c5..45b6fd8fdf8511 100644
--- a/SConstruct
+++ b/SConstruct
@@ -405,13 +405,17 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
-  SConscript(['system/logcatd/SConscript'])
+  SConscript([
+    'system/camerad/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
 
 # Build openpilot
 
@@ -428,19 +432,13 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
-
+SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-
-SConscript(['system/loggerd/SConscript'])
-
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['system/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
 if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
diff --git a/panda b/panda
index da7c57748648e7..822a7367c1912d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit da7c57748648e786c99621271b5a88d11bcd90fa
+Subproject commit 822a7367c1912d8b19263bfbda15bf29b188d67d
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 67ca098c00f1c2..6e6538c5c53f9f 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -52,6 +52,7 @@ brew "zeromq"
 brew "protobuf"
 brew "protobuf-c"
 brew "swig"
+brew "gcc@12"
 cask "gcc-arm-embedded"
 EOS
 

From 9a7a96b19f44d7a7d902194a049a08e32b36ea95 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Fri, 12 May 2023 13:57:05 -0700
Subject: [PATCH 126/175] update timm and segmentation-models-pytorch (#28178)

update segmentation-models-pytorch
---
 poetry.lock    | 100 ++++++++++++++++++++++++++++++++++++++++++-------
 pyproject.toml |   2 +-
 2 files changed, 87 insertions(+), 15 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 5d60353f80c4ba..e2d894d3c3b8f2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -887,7 +887,7 @@ pgp = ["gpg"]
 
 [[package]]
 name = "efficientnet-pytorch"
-version = "0.6.3"
+version = "0.7.1"
 description = "EfficientNet implemented in PyTorch."
 category = "dev"
 optional = false
@@ -1126,6 +1126,38 @@ category = "dev"
 optional = false
 python-versions = ">=3.7"
 
+[[package]]
+name = "fsspec"
+version = "2023.5.0"
+description = "File-system specification"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.extras]
+abfs = ["adlfs"]
+adl = ["adlfs"]
+arrow = ["pyarrow (>=1)"]
+dask = ["dask", "distributed"]
+devel = ["pytest", "pytest-cov"]
+dropbox = ["dropbox", "dropboxdrivefs", "requests"]
+full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
+fuse = ["fusepy"]
+gcs = ["gcsfs"]
+git = ["pygit2"]
+github = ["requests"]
+gs = ["gcsfs"]
+gui = ["panel"]
+hdfs = ["pyarrow (>=1)"]
+http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
+libarchive = ["libarchive-c"]
+oci = ["ocifs"]
+s3 = ["s3fs"]
+sftp = ["paramiko"]
+smb = ["smbprotocol"]
+ssh = ["paramiko"]
+tqdm = ["tqdm"]
+
 [[package]]
 name = "ft4222"
 version = "1.6.0"
@@ -1299,6 +1331,34 @@ chardet = ["chardet (>=2.2)"]
 genshi = ["genshi"]
 lxml = ["lxml"]
 
+[[package]]
+name = "huggingface-hub"
+version = "0.14.1"
+description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub"
+category = "dev"
+optional = false
+python-versions = ">=3.7.0"
+
+[package.dependencies]
+filelock = "*"
+fsspec = "*"
+packaging = ">=20.9"
+pyyaml = ">=5.1"
+requests = "*"
+tqdm = ">=4.42.1"
+typing-extensions = ">=3.7.4.3"
+
+[package.extras]
+all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
+cli = ["InquirerPy (==0.3.4)"]
+dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
+fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
+quality = ["black (>=23.1,<24.0)", "mypy (==0.982)", "ruff (>=0.0.241)"]
+tensorflow = ["graphviz", "pydot", "tensorflow"]
+testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "gradio", "jedi", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "soundfile"]
+torch = ["torch"]
+typing = ["types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
+
 [[package]]
 name = "humanfriendly"
 version = "10.0"
@@ -3793,20 +3853,22 @@ jeepney = ">=0.6"
 
 [[package]]
 name = "segmentation-models-pytorch"
-version = "0.2.1"
+version = "0.3.2"
 description = "Image segmentation models with pre-trained backbones. PyTorch."
 category = "dev"
 optional = false
-python-versions = ">=3.0.0"
+python-versions = ">=3.7.0"
 
 [package.dependencies]
-efficientnet-pytorch = "0.6.3"
+efficientnet-pytorch = "0.7.1"
+pillow = "*"
 pretrainedmodels = "0.7.4"
-timm = "0.4.12"
+timm = "0.6.12"
 torchvision = ">=0.5.0"
+tqdm = "*"
 
 [package.extras]
-test = ["pytest"]
+test = ["black (==22.3.0)", "flake8 (==4.0.1)", "flake8-docstrings (==1.6.0)", "mock", "pre-commit", "pytest"]
 
 [[package]]
 name = "send2trash"
@@ -4302,14 +4364,16 @@ numba = ["numba (>=0.55.2,<0.56.0)"]
 
 [[package]]
 name = "timm"
-version = "0.4.12"
+version = "0.6.12"
 description = "(Unofficial) PyTorch Image Models"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 
 [package.dependencies]
-torch = ">=1.4"
+huggingface-hub = "*"
+pyyaml = "*"
+torch = ">=1.7"
 torchvision = "*"
 
 [[package]]
@@ -4740,7 +4804,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "774e90b7d2bef68c6d219c8afc3d5717a104a04b9cd7b1b215655eb48fa62d04"
+content-hash = "0f8861fe679c2ba9a2a6365498a02ee353023e1a3ef882b117516fb7ea28fb58"
 
 [metadata.files]
 adal = [
@@ -5625,7 +5689,7 @@ dulwich = [
     {file = "dulwich-0.20.46.tar.gz", hash = "sha256:4f0e88ffff5db1523d93d92f1525fe5fa161318ffbaad502c1b9b3be7a067172"},
 ]
 efficientnet-pytorch = [
-    {file = "efficientnet_pytorch-0.6.3.tar.gz", hash = "sha256:6667459336893e9bf6367de3788ba449fed97f65da3b6782bf2204b6273a319f"},
+    {file = "efficientnet_pytorch-0.7.1.tar.gz", hash = "sha256:00b9b261effce59d2d47aae2ad238c29a2a65175470f41ada7ecac439b7c1ee1"},
 ]
 einops = [
     {file = "einops-0.5.0-py3-none-any.whl", hash = "sha256:055de7eeb3cb9e9710ef3085a811090c6b52e809b7044e8785824ed185f486d1"},
@@ -5842,6 +5906,10 @@ frozenlist = [
     {file = "frozenlist-1.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:625d8472c67f2d96f9a4302a947f92a7adbc1e20bedb6aff8dbc8ff039ca6189"},
     {file = "frozenlist-1.3.1.tar.gz", hash = "sha256:3a735e4211a04ccfa3f4833547acdf5d2f863bfeb01cfd3edaffbc251f15cec8"},
 ]
+fsspec = [
+    {file = "fsspec-2023.5.0-py3-none-any.whl", hash = "sha256:51a4ad01a5bb66fcc58036e288c0d53d3975a0df2a5dc59a93b59bade0391f2a"},
+    {file = "fsspec-2023.5.0.tar.gz", hash = "sha256:b3b56e00fb93ea321bc9e5d9cf6f8522a0198b20eb24e02774d329e9c6fb84ce"},
+]
 ft4222 = [
     {file = "ft4222-1.6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:64c80402e19ada10f142cf9d5f5b343a121689b94dfc31fafc7864db13ac7f79"},
     {file = "ft4222-1.6.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:5c713b6527513a77e674a6db60d97f67b18ce9f85727168ecbeef82557f2b2d1"},
@@ -6125,6 +6193,10 @@ html5lib = [
     {file = "html5lib-1.1-py2.py3-none-any.whl", hash = "sha256:0d78f8fde1c230e99fe37986a60526d7049ed4bf8a9fadbad5f00e22e58e041d"},
     {file = "html5lib-1.1.tar.gz", hash = "sha256:b2e5b40261e20f354d198eae92afc10d750afb487ed5e50f9c4eaf07c184146f"},
 ]
+huggingface-hub = [
+    {file = "huggingface_hub-0.14.1-py3-none-any.whl", hash = "sha256:9fc619170d800ff3793ad37c9757c255c8783051e1b5b00501205eb43ccc4f27"},
+    {file = "huggingface_hub-0.14.1.tar.gz", hash = "sha256:9ab899af8e10922eac65e290d60ab956882ab0bf643e3d990b1394b6b47b7fbc"},
+]
 humanfriendly = [
     {file = "humanfriendly-10.0-py2.py3-none-any.whl", hash = "sha256:1697e1a8a8f550fd43c2865cd84542fc175a61dcb779b6fee18cf6b6ccba1477"},
     {file = "humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc"},
@@ -8078,8 +8150,8 @@ secretstorage = [
     {file = "SecretStorage-3.3.3.tar.gz", hash = "sha256:2403533ef369eca6d2ba81718576c5e0f564d5cca1b58f73a8b23e7d4eeebd77"},
 ]
 segmentation-models-pytorch = [
-    {file = "segmentation_models_pytorch-0.2.1-py3-none-any.whl", hash = "sha256:98822571470867fb0f416c112c32f7f1d21702dd32195ec8f7736932c2de0486"},
-    {file = "segmentation_models_pytorch-0.2.1.tar.gz", hash = "sha256:86744552b04c6bedf7e10f7928791894d8d9b399b9ed58ed1a3236d2bf69ead6"},
+    {file = "segmentation_models_pytorch-0.3.2-py3-none-any.whl", hash = "sha256:dba48e7ead5d34fcb6e5c6d04d6d7c5a61a53fa84264e5481df788a22a1bd66b"},
+    {file = "segmentation_models_pytorch-0.3.2.tar.gz", hash = "sha256:8372733e57a10cb8f6b9e18a20577fbb3fb83549b6945664dc774a9b6d3ecd13"},
 ]
 send2trash = [
     {file = "Send2Trash-1.8.0-py3-none-any.whl", hash = "sha256:f20eaadfdb517eaca5ce077640cb261c7d2698385a6a0f072a4a5447fd49fa08"},
@@ -8443,8 +8515,8 @@ timezonefinder = [
     {file = "timezonefinder-6.1.3.tar.gz", hash = "sha256:f2ee561b1e7692b933fcd914df38800e93db7caf278e7328de7328829b04f275"},
 ]
 timm = [
-    {file = "timm-0.4.12-py3-none-any.whl", hash = "sha256:dba6b1702b7d24bf9f0f1c2fc394b4ee28f93cde5404f1dc732d63ccd00533b6"},
-    {file = "timm-0.4.12.tar.gz", hash = "sha256:b14be70dbd4528b5ca8657cf5bc2672c7918c3d9ebfbffe80f4785b54e884b1e"},
+    {file = "timm-0.6.12-py3-none-any.whl", hash = "sha256:3dfa19b82afa707acc0c2392a84c0e549dd9ea626c285fb2e8d9e4073b58dbd1"},
+    {file = "timm-0.6.12.tar.gz", hash = "sha256:8f1747121598e06a1ea2d00df16d332cc284cdd4596bdc136b490a2122d3aa91"},
 ]
 tinycss2 = [
     {file = "tinycss2-1.2.1-py3-none-any.whl", hash = "sha256:2b80a96d41e7c3914b8cda8bc7f705a4d9c49275616e886103dd839dfc847847"},
diff --git a/pyproject.toml b/pyproject.toml
index 25b61eb50b5ad7..2963337733bc64 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -164,7 +164,7 @@ redis = "^4.3.4"
 s2sphere = "^0.2.5"
 scikit-image = "^0.19.3"
 scikit-learn = "^1.1.1"
-segmentation-models-pytorch = "==0.2.1"
+segmentation-models-pytorch = "==0.3.2"
 simplejson = "^3.17.6"
 SQLAlchemy = "^1.4.39"
 torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }

From 951bab8e18147f55235424d0d8518ad7ad823e9d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 12 May 2023 17:22:09 -0700
Subject: [PATCH 127/175] AGNOS 7 (#26908)

* agnos 7

* no caibx

* new build

* agnos 7.1

* prod manifest
---
 RELEASES.md                      |  4 +++
 launch_env.sh                    |  2 +-
 system/hardware/tici/agnos.json  | 56 ++++++++++++++++++++++----------
 system/hardware/tici/hardware.py |  6 ++--
 4 files changed, 45 insertions(+), 23 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 7dd53cff84af9e..187c3cdf7298d3 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -4,6 +4,10 @@ Version 0.9.2 (2023-05-XX)
   * fixes turn diving
   * trained on a new dataset
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
 * Ford Bronco Sport 2021-22 support
diff --git a/launch_env.sh b/launch_env.sh
index 3059ec268e7cc9..c1ecbe3b31e0f8 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="6.2"
+  export AGNOS_VERSION="7.1"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 7876b1af1f79b3..6730f827061cc9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a.img.xz",
-    "hash": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a",
-    "hash_raw": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a",
-    "size": 14780416,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c.img.xz",
+    "hash": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c",
+    "hash_raw": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c",
+    "size": 15153152,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82.img.xz",
-    "hash": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82",
-    "hash_raw": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602.img.xz",
+    "hash": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602",
+    "hash_raw": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602",
     "size": 274432,
     "sparse": false,
     "full_check": true,
@@ -21,29 +21,49 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35.img.xz",
-    "hash": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
-    "hash_raw": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
-    "size": 3670016,
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15.img.xz",
+    "hash": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
+    "hash_raw": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
+    "size": 3282672,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad.img.xz",
-    "hash": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
-    "hash_raw": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
-    "size": 364544,
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40.img.xz",
+    "hash": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
+    "hash_raw": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca.img.xz",
+    "hash": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
+    "hash_raw": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e.img.xz",
+    "hash": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
+    "hash_raw": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
+    "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e.img.xz",
-    "hash": "48209ce7e8cc2fff4ec024f0cd82fc2e3e097b5c0629be2b292acf64e6701449",
-    "hash_raw": "9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028.img.xz",
+    "hash": "23c9f111f81fc3ee83f85016cb320e03a46aad6721a85e1b4a3f04b6a764e934",
+    "hash_raw": "4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 3ed27b22e101eb..d52710e9508977 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -463,11 +463,9 @@ def initialize_hardware(self):
     # Allow thermald to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
 
-    # TODO: remove the if once agnos 7 ships
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
-    if os.path.exists('/sys/class/gpio/gpio49/'):
-      gpio_init(GPIO.SOM_ST_IO, True)
-      gpio_set(GPIO.SOM_ST_IO, 1)
+    gpio_init(GPIO.SOM_ST_IO, True)
+    gpio_set(GPIO.SOM_ST_IO, 1)
 
     # *** IRQ config ***
 

From 2e097a2ba55a15b735266cae712c4edbc0ad306c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 12 May 2023 18:37:30 -0700
Subject: [PATCH 128/175] Update RELEASES.md

---
 RELEASES.md | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 187c3cdf7298d3..9b7f5450b92238 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,9 +1,11 @@
-Version 0.9.2 (2023-05-XX)
+Version 0.9.2 (2023-05-22)
 ========================
 * New driving model
-  * fixes turn diving
-  * trained on a new dataset
-* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
 * AGNOS 7
   * Faster boot time
   * Fixes rare no sounds bug

From 82f301422d79d01feaf7e1736c53d62b956f179f Mon Sep 17 00:00:00 2001
From: freddiebd <freddiebd@hotmail.co.uk>
Date: Sat, 13 May 2023 05:31:58 +0100
Subject: [PATCH 129/175] VW MQB: Add FW for 2017 Golf Mk7 (#28174)

Update values.py

Added missing carFw versions to values.py
---
 selfdrive/car/volkswagen/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 174d7ffb0953d4..20d252cbecd3fa 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -443,6 +443,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x8709G927749AP\xf1\x892943',
       b'\xf1\x8709S927158A \xf1\x893585',
       b'\xf1\x870CW300040H \xf1\x890606',
+      b'\xf1\x870CW300041D \xf1\x891004',
       b'\xf1\x870CW300041H \xf1\x891010',
       b'\xf1\x870CW300042F \xf1\x891604',
       b'\xf1\x870CW300043B \xf1\x891601',
@@ -484,6 +485,7 @@ def init_make(self, CP: car.CarParams):
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',

From 30cdcc474c6e41f2b289c6c4f93de4f3a05c54d2 Mon Sep 17 00:00:00 2001
From: Iamz <jaturapat.j@codetism.com>
Date: Sat, 13 May 2023 11:38:34 +0700
Subject: [PATCH 130/175] Add Lexus RX engine fwVersion (#28163)

---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ddcdbab7864ff5..ab585f49681363 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -2018,6 +2018,7 @@ class ToyotaCarInfo(CarInfo):
       b'\x01896630ED0000\x00\x00\x00\x00',
       b'\x01896630ED0100\x00\x00\x00\x00',
       b'\x01896630ED6000\x00\x00\x00\x00',
+      b'\x018966348T8000\x00\x00\x00\x00',
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',

From 7268926e54e2e24ebc75b3ad22db5d092035b9cd Mon Sep 17 00:00:00 2001
From: teknonut <98994199+teknonut@users.noreply.github.com>
Date: Fri, 12 May 2023 21:44:09 -0700
Subject: [PATCH 131/175] HKG: Add missing FW for 2022 Hyundai Santa Fe
 (#28150)

Update values.py

Add 2022 Hyundai Santa Fe FW values
---
 selfdrive/car/hyundai/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 128dac1cde600d..ddd877245b9a19 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -793,6 +793,7 @@ class Buttons:
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
       b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
       b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
@@ -803,6 +804,7 @@ class Buttons:
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
       b'\xf1\x81HM6M1_0a0_H00',
       b'\xf1\x82TACVN5GMI3XXXH0A',
       b'\xf1\x82TMBZN5TMD3XXXG2E',
@@ -824,6 +826,7 @@ class Buttons:
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
       b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
       b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
       b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',

From e077af4abf5e66fb3996cd6745282d670eb34e1b Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Sat, 13 May 2023 12:48:47 +0800
Subject: [PATCH 132/175] VW MQB: Add FW for 2023 Volkswagen Touran (#28146)

0bbe367c98fa1538|2023-05-09--15-06-11--0
---
 selfdrive/car/volkswagen/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 20d252cbecd3fa..5fd3925a2a3e26 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -835,18 +835,23 @@ def init_make(self, CP: car.CarParams):
   CAR.TOURAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906026HM\xf1\x893017',
+      b'\xf1\x8705E906018CQ\xf1\x890808',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300041E \xf1\x891005',
+      b'\xf1\x870CW300051M \xf1\x891926',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.TRANSPORTER_T61: {

From a8986620f101e3b69fb3f4afaebbca60f98fc454 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 13 May 2023 03:03:51 -0700
Subject: [PATCH 133/175] bump panda (#28180)

bumppanda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 822a7367c1912d..675b1e847f918a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 822a7367c1912d8b19263bfbda15bf29b188d67d
+Subproject commit 675b1e847f918a0906a3f4a0bd41289c5fd9bad3

From 10bdcef0fe1186ee9bdc59dc04237bae005df22f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 14 May 2023 05:05:14 +0800
Subject: [PATCH 134/175] cabana: add tool to search for possible signals
 through values. (#28182)

* Add tools to search for possible signals through values.

* use ,
---
 tools/cabana/SConscript          |   2 +-
 tools/cabana/mainwin.cc          |   8 ++
 tools/cabana/mainwin.h           |   1 +
 tools/cabana/tools/findsignal.cc | 217 +++++++++++++++++++++++++++++++
 tools/cabana/tools/findsignal.h  |  57 ++++++++
 5 files changed, 284 insertions(+), 1 deletion(-)
 create mode 100644 tools/cabana/tools/findsignal.cc
 create mode 100644 tools/cabana/tools/findsignal.h

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index a735dc438e9709..f12888b792aa56 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -32,7 +32,7 @@ cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 2954824fd40eb3..7b2d23a3f9ebb1 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -19,6 +19,7 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/tools/findsignal.h"
 
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
@@ -142,6 +143,7 @@ void MainWindow::createActions() {
 
   QMenu *tools_menu = menuBar()->addMenu(tr("&Tools"));
   tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);
+  tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal);
 
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
   help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
@@ -592,6 +594,12 @@ void MainWindow::findSimilarBits() {
   dlg->show();
 }
 
+void MainWindow::findSignal() {
+  FindSignalDlg *dlg = new FindSignalDlg(this);
+  QObject::connect(dlg, &FindSignalDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
+  dlg->show();
+}
+
 void MainWindow::onlineHelp() {
   if (auto help = findChild<HelpOverlay*>()) {
     help->close();
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 0782c316bb2ba3..9db999e6c96d61 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -60,6 +60,7 @@ public slots:
   void updateDownloadProgress(uint64_t cur, uint64_t total, bool success);
   void setOption();
   void findSimilarBits();
+  void findSignal();
   void undoStackCleanChanged(bool clean);
   void undoStackIndexChanged(int index);
   void onlineHelp();
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
new file mode 100644
index 00000000000000..30fa5b4040ffc2
--- /dev/null
+++ b/tools/cabana/tools/findsignal.cc
@@ -0,0 +1,217 @@
+#include "tools/cabana/tools/findsignal.h"
+
+#include <QDoubleValidator>
+#include <QFormLayout>
+#include <QHBoxLayout>
+#include <QHeaderView>
+#include <QMenu>
+#include <QtConcurrent>
+#include <QTimer>
+#include <QVBoxLayout>
+
+// FindSignalModel
+
+QVariant FindSignalModel::headerData(int section, Qt::Orientation orientation, int role) const {
+  static QString titles[] = {"Id", "Start Bit, size", "(time, value)"};
+  if (role != Qt::DisplayRole) return {};
+  return orientation == Qt::Horizontal ? titles[section] : QString::number(section + 1);
+}
+
+QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
+  if (role == Qt::DisplayRole) {
+    const auto &s = filtered_signals[index.row()];
+    switch (index.column()) {
+      case 0: return s.id.toString();
+      case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
+      case 2: return s.values.join(" ");
+    }
+  }
+  return {};
+}
+
+void FindSignalModel::search(std::function<bool(double)> cmp) {
+  beginResetModel();
+
+  std::mutex lock;
+  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  filtered_signals.clear();
+  filtered_signals.reserve(prev_sigs.size());
+  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
+    const auto &events = can->events(s.id);
+    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto it = std::find_if(first, events.cend(), [&](auto e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+    if (it != events.cend()) {
+      auto values = s.values;
+      values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+      std::lock_guard lk(lock);
+      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+    }
+  });
+  histories.push_back(filtered_signals);
+
+  endResetModel();
+}
+
+void FindSignalModel::undo() {
+  if (!histories.isEmpty()) {
+    beginResetModel();
+    histories.pop_back();
+    filtered_signals.clear();
+    if (!histories.isEmpty()) filtered_signals = histories.back();
+    endResetModel();
+  }
+}
+
+void FindSignalModel::reset() {
+  beginResetModel();
+  histories.clear();
+  filtered_signals.clear();
+  initial_signals.clear();
+  endResetModel();
+}
+
+// FindSignalDlg
+FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) {
+  setWindowTitle(tr("Find Signal"));
+  setAttribute(Qt::WA_DeleteOnClose);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  properties_group = new QGroupBox(tr("Signal Properties"));
+  QFormLayout *property_layout = new QFormLayout(properties_group);
+  property_layout->setFieldGrowthPolicy(QFormLayout::FieldsStayAtSizeHint);
+
+  QHBoxLayout *hlayout = new QHBoxLayout();
+  hlayout->addWidget(min_size = new QSpinBox);
+  hlayout->addWidget(new QLabel("-"));
+  hlayout->addWidget(max_size = new QSpinBox);
+  hlayout->addWidget(litter_endian = new QCheckBox(tr("Little endian")));
+  hlayout->addWidget(is_signed = new QCheckBox(tr("Signed")));
+  hlayout->addStretch(0);
+  min_size->setRange(1, 64);
+  max_size->setRange(1, 64);
+  litter_endian->setChecked(true);
+  property_layout->addRow(tr("Size"), hlayout);
+  property_layout->addRow(tr("Factor"), factor_edit = new QLineEdit("1.0"));
+  property_layout->addRow(tr("Offset"), offset_edit = new QLineEdit("0.0"));
+
+  QGroupBox *find_group = new QGroupBox(tr("Find signal"), this);
+  QVBoxLayout *vlayout = new QVBoxLayout(find_group);
+  hlayout = new QHBoxLayout();
+  hlayout->addWidget(new QLabel(tr("Value")));
+  hlayout->addWidget(compare_cb = new QComboBox(this));
+  hlayout->addWidget(value1 = new QLineEdit);
+  hlayout->addWidget(to_label = new QLabel("-"));
+  hlayout->addWidget(value2 = new QLineEdit);
+  hlayout->addWidget(undo_btn = new QPushButton(tr("Undo prev find"), this));
+  hlayout->addWidget(search_btn = new QPushButton(tr("Find")));
+  hlayout->addWidget(reset_btn = new QPushButton(tr("Reset"), this));
+  vlayout->addLayout(hlayout);
+
+  compare_cb->addItems({"=", ">", ">=", "!=", "<", "<=", "between"});
+  value2->setVisible(false);
+  to_label->setVisible(false);
+  undo_btn->setEnabled(false);
+  reset_btn->setEnabled(false);
+
+  auto double_validator = new QDoubleValidator(this);
+  double_validator->setLocale(QLocale::C);
+  for (auto edit : {value1, value2, factor_edit, offset_edit}) {
+    edit->setValidator(double_validator);
+  }
+
+  vlayout->addWidget(view = new QTableView(this));
+  vlayout->addWidget(stats_label = new QLabel());
+  view->setContextMenuPolicy(Qt::CustomContextMenu);
+  view->horizontalHeader()->setStretchLastSection(true);
+  view->horizontalHeader()->setSelectionMode(QAbstractItemView::NoSelection);
+  view->setSelectionBehavior(QAbstractItemView::SelectRows);
+  view->setModel(model = new FindSignalModel(this));
+
+  main_layout->addWidget(properties_group);
+  main_layout->addWidget(find_group);
+
+  setMinimumSize({700, 550});
+  QObject::connect(search_btn, &QPushButton::clicked, this, &FindSignalDlg::search);
+  QObject::connect(undo_btn, &QPushButton::clicked, model, &FindSignalModel::undo);
+  QObject::connect(model, &QAbstractItemModel::modelReset, this, &FindSignalDlg::modelReset);
+  QObject::connect(reset_btn, &QPushButton::clicked, model, &FindSignalModel::reset);
+  QObject::connect(view, &QTableView::customContextMenuRequested, this, &FindSignalDlg::customMenuRequested);
+  QObject::connect(view, &QTableView::doubleClicked, [this](const QModelIndex &index) {
+    if (index.isValid()) emit openMessage(model->filtered_signals[index.row()].id);
+  });
+  QObject::connect(compare_cb, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {
+    to_label->setVisible(index == compare_cb->count() - 1);
+    value2->setVisible(index == compare_cb->count() - 1);
+  });
+}
+
+void FindSignalDlg::search() {
+  if (model->histories.isEmpty()) {
+    setInitialSignals();
+  }
+  auto v1 = value1->text().toDouble();
+  auto v2 = value2->text().toDouble();
+  std::function<bool(double)> cmp = nullptr;
+  switch (compare_cb->currentIndex()) {
+    case 0: cmp = [v1](double v) { return v == v1;}; break;
+    case 1: cmp = [v1](double v) { return v > v1;};break;
+    case 2: cmp = [v1](double v) { return v >= v1;};break;
+    case 3: cmp = [v1](double v) { return v != v1;}; break;
+    case 4: cmp = [v1](double v) { return v < v1;}; break;
+    case 5: cmp = [v1](double v) { return v <= v1;}; break;
+    case 6: cmp = [v1, v2](double v) { return v >= v1 && v <= v2;}; break;
+  }
+  properties_group->setEnabled(false);
+  search_btn->setEnabled(false);
+  stats_label->setVisible(false);
+  search_btn->setText("Finding ....");
+  QTimer::singleShot(0, [=]() { model->search(cmp); });
+}
+
+void FindSignalDlg::setInitialSignals() {
+  cabana::Signal sig{};
+  sig.is_little_endian = litter_endian->isChecked();
+  sig.is_signed = is_signed->isChecked();
+  sig.factor = factor_edit->text().toDouble();
+  sig.offset = offset_edit->text().toDouble();
+
+  model->initial_signals.clear();
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    const int total_size = it.value().dat.size() * 8;
+    for (int size = min_size->value(); size <= max_size->value(); ++size) {
+      for (int start = 0; start <= total_size - size; ++start) {
+        FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = 0, .sig = sig};
+        updateSigSizeParamsFromRange(s.sig, start, size);
+        model->initial_signals.push_back(s);
+      }
+    }
+  }
+}
+
+void FindSignalDlg::modelReset() {
+  properties_group->setEnabled(model->histories.isEmpty());
+  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.isEmpty());
+  undo_btn->setEnabled(model->histories.size() > 1);
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  stats_label->setVisible(true);
+  stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
+}
+
+void FindSignalDlg::customMenuRequested(const QPoint &pos) {
+  if (auto index = view->indexAt(pos); index.isValid()) {
+    QMenu menu(this);
+    menu.addAction(tr("Create Signal"));
+    if (menu.exec(view->mapToGlobal(pos))) {
+      auto &s = model->filtered_signals[index.row()];
+      auto msg = dbc()->msg(s.id);
+      if (!msg) {
+        UndoStack::push(new EditMsgCommand(s.id, dbc()->newMsgName(s.id), can->lastMessage(s.id).dat.size()));
+        msg = dbc()->msg(s.id);
+      }
+      s.sig.name = dbc()->newSignalName(s.id);
+      UndoStack::push(new AddSigCommand(s.id, s.sig));
+      emit openMessage(s.id);
+    }
+  }
+}
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
new file mode 100644
index 00000000000000..217abd82dcbff7
--- /dev/null
+++ b/tools/cabana/tools/findsignal.h
@@ -0,0 +1,57 @@
+#pragma once
+
+#include <QAbstractTableModel>
+#include <QLabel>
+#include <QPushButton>
+#include <QTableView>
+
+#include "tools/cabana/commands.h"
+#include "tools/cabana/settings.h"
+
+class FindSignalModel : public QAbstractTableModel {
+public:
+  struct SearchSignal {
+    MessageId id = {};
+    uint64_t mono_time = 0;
+    cabana::Signal sig = {};
+    QStringList values;
+  };
+
+  FindSignalModel(QObject *parent) : QAbstractTableModel(parent) {}
+  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 200); }
+  void search(std::function<bool(double)> cmp);
+  void reset();
+  void undo();
+
+  QList<SearchSignal> filtered_signals;
+  QList<SearchSignal> initial_signals;
+  QList<QList<SearchSignal>> histories;
+};
+
+class FindSignalDlg : public QDialog {
+  Q_OBJECT
+public:
+  FindSignalDlg(QWidget *parent);
+
+signals:
+  void openMessage(const MessageId &id);
+
+private:
+  void search();
+  void modelReset();
+  void setInitialSignals();
+  void customMenuRequested(const QPoint &pos);
+
+  QLineEdit *value1, *value2, *factor_edit, *offset_edit;
+  QComboBox *compare_cb;
+  QSpinBox *min_size, *max_size;
+  QCheckBox *litter_endian, *is_signed;
+  QPushButton *search_btn, *reset_btn, *undo_btn;
+  QGroupBox *properties_group;
+  QTableView *view;
+  QLabel *to_label, *stats_label;
+  FindSignalModel *model;
+};

From 202751a796580b6697f0e87f6e501fa909b679e0 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 13 May 2023 15:38:28 -0700
Subject: [PATCH 135/175] Ford: add Maverick test route (#28181)

* Ford: add Maverick test route

* docs

* bump
---
 docs/CARS.md                    | 3 ++-
 selfdrive/car/ford/interface.py | 2 +-
 selfdrive/car/tests/routes.py   | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index f0ad95853671d0..d101c7dee2be17 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 251 Supported Cars
+# 252 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -35,6 +35,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
+|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3</a>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
 |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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index f74cafdd9a3204..937980899fa77a 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -18,7 +18,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # These cars are dashcam only for lack of test coverage.
     # Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.FOCUS_MK4, CAR.MAVERICK_MK1}
+    ret.dashcamOnly = candidate in {CAR.FOCUS_MK4}
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 538f59d39cc686..74834065fbc440 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -17,7 +17,6 @@
 # TODO: add routes for these cars
 non_tested_cars = [
   FORD.FOCUS_MK4,
-  FORD.MAVERICK_MK1,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
@@ -48,6 +47,7 @@
   CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
+  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),

From 717bc04ddc330c43e794f28ee6ff3a287425112e Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 13 May 2023 16:20:34 -0700
Subject: [PATCH 136/175] Ford: improved ACC UI for OP long (#28114)

* Ford: improved ACC UI for OP long

- Show "stopped" status message on IPC when in standstill, similar to stock
- Prevent the distance control UI from appearing on button press (as
this does not influence OP long).

* set lead indicator and only override stock when OP is controlling long

* match DBC
---
 selfdrive/car/ford/carcontroller.py |  4 +++-
 selfdrive/car/ford/carstate.py      |  2 +-
 selfdrive/car/ford/fordcan.py       | 16 ++++++++++++++--
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index edce3418be76ce..29b86f4ff66c45 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -99,7 +99,9 @@ def update(self, CC, CS, now_nanos):
       can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
     # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values))
+      can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive,
+                                         CS.out.cruiseState.standstill, hud_control,
+                                         CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 1281b65d1d3d69..4ab968ea99fc3b 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -231,7 +231,7 @@ def get_cam_can_parser(CP):
       ("FcwMemStat_B_Actl", "ACCDATA_3"),           # FCW enabled setting
       ("AccTGap_B_Dsply", "ACCDATA_3"),             # ACC time gap display setting
       ("CadsAlignIncplt_B_Actl", "ACCDATA_3"),
-      ("AccFllwMde_B_Dsply", "ACCDATA_3"),          # ACC follow mode display setting
+      ("AccFllwMde_B_Dsply", "ACCDATA_3"),          # ACC lead indicator
       ("CadsRadrBlck_B_Actl", "ACCDATA_3"),
       ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"),        # AEB event status
       ("AccStopMde_B_Dsply", "ACCDATA_3"),          # ACC stop mode display setting
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index f35a2d81a3cbe7..0202dc8845c5ea 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -123,9 +123,11 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: b
   return packer.make_can_msg("ACCDATA", CANBUS.main, values)
 
 
-def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
+def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
+                      stock_values: dict):
   """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status.
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
+  assist status.
 
   Stock functionality is maintained by passing through unmodified signals.
 
@@ -181,6 +183,16 @@ def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_v
   values.update({
     "Tja_D_Stat": status,        # TJA status
   })
+
+  if CP.openpilotLongitudinalControl:
+    values.update({
+      "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
+      "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
+      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
+      "AccStopMde_B_Dsply": 1 if standstill else 0,
+      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+    })
+
   return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
 
 

From 123ad8549bbf166272bd0573572f6ea47f4718f5 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 13 May 2023 19:23:06 -0700
Subject: [PATCH 137/175] add Ford Maverick to release notes

---
 RELEASES.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/RELEASES.md b/RELEASES.md
index 9b7f5450b92238..a4b2a76875a65a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -16,6 +16,7 @@ Version 0.9.2 (2023-05-22)
 * Ford Escape 2020-22 support
 * Ford Explorer 2020-22 support
 * Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
 * Genesis GV80 2023 support thanks to JWingate80!
 * Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!

From 437fcc6582e213178ceb453e77b1e88ca3650548 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 13 May 2023 21:05:00 -0700
Subject: [PATCH 138/175] fix loopback test safety setting (#28184)

* fix loopback safety setting

* pandad: catch and log all exceptions

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/boardd/pandad.py                     |  4 ++++
 selfdrive/boardd/tests/test_boardd_loopback.py | 10 +++++-----
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 7060f679637f57..50027f340f03e0 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -140,10 +140,14 @@ def main() -> NoReturn:
 
       for p in pandas:
         p.close()
+    # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
       continue
+    except Exception:
+      cloudlog.exception("pandad.uncaught_exception")
+      continue
 
     first_run = False
 
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index c389ea4885c91a..4be5b3f7e8e7b9 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -31,8 +31,8 @@ def tearDownClass(cls):
   @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
-    # wait for boardd to init
-    time.sleep(2)
+    params = Params()
+    params.put_bool("IsOnroad", False)
 
     with Timeout(60, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
@@ -45,21 +45,21 @@ def test_loopback(self):
     self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
                                                    connect another panda for multipanda tests.")
 
-    # boardd blocks on FirmwareQueryDone, ControlsReady, and CarParams
+    # boardd safety setting relies on these params
     cp = car.CarParams.new_message()
 
     safety_config = car.CarParams.SafetyConfig.new_message()
     safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
     cp.safetyConfigs = [safety_config]*num_pandas
 
-    params = Params()
+    params.put_bool("IsOnroad", True)
     params.put_bool("FirmwareQueryDone", True)
     params.put_bool("ControlsReady", True)
     params.put("CarParams", cp.to_bytes())
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
-    time.sleep(0.2)
+    time.sleep(0.5)
 
     n = 200
     for i in range(n):

From 13504f5ecfae23fb7b6302f62be797cdefa10990 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 15 May 2023 01:14:31 +0800
Subject: [PATCH 139/175] cabana/findSignalDlg: support filter messages by
 bus/address/time. (#28186)

---
 tools/cabana/tools/findsignal.cc | 84 ++++++++++++++++++++++++++------
 tools/cabana/tools/findsignal.h  |  7 ++-
 2 files changed, 75 insertions(+), 16 deletions(-)

diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 30fa5b4040ffc2..bc969356d4df77 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -39,8 +39,13 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
     const auto &events = can->events(s.id);
     auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
-    auto it = std::find_if(first, events.cend(), [&](auto e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
-    if (it != events.cend()) {
+    auto last = events.cend();
+    if (last_time < std::numeric_limits<uint64_t>::max()) {
+      last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    }
+
+    auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+    if (it != last) {
       auto values = s.values;
       values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
       std::lock_guard lk(lock);
@@ -76,11 +81,27 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
   setAttribute(Qt::WA_DeleteOnClose);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
-  properties_group = new QGroupBox(tr("Signal Properties"));
+  // Messages group
+  message_group = new QGroupBox(tr("Messages"), this);
+  QFormLayout *message_layout = new QFormLayout(message_group);
+  message_layout->addRow(tr("Bus"), bus_edit = new QLineEdit());
+  bus_edit->setPlaceholderText(tr("comma-seperated values. Leave blank for all"));
+  message_layout->addRow(tr("Address"), address_edit = new QLineEdit());
+  address_edit->setPlaceholderText(tr("comma-seperated hex values. Leave blank for all"));
+  QHBoxLayout *hlayout = new QHBoxLayout();
+  hlayout->addWidget(first_time_edit = new QLineEdit("0"));
+  hlayout->addWidget(new QLabel("-"));
+  hlayout->addWidget(last_time_edit = new QLineEdit("MAX"));
+  hlayout->addWidget(new QLabel("seconds"));
+  hlayout->addStretch(0);
+  message_layout->addRow(tr("Time"), hlayout);
+
+  // Signal group
+  properties_group = new QGroupBox(tr("Signal"));
   QFormLayout *property_layout = new QFormLayout(properties_group);
   property_layout->setFieldGrowthPolicy(QFormLayout::FieldsStayAtSizeHint);
 
-  QHBoxLayout *hlayout = new QHBoxLayout();
+  hlayout = new QHBoxLayout();
   hlayout->addWidget(min_size = new QSpinBox);
   hlayout->addWidget(new QLabel("-"));
   hlayout->addWidget(max_size = new QSpinBox);
@@ -89,11 +110,14 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
   hlayout->addStretch(0);
   min_size->setRange(1, 64);
   max_size->setRange(1, 64);
+  min_size->setValue(8);
+  max_size->setValue(8);
   litter_endian->setChecked(true);
   property_layout->addRow(tr("Size"), hlayout);
   property_layout->addRow(tr("Factor"), factor_edit = new QLineEdit("1.0"));
   property_layout->addRow(tr("Offset"), offset_edit = new QLineEdit("0.0"));
 
+  // find group
   QGroupBox *find_group = new QGroupBox(tr("Find signal"), this);
   QVBoxLayout *vlayout = new QVBoxLayout(find_group);
   hlayout = new QHBoxLayout();
@@ -108,6 +132,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
   vlayout->addLayout(hlayout);
 
   compare_cb->addItems({"=", ">", ">=", "!=", "<", "<=", "between"});
+  value1->setFocus(Qt::OtherFocusReason);
   value2->setVisible(false);
   to_label->setVisible(false);
   undo_btn->setEnabled(false);
@@ -115,22 +140,25 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
 
   auto double_validator = new QDoubleValidator(this);
   double_validator->setLocale(QLocale::C);
-  for (auto edit : {value1, value2, factor_edit, offset_edit}) {
+  for (auto edit : {value1, value2, factor_edit, offset_edit, first_time_edit, last_time_edit}) {
     edit->setValidator(double_validator);
   }
 
   vlayout->addWidget(view = new QTableView(this));
-  vlayout->addWidget(stats_label = new QLabel());
   view->setContextMenuPolicy(Qt::CustomContextMenu);
   view->horizontalHeader()->setStretchLastSection(true);
   view->horizontalHeader()->setSelectionMode(QAbstractItemView::NoSelection);
   view->setSelectionBehavior(QAbstractItemView::SelectRows);
   view->setModel(model = new FindSignalModel(this));
 
-  main_layout->addWidget(properties_group);
+  hlayout = new QHBoxLayout();
+  hlayout->addWidget(message_group);
+  hlayout->addWidget(properties_group);
+  main_layout->addLayout(hlayout);
   main_layout->addWidget(find_group);
+  main_layout->addWidget(stats_label = new QLabel());
 
-  setMinimumSize({700, 550});
+  setMinimumSize({700, 650});
   QObject::connect(search_btn, &QPushButton::clicked, this, &FindSignalDlg::search);
   QObject::connect(undo_btn, &QPushButton::clicked, model, &FindSignalModel::undo);
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &FindSignalDlg::modelReset);
@@ -162,6 +190,7 @@ void FindSignalDlg::search() {
     case 6: cmp = [v1, v2](double v) { return v >= v1 && v <= v2;}; break;
   }
   properties_group->setEnabled(false);
+  message_group->setEnabled(false);
   search_btn->setEnabled(false);
   stats_label->setVisible(false);
   search_btn->setText("Finding ....");
@@ -169,20 +198,46 @@ void FindSignalDlg::search() {
 }
 
 void FindSignalDlg::setInitialSignals() {
+  QSet<ushort> buses;
+  for (auto bus : bus_edit->text().trimmed().split(",")) {
+    bus = bus.trimmed();
+    if (!bus.isEmpty()) buses.insert(bus.toUShort());
+  }
+
+  QSet<uint32_t> addresses;
+  for (auto addr : address_edit->text().trimmed().split(",")) {
+    addr = addr.trimmed();
+    if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16));
+  }
+
   cabana::Signal sig{};
   sig.is_little_endian = litter_endian->isChecked();
   sig.is_signed = is_signed->isChecked();
   sig.factor = factor_edit->text().toDouble();
   sig.offset = offset_edit->text().toDouble();
 
+  auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble());
+  uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
+  model->last_time = std::numeric_limits<uint64_t>::max();
+  if (last_sec > 0) {
+    model->last_time = (can->routeStartTime() + last_sec) * 1e9;
+  }
   model->initial_signals.clear();
+
   for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    const int total_size = it.value().dat.size() * 8;
-    for (int size = min_size->value(); size <= max_size->value(); ++size) {
-      for (int start = 0; start <= total_size - size; ++start) {
-        FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = 0, .sig = sig};
-        updateSigSizeParamsFromRange(s.sig, start, size);
-        model->initial_signals.push_back(s);
+    if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
+      const auto &events = can->events(it.key());
+      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; });
+      if (e != events.cend()) {
+        const int total_size = it.value().dat.size() * 8;
+        for (int size = min_size->value(); size <= max_size->value(); ++size) {
+          for (int start = 0; start <= total_size - size; ++start) {
+            FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
+            updateSigSizeParamsFromRange(s.sig, start, size);
+            s.value = get_raw_value((*e)->dat, (*e)->size, s.sig);
+            model->initial_signals.push_back(s);
+          }
+        }
       }
     }
   }
@@ -190,6 +245,7 @@ void FindSignalDlg::setInitialSignals() {
 
 void FindSignalDlg::modelReset() {
   properties_group->setEnabled(model->histories.isEmpty());
+  message_group->setEnabled(model->histories.isEmpty());
   search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
   reset_btn->setEnabled(!model->histories.isEmpty());
   undo_btn->setEnabled(model->histories.size() > 1);
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
index 217abd82dcbff7..f046bdf7e35ae5 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/tools/cabana/tools/findsignal.h
@@ -14,6 +14,7 @@ class FindSignalModel : public QAbstractTableModel {
     MessageId id = {};
     uint64_t mono_time = 0;
     cabana::Signal sig = {};
+    double value = 0.;
     QStringList values;
   };
 
@@ -21,7 +22,7 @@ class FindSignalModel : public QAbstractTableModel {
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 200); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); }
   void search(std::function<bool(double)> cmp);
   void reset();
   void undo();
@@ -29,6 +30,7 @@ class FindSignalModel : public QAbstractTableModel {
   QList<SearchSignal> filtered_signals;
   QList<SearchSignal> initial_signals;
   QList<QList<SearchSignal>> histories;
+  uint64_t last_time = std::numeric_limits<uint64_t>::max();
 };
 
 class FindSignalDlg : public QDialog {
@@ -46,11 +48,12 @@ class FindSignalDlg : public QDialog {
   void customMenuRequested(const QPoint &pos);
 
   QLineEdit *value1, *value2, *factor_edit, *offset_edit;
+  QLineEdit *bus_edit, *address_edit, *first_time_edit, *last_time_edit;
   QComboBox *compare_cb;
   QSpinBox *min_size, *max_size;
   QCheckBox *litter_endian, *is_signed;
   QPushButton *search_btn, *reset_btn, *undo_btn;
-  QGroupBox *properties_group;
+  QGroupBox *properties_group, *message_group;
   QTableView *view;
   QLabel *to_label, *stats_label;
   FindSignalModel *model;

From ec53fad3c4f9bac5605e635a653d842402ccbf5d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 14 May 2023 11:24:48 -0700
Subject: [PATCH 140/175] count_events.py: show alerts

---
 selfdrive/debug/count_events.py | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 93dd5bdc470f25..42b671e5e33dd2 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -5,7 +5,7 @@
 from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
-from typing import cast
+from typing import List, Tuple, cast
 
 from cereal.services import service_list
 from tools.lib.route import Route
@@ -20,6 +20,7 @@
   cams = [s for s in service_list if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
+  alerts: List[Tuple[float, str]] = []
   start_time = math.inf
   end_time = -math.inf
   for q in tqdm(r.qlog_paths()):
@@ -27,18 +28,22 @@
       continue
     lr = list(LogReader(q))
     for msg in lr:
+      end_time = max(end_time, msg.logMonoTime)
+      start_time = min(start_time, msg.logMonoTime)
+
       if msg.which() == 'carEvents':
         for e in msg.carEvents:
           cnt_events[e.name] += 1
+      elif msg.which() == 'controlsState':
+        if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
+          t = (msg.logMonoTime - start_time) / 1e9
+          alerts.append((t, msg.controlsState.alertType))
       elif msg.which() in cams:
         cnt_cameras[msg.which()] += 1
 
       if not msg.valid:
         cnt_valid[msg.which()] += 1
 
-      end_time = max(end_time, msg.logMonoTime)
-      start_time = min(start_time, msg.logMonoTime)
-
   duration = (end_time - start_time) / 1e9
 
   print("Events")
@@ -55,5 +60,10 @@
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 
+  print("\n")
+  print("Alerts")
+  for t, a in alerts:
+    print(f"{t:8.2f} {a}")
+
   print("\n")
   print("Route duration", datetime.timedelta(seconds=duration))

From de45134da66cae0f69b4d0c66923e8b1bd7e43b4 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sun, 14 May 2023 17:18:34 -0700
Subject: [PATCH 141/175] Ford: block stock ACC warnings on OP long (#28185)

Override this signal which the stock system uses to show messages such
as "ACC unavailable", "Speed too low" and causes the canceled sound to
play.
---
 selfdrive/car/ford/fordcan.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 0202dc8845c5ea..daf880aa8254e7 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -187,9 +187,11 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool
   if CP.openpilotLongitudinalControl:
     values.update({
       "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
+      "AccMsgTxt_D2_Rq": 0,                                       # ACC text
       "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
       "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
       "AccStopMde_B_Dsply": 1 if standstill else 0,
+      "AccWarn_D_Dsply": 0,                                       # ACC warning
       "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
     })
 

From 598343aad18a7896c6b65ff6e19f9e27ba19cc10 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 15 May 2023 09:29:57 -0700
Subject: [PATCH 142/175] Calibrationd: make recalibrating alert (#28149)

* Initial

* fixes

* not an int anymore

* elif

* revert ref

* update ref

* fix alert text

* regen refs

* update ref

* add recalibration unit test

* set into recalibration state

* fix words

* recalib

* text

* Update selfdrive/controls/lib/events.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 cereal                                        |  2 +-
 selfdrive/controls/controlsd.py               |  9 ++---
 selfdrive/controls/lib/events.py              | 11 ++++--
 selfdrive/locationd/calibrationd.py           | 21 ++++++-----
 selfdrive/locationd/locationd.cc              |  2 +-
 selfdrive/locationd/test/test_calibrationd.py |  2 ++
 selfdrive/monitoring/dmonitoringd.py          |  4 +--
 selfdrive/test/process_replay/ref_commit      |  2 +-
 selfdrive/test/process_replay/test_fuzzy.py   |  1 -
 .../test/process_replay/test_processes.py     | 36 +++++++++----------
 selfdrive/ui/qt/offroad/settings.cc           |  2 +-
 selfdrive/ui/ui.cc                            |  2 +-
 12 files changed, 51 insertions(+), 43 deletions(-)

diff --git a/cereal b/cereal
index 8902e7a77815ca..2c22c7b00ba679 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 8902e7a77815ca08e795b3006274d02379da7ca6
+Subproject commit 2c22c7b00ba6797734e9520e728cbf58b33a82ce
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f40fc6accf01bf..96109d345ccd51 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -26,7 +26,6 @@
 from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.locationd.calibrationd import Calibration
 from system.hardware import HARDWARE
 
 SOFT_DISABLE_TIME = 3  # seconds
@@ -283,9 +282,11 @@ def update_events(self, CS):
 
     # Handle calibration status
     cal_status = self.sm['liveCalibration'].calStatus
-    if cal_status != Calibration.CALIBRATED:
-      if cal_status == Calibration.UNCALIBRATED:
+    if cal_status != log.LiveCalibrationData.Status.calibrated:
+      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
+      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+        self.events.add(EventName.calibrationRecalibrating)
       else:
         self.events.add(EventName.calibrationInvalid)
 
@@ -697,7 +698,7 @@ def publish_logs(self, CS, start_time, CC, lac_log):
 
     recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
     ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
-                  and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
+                  and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated
 
     model_v2 = self.sm['modelV2']
     desire_prediction = model_v2.meta.desirePrediction
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 12b78d7ee352b9..b935e246150599 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -242,8 +242,9 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
   return Alert(
-    "Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
+    f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
     f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
@@ -720,9 +721,15 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
 
   EventName.calibrationIncomplete: {
     ET.PERMANENT: calibration_incomplete_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Device remount detected: recalibrating"),
+    ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
+  
+  EventName.calibrationRecalibrating: {
+    ET.PERMANENT: calibration_incomplete_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
+    ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"),
+  },
 
   EventName.doorOpen: {
     ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 091f21117517d1..dc4ffbb1f72446 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -39,12 +39,6 @@
 DEBUG = os.getenv("DEBUG") is not None
 
 
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def is_calibration_valid(rpy: np.ndarray) -> bool:
   return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
 
@@ -69,6 +63,7 @@ def __init__(self, param_put: bool = False):
     rpy_init = RPY_INIT
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
     valid_blocks = 0
+    self.cal_status = log.LiveCalibrationData.Status.uncalibrated
 
     if param_put and calibration_params:
       try:
@@ -134,16 +129,20 @@ def update_status(self) -> None:
       self.calib_spread = np.zeros(3)
 
     if self.valid_blocks < INPUTS_NEEDED:
-      self.cal_status = Calibration.UNCALIBRATED
+      if self.cal_status == log.LiveCalibrationData.Status.recalibrating:
+        self.cal_status = log.LiveCalibrationData.Status.recalibrating
+      else:
+        self.cal_status = log.LiveCalibrationData.Status.uncalibrated
     elif is_calibration_valid(self.rpy):
-      self.cal_status = Calibration.CALIBRATED
+      self.cal_status = log.LiveCalibrationData.Status.calibrated
     else:
-      self.cal_status = Calibration.INVALID
+      self.cal_status = log.LiveCalibrationData.Status.invalid
 
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
-    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
+    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
       self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
+      self.cal_status = log.LiveCalibrationData.Status.recalibrating
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
@@ -210,7 +209,7 @@ def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
 
     if self.not_car:
       liveCalibration.validBlocks = INPUTS_NEEDED
-      liveCalibration.calStatus = Calibration.CALIBRATED
+      liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
       liveCalibration.calPerc = 100.
       liveCalibration.rpyCalib = [0, 0, 0]
       liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 6c0307bd64b55f..9ee9e33fb44ebc 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -507,7 +507,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
     this->calib = live_calib;
     this->device_from_calib = euler2rot(this->calib);
     this->calib_from_device = this->device_from_calib.transpose();
-    this->calibrated = log.getCalStatus() == 1;
+    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
     this->observation_values_invalid["liveCalibration"] *= DECAY;
   }
 }
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index 2c6508fd42f0c7..18125cc43f2fb1 100755
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -5,6 +5,7 @@
 import numpy as np
 
 import cereal.messaging as messaging
+from cereal import log
 from common.params import Params
 from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES
 
@@ -96,6 +97,7 @@ def test_calibration_auto_reset(self):
                          [0.0, 0.0, 0.0],
                          [1e-3, 1e-3, 1e-3])
     self.assertEqual(c.valid_blocks, 1)
+    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
 
 if __name__ == "__main__":
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 35eee5b035bd07..836ed9cc4f470d 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -3,10 +3,10 @@
 
 import cereal.messaging as messaging
 from cereal import car
+from cereal import log
 from common.params import Params, put_bool_nonblocking
 from common.realtime import set_realtime_priority
 from selfdrive.controls.lib.events import Events
-from selfdrive.locationd.calibrationd import Calibration
 from selfdrive.monitoring.driver_monitor import DriverStatus
 
 
@@ -22,7 +22,7 @@ def dmonitoringd_thread(sm=None, pm=None):
 
   driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
-  sm['liveCalibration'].calStatus = Calibration.INVALID
+  sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
   sm['carState'].buttonEvents = []
   sm['carState'].standstill = True
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8e4d9f5afce4ab..a7fb186c1694ff 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b4a208cb84a99eb15116d2a445c278b00275fdd5
\ No newline at end of file
+8bbb5436ef66dffbe57c3ac5e9b91d262f3f412b
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 28e0f70589cf57..29fdf641f13f99 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -92,7 +92,6 @@ def floats(**kwargs):
     'speedAccuracy': floats(width=32),
   })
   r['LiveCalibration'] = st.fixed_dictionaries({
-    'calStatus': st.integers(min_value=0, max_value=1),
     'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3),
   })
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index ecb2bb02ca98f0..deed1ec48f5c76 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -40,24 +40,24 @@
 ]
 
 segments = [
-  ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
-  ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
-  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),
-  ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
-  ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
-  ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
-  ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
-  ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
-  ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
-  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),
-  ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
-  ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
-  ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
-  ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
-  ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),
-]
+  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), 
+  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), 
+  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), 
+  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), 
+  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), 
+  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), 
+  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), 
+  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), 
+  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), 
+  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), 
+  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), 
+  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), 
+  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), 
+  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), 
+  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), 
+  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), 
+  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), 
+  ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "mazda", "tesla"]
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index fd14ed15e2d33c..bc4a10fd0513b1 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -273,7 +273,7 @@ void DevicePanel::updateCalibDescription() {
       AlignedBuffer aligned_buf;
       capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
       auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
-      if (calib.getCalStatus() != 0) {
+      if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
         desc += tr(" Your device is pointed %1° %2 and %3° %4.")
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 50ffc84f4f8bea..f60ba51ce46dbb 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -179,7 +179,7 @@ static void update_state(UIState *s) {
         scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j);
       }
     }
-    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
+    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
     scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {

From 629e5cb99a9933bffa3875b243f7d098299113c0 Mon Sep 17 00:00:00 2001
From: Arka Poddar <poddararka27@gmail.com>
Date: Mon, 15 May 2023 22:01:00 +0530
Subject: [PATCH 143/175] Update README.md (#28188)

Correct URL towards the job portal
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3223cda2f3697c..5428ea7a9599da 100755
--- a/README.md
+++ b/README.md
@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
 
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
 
 And [follow us on Twitter](https://twitter.com/comma_ai).
 

From 5c843d9c12d1c11f32c8c2b171579d68d271b208 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 15 May 2023 10:07:01 -0700
Subject: [PATCH 144/175] bump cereal

---
 cereal | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cereal b/cereal
index 2c22c7b00ba679..4ffd63b955a6b9 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 2c22c7b00ba6797734e9520e728cbf58b33a82ce
+Subproject commit 4ffd63b955a6b965fc278c5551fdb2b5ef0deaa5

From fbcf6ced51aa7ca510293799c3e553095cd4577e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 15 May 2023 12:45:19 -0700
Subject: [PATCH 145/175] test_onroad: handle spotty gps in testing closet
 (#28194)

---
 selfdrive/test/test_onroad.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 64d8febeebc319..22ddb6e9cc57f8 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -161,7 +161,11 @@ def test_service_frequencies(self):
     for s, msgs in self.service_msgs.items():
       if s in ('initData', 'sentinel'):
         continue
-
+      
+      # skip gps services for now
+      if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements'):
+        continue
+        
       with self.subTest(service=s):
         assert len(msgs) >= math.floor(service_list[s].frequency*55)
 

From 0c00099437489dda8f68dec41264052a3a587442 Mon Sep 17 00:00:00 2001
From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com>
Date: Mon, 15 May 2023 17:02:25 -0300
Subject: [PATCH 146/175] Hyundai: add missing FW for Sonata 2023 (#28191)

3ab09aae5a9310b2 AppleExpl01t#5323 SONATA fingerprint

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/car/hyundai/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index ddd877245b9a19..f7f94888359a4a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -574,6 +574,7 @@ class Buttons:
       b'\xf1\x82DNCVN5GMCCXXXG2B',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A',
+      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10',
       b'\xf1\x87391162M003',
       b'\xf1\x87391162M013',
       b'\xf1\x87391162M023',
@@ -587,6 +588,7 @@ class Buttons:
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
       b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
       b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
@@ -624,6 +626,7 @@ class Buttons:
       b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
       b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
       b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
+      b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba',
       b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
       b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
       b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',

From 8ca3be97880cfddb230f02924017d9a2edeb7a89 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 16 May 2023 04:08:21 +0800
Subject: [PATCH 147/175] ui: refactor setPrimeType (#28143)

handle prime type change in new function UIState::setPrimeType
---
 selfdrive/ui/qt/offroad/wifiManager.cc |  2 +-
 selfdrive/ui/qt/onroad.cc              |  2 +-
 selfdrive/ui/qt/widgets/prime.cc       |  4 ++--
 selfdrive/ui/ui.cc                     | 15 ++++++++-------
 selfdrive/ui/ui.h                      | 10 ++++++----
 5 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index fde8645586e97f..be9da34d457064 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -415,7 +415,7 @@ void WifiManager::addTetheringConnection() {
 }
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
-  int prime_type = uiState()->prime_type;
+  int prime_type = uiState()->primeType();
   int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE);
 
   if (!ipv4_forward) {
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7e28fa811383ce..0378a85e90616c 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -89,7 +89,7 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
 void OnroadWindow::offroadTransition(bool offroad) {
 #ifdef ENABLE_MAPS
   if (!offroad) {
-    if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) {
+    if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) {
       MapWindow * m = new MapWindow(get_mapbox_settings());
       map = m;
 
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index da2f4e60d19731..7f88b049aecdae 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -277,7 +277,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   primeUser = new PrimeUserWidget;
   mainLayout->addWidget(primeUser);
 
-  mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd);
+  mainLayout->setCurrentWidget(uiState()->primeType() ? (QWidget*)primeUser : (QWidget*)primeAd);
 
   setFixedWidth(750);
   setStyleSheet(R"(
@@ -312,7 +312,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
 
   QJsonObject json = doc.object();
   int prime_type = json["prime_type"].toInt();
-  uiState()->prime_type = prime_type;
+  uiState()->setPrimeType(prime_type);
 
   if (!json["is_paired"].toBool()) {
     mainLayout->setCurrentIndex(0);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f60ba51ce46dbb..ac8caa0f2047e7 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -238,13 +238,6 @@ void UIState::updateStatus() {
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
   }
-
-  // Handle prime type change
-  if (prime_type != prime_type_prev) {
-    prime_type_prev = prime_type;
-    emit primeTypeChanged(prime_type);
-    Params().put("PrimeType", std::to_string(prime_type));
-  }
 }
 
 UIState::UIState(QObject *parent) : QObject(parent) {
@@ -275,6 +268,14 @@ void UIState::update() {
   emit uiUpdate(*this);
 }
 
+void UIState::setPrimeType(int type) {
+  if (type != prime_type) {
+    prime_type = type;
+    Params().put("PrimeType", std::to_string(prime_type));
+    emit primeTypeChanged(prime_type);
+  }
+}
+
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimout();
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 4c4bd462e77213..2df0470035d2e9 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -133,10 +133,13 @@ class UIState : public QObject {
   void updateStatus();
   inline bool worldObjectsVisible() const {
     return sm->rcv_frame("liveCalibration") > scene.started_frame;
-  };
+  }
   inline bool engaged() const {
     return scene.started && (*sm)["controlsState"].getControlsState().getEnabled();
-  };
+  }
+
+  void setPrimeType(int type);
+  inline int primeType() const { return prime_type; }
 
   int fb_w = 0, fb_h = 0;
 
@@ -146,7 +149,6 @@ class UIState : public QObject {
   UIScene scene = {};
 
   bool awake;
-  int prime_type;
   QString language;
 
   QTransform car_space_transform;
@@ -162,7 +164,7 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
-  int prime_type_prev = -1;
+  int prime_type = -1;
 };
 
 UIState *uiState();

From c192c92a4e838b9d5b8b80bc86fb35a0f236f2b2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 15 May 2023 13:10:36 -0700
Subject: [PATCH 148/175] calibrationd: add offroad alert when remount detected
 (#28073)

* calibrationd: add offroad alert for recalibration

* Update common/params.cc
---
 common/params.cc                           | 1 +
 selfdrive/controls/controlsd.py            | 1 +
 selfdrive/controls/lib/alerts_offroad.json | 4 ++++
 3 files changed, 6 insertions(+)

diff --git a/common/params.cc b/common/params.cc
index c3a50fd1096bc7..bc1e414faaaa15 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -202,6 +202,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
 };
 
 } // namespace
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 96109d345ccd51..f62ea067294982 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -286,6 +286,7 @@ def update_events(self, CS):
       if cal_status == log.LiveCalibrationData.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
       elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+        set_offroad_alert("Offroad_Recalibration", True)
         self.events.add(EventName.calibrationRecalibrating)
       else:
         self.events.add(EventName.calibrationInvalid)
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 2f85ea917ae6b4..42d2512e518e0c 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -48,5 +48,9 @@
   "Offroad_NoFirmware": {
     "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
+  },
+  "Offroad_Recalibration": {
+    "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
+    "severity": 0
   }
 }

From e889e09513f5c241dcc53c936966b22e3fe7d9e7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 15 May 2023 13:57:11 -0700
Subject: [PATCH 149/175] controlsd: check for self lagging in radar alert

---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index f62ea067294982..959740d97d95c9 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -337,7 +337,7 @@ def update_events(self, CS):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
+    if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)

From c293cb71c713d4fff993986283220bf4c4f83d16 Mon Sep 17 00:00:00 2001
From: ecaslak <whizkid51594@gmail.com>
Date: Mon, 15 May 2023 16:57:33 -0400
Subject: [PATCH 150/175] Add fingerprint for 2022 Honda Passport (#28175)

* Update CARS.md for 2022 Honda Passport

Changed latest supported model year from 21 to 22

* Update values.py: 2022 Honda Passport Fingerprint

Added ECU fingerprints for 2022 Honda Passport

* add missing fw

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                  | 2 +-
 selfdrive/car/honda/values.py | 8 +++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index d101c7dee2be17..f55aef7e4b0da2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -66,7 +66,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-21">Honda Nidec</a>||
+|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec</a>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec</a>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 951d3c82184a35..88ba76ad10be99 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -146,7 +146,7 @@ def init_make(self, CP: car.CarParams):
   CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.PILOT: [
     HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-    HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
@@ -1114,6 +1114,7 @@ def init_make(self, CP: car.CarParams):
       b'28101-5EZ-A210\x00\x00',
       b'28101-5EZ-A600\x00\x00',
       b'28101-5EZ-A430\x00\x00',
+      b'28101-5EZ-A700\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-RLV-4060\x00\x00',
@@ -1128,6 +1129,7 @@ def init_make(self, CP: car.CarParams):
       b'37805-RLV-B220\x00\x00',
       b'37805-RLV-B210\x00\x00',
       b'37805-RLV-L160\x00\x00',
+      b'37805-RLV-B420\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A030\x00\x00',
@@ -1141,6 +1143,7 @@ def init_make(self, CP: car.CarParams):
       b'39990-TG7-A060\x00\x00',
       b'39990-TG7-A070\x00\x00',
       b'39990-TGS-A230\x00\x00',
+      b'39990-TGS-A320\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-TG7-A310\x00\x00',
@@ -1161,6 +1164,7 @@ def init_make(self, CP: car.CarParams):
       b'36161-TGT-A030\x00\x00',
       b'36161-TGT-A130\x00\x00',
       b'36161-TGS-A030\x00\x00',
+      b'36161-TGS-A220\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TG7-A020\x00\x00',
@@ -1168,6 +1172,7 @@ def init_make(self, CP: car.CarParams):
       b'77959-TG7-A210\x00\x00',
       b'77959-TG7-Y210\x00\x00',
       b'77959-TGS-A010\x00\x00',
+      b'77959-TGS-A110\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TG7-A040\x00\x00',
@@ -1201,6 +1206,7 @@ def init_make(self, CP: car.CarParams):
       b'78109-TGS-AT20\x00\x00',
       b'78109-TGS-AX20\x00\x00',
       b'78109-TGS-AJ20\x00\x00',
+      b'78109-TGS-AC10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TG7-A130\x00\x00',

From b28221d3461b094418288eefd11f9a9530a174c8 Mon Sep 17 00:00:00 2001
From: alkuwari007 <132804640+alkuwari007@users.noreply.github.com>
Date: Tue, 16 May 2023 00:11:07 +0300
Subject: [PATCH 151/175] FCA: Ram 1500 Rebel 2022 FW versions (#28155)

* Ram 1500 rebel 2022 ECU version update

* rm line

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/chrysler/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index a9d1a528ca309c..e0260dfb6cf160 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -227,6 +227,7 @@ class ChryslerCarInfo(CarInfo):
       b'68453514AD',
       b'68510283AG',
       b'68527375AD',
+      b'68527346AE',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -249,6 +250,7 @@ class ChryslerCarInfo(CarInfo):
       b'68535469AB',
       b'68535470AC',
       b'68586307AB',
+      b'68548900AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
@@ -276,6 +278,7 @@ class ChryslerCarInfo(CarInfo):
       b'68552788AA',
       b'68552790AA',
       b'68585112AB',
+      b'68552789AA',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05036065AE ',
@@ -287,6 +290,7 @@ class ChryslerCarInfo(CarInfo):
       b'68500630AD',
       b'68500630AE',
       b'68539650AD',
+      b'05149846AA ',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'68360078AL',
@@ -299,6 +303,7 @@ class ChryslerCarInfo(CarInfo):
       b'68484467AC',
       b'68502994AD',
       b'68540431AB',
+      b'68520867AE',
     ],
   },
 

From 83b6469b866202c981e58c2663be27fdb5b74aa2 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 15 May 2023 14:34:00 -0700
Subject: [PATCH 152/175] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 675b1e847f918a..f95f4a52946da4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 675b1e847f918a0906a3f4a0bd41289c5fd9bad3
+Subproject commit f95f4a52946da442125f44ff7baeb642b9eb8d3d

From ff5c58c85da250fdac7e2a68b6e5968d5e9a5e4e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 May 2023 14:54:08 -0700
Subject: [PATCH 153/175] docs cars template: remove newline on last line only

---
 selfdrive/car/CARS_template.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index c571e6bec721c6..76e9e225fe8c34 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,5 +1,5 @@
-{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
+{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
+{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
 {% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

From 70677fe5fc044bff0ea99eab6bba5a6d02d5a85f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 15 May 2023 15:33:54 -0700
Subject: [PATCH 154/175] add harness kit content to the doc (#28139)

* add harness kit content to the doc

* parts as enum

* nissan

* merge column

* rename column

* scaling

* scaling again

* 500px

* align text

* more px

* add style

* more width

* more

* more

* smaller text

* make all text smaller

* prev width

* default list

* remove hidden a ref

* try to remove again

* revert

* replace harness with harness_kit

* try fix

* cleaner

* center everything

* make pylint happy

* allow more than 1 of each parts

* use copy module

* review

* testing spacing

* revert

* bigger text

* formating

* split harness col lines

* remove print

* resolve

* rename to view

* keep formating in template

* simplify

* add unit test

* more generic way

* better

* harness connector only

* comment

* review

* put back harness parts

* missing dash

* too much space

* don't reload when clicking

* shorter comment

* only last line

* generate

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                       | 504 ++++++++++++++---------------
 selfdrive/car/CARS_template.md     |   8 +-
 selfdrive/car/chrysler/values.py   |  11 +-
 selfdrive/car/docs_definitions.py  |  34 +-
 selfdrive/car/ford/values.py       |   5 +-
 selfdrive/car/gm/values.py         |   6 +-
 selfdrive/car/honda/values.py      |   6 +-
 selfdrive/car/hyundai/values.py    | 148 ++++-----
 selfdrive/car/mazda/values.py      |   5 +-
 selfdrive/car/nissan/values.py     |  10 +-
 selfdrive/car/subaru/values.py     |  10 +-
 selfdrive/car/tests/test_docs.py   |   3 +-
 selfdrive/car/toyota/values.py     |   4 +-
 selfdrive/car/volkswagen/values.py |   4 +-
 14 files changed, 392 insertions(+), 366 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index f55aef7e4b0da2..46f8bd2787f869 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -6,260 +6,260 @@ A supported vehicle is one that just works when you install a comma three. All s
 
 # 252 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Harness Kit<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec</a>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A</a>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533</a>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533</a>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533</a>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
-|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
-|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM</a>||
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA</a>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA</a>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Buick|LaCrosse 2017-19[<sup>3</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
+|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>3</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chevrolet|Volt 2017-18[<sup>3</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3</a>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3</a>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3</a>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3</a>||
-|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3</a>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M</a>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II</a>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<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>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>|<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-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A</a>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B</a>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
-|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec</a>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec</a>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec</a>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C</a>||
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H</a>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C</a>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B</a>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G</a>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<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>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
-|Hyundai|Santa Fe 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
-|Hyundai|Santa Fe 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A</a>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L</a>||
-|Hyundai|Tucson 2022[<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N</a>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L</a>||
-|Hyundai|Tucson Hybrid 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
-|Kia|EV6 (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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
-|Kia|EV6 (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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P</a>||
-|Kia|EV6 (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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E</a>||
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
-|Kia|K5 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<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>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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A</a>||
-|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C</a>||
-|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D</a>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<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>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
-|Kia|Sportage 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota</a>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
-|Lexus|RX 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
-|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3</a>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A</a>|<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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A</a>||
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A</a>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A</a>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A</a>||
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B</a>||
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
-|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533</a>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota</a>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota</a>||
-|Toyota|Avalon 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota</a>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota</a>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota</a>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota</a>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota</a>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota</a>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota</a>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota</a>||
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota</a>|<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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota</a>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota</a>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533</a>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533</a>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533</a>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533</a>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533</a>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533</a>||
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|GMC|Acadia 2018[<sup>3</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Civic Hatchback 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|HR-V 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Hybrid 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Santa Fe 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Santa Fe 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 2020-22|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson 2022[<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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson Hybrid 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|EV6 (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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|EV6 (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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|EV6 (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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|K5 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sportage 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</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 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</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>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
 
 <a id="footnotes"></a>
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 76e9e225fe8c34..d1d18b6e3df9cf 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,6 +1,10 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
 {% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
-{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' -%}
+{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
+{# Force harness column wider by using a blank image with max width. #}
+{% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
+{% set harness_col_name = 'Harness Kit' %}
+{% set wide_harness_col_name = width_tag|format(harness_col_name) -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
@@ -10,7 +14,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 
 # {{all_car_info | length}} Supported Cars
 
-|{{Column | map(attribute='value') | join('|')}}|
+|{{Column | map(attribute='value') | join('|') | replace(harness_col_name, wide_harness_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
 {% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index e0260dfb6cf160..17ba59f964099a 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,12 +1,11 @@
 from enum import IntFlag
 from dataclasses import dataclass
-from enum import Enum
 from typing import Dict, List, Optional, Union
 
 from cereal import car
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -61,7 +60,7 @@ def __init__(self, CP):
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
-  harness: Enum = Harness.fca
+  harness_kit: HarnessKit = HarnessKit(Harness.fca)
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
@@ -75,10 +74,10 @@ class ChryslerCarInfo(CarInfo):
   ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness_kit=HarnessKit(Harness.ram)),
   CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
-    ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 2500 2020-22", harness_kit=HarnessKit(Harness.ram)),
+    ChryslerCarInfo("Ram 3500 2019-22", harness_kit=HarnessKit(Harness.ram)),
   ],
 }
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index fa95b03fd8c870..bfb182c5e91928 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,5 +1,6 @@
 import re
 from collections import namedtuple
+import copy
 from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union
@@ -20,7 +21,7 @@ class Column(Enum):
   FSR_STEERING = "No ALC below"
   STEERING_TORQUE = "Steering Torque"
   AUTO_RESUME = "Resume from stop"
-  HARNESS = "Harness"
+  HARNESS = "Harness Kit"
   VIDEO = "Video"
 
 
@@ -69,6 +70,23 @@ class Harness(Enum):
   none = "None"
 
 
+class HarnessPart(Enum):
+  harness_box = "harness box"
+  comma_power_v2 = "comma power v2"
+  rj45_cable = "RJ45 cable (7 ft)"
+  long_obdc_cable = "long OBD-C cable"
+  usbc_coupler = "USB-C coupler"
+
+
+DEFAULT_HARNESS_PARTS: List[HarnessPart] = [HarnessPart.harness_box, HarnessPart.comma_power_v2, HarnessPart.rj45_cable]
+
+
+@dataclass
+class HarnessKit:
+  connector: Harness = Harness.none
+  parts: List[HarnessPart] = field(default_factory=lambda: copy.copy(DEFAULT_HARNESS_PARTS))
+
+
 CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
 
 
@@ -135,7 +153,9 @@ class CarInfo:
   footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  harness: Enum = Harness.none
+
+  # harness connectors + all the parts needed
+  harness_kit: HarnessKit = HarnessKit()
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     self.car_name = CP.carName
@@ -165,12 +185,14 @@ def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
       self.min_enable_speed = CP.minEnableSpeed
 
     # harness column
-    harness_col = self.harness.value
-    if self.harness is not Harness.none:
+    harness_col = self.harness_kit.connector.value
+    if self.harness_kit.connector is not Harness.none:
       model_years = self.model + (' ' + self.years if self.years else '')
-      harness_col = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col}</a>'
+      harness_connector = f'- 1 <a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">{harness_col} connector</a>'
+      harness_parts = '<br>'.join([f"- {self.harness_kit.parts.count(part)} {part.value}" for part in sorted(set(self.harness_kit.parts), key=lambda part: part.value)])
+      harness_col = f'<details><summary>View</summary><sub>{harness_connector}<br>{harness_parts}</sub></details>'
 
-    self.row = {
+    self.row: Dict[Enum, Union[str, Star]] = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 1ec34b21917904..a950b91069a735 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,11 +1,10 @@
 from collections import defaultdict
 from dataclasses import dataclass
-from enum import Enum
 from typing import Dict, List, Set, Union
 
 from cereal import car
 from selfdrive.car import AngleRateLimit, dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -65,7 +64,7 @@ class RADAR:
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
-  harness: Enum = Harness.ford_q3
+  harness_kit: HarnessKit = HarnessKit(Harness.ford_q3)
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index bc2858a6675a00..865ba8ed0f827a 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -5,7 +5,7 @@
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
 Ecu = car.CarParams.Ecu
 
 
@@ -89,9 +89,9 @@ class GMCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
-      self.harness = Harness.gm
+      self.harness_kit = HarnessKit(Harness.gm)
     else:
-      self.harness = Harness.obd_ii
+      self.harness_kit = HarnessKit(Harness.obd_ii, parts=[HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
       self.footnotes.append(Footnote.OBD_II)
 
 
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 88ba76ad10be99..05c6f25432f855 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -6,7 +6,7 @@
 from common.conversions import Conversions as CV
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in HONDA_BOSCH:
-      self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a
+      self.harness_kit = HarnessKit(Harness.bosch_b) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else HarnessKit(Harness.bosch_a)
     else:
-      self.harness = Harness.nidec
+      self.harness_kit = HarnessKit(Harness.nidec)
 
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index f7f94888359a4a..8be3a5fe5006cc 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -6,7 +6,7 @@
 from panda.python import uds
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -147,114 +147,114 @@ def init_make(self, CP: car.CarParams):
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.ELANTRA: [
-    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
-    HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
-    HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e),
+    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_b)),
+    HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
+    HyundaiCarInfo("Hyundai i30 2017-19", harness_kit=HarnessKit(Harness.hyundai_e)),
   ],
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness_kit=HarnessKit(Harness.hyundai_k)),
   CAR.HYUNDAI_GENESIS: [
-    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),  # TODO: check 2015 packages
-    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
+    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)),  # TODO: check 2015 packages
+    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_j)),
   ],
-  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h),  # TODO: confirm 2020-21 harness
-  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h),
-  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness=Harness.hyundai_h),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
-  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),  # TODO: check packages
-  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
-  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
-  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
+  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness_kit=HarnessKit(Harness.hyundai_c)),
+  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness_kit=HarnessKit(Harness.hyundai_h)),  # TODO: confirm 2020-21 harness
+  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
+  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
+  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness_kit=HarnessKit(Harness.hyundai_c)),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
+  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness_kit=HarnessKit(Harness.hyundai_b)),
+  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness_kit=HarnessKit(Harness.hyundai_g)),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness_kit=HarnessKit(Harness.hyundai_o)),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness_kit=HarnessKit(Harness.hyundai_i)),  # TODO: check packages
+  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness_kit=HarnessKit(Harness.hyundai_l)),
+  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness_kit=HarnessKit(Harness.hyundai_a)),
+  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness_kit=HarnessKit(Harness.hyundai_e)),
   CAR.TUCSON: [
-    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
-    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_l)),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness_kit=HarnessKit(Harness.hyundai_l)),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness_kit=HarnessKit(Harness.hyundai_h)),
+    HyundaiCarInfo("Kia Telluride 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
   ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
-  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
+  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_e)),
+  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
   CAR.IONIQ_5: [
-    HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_q),
-    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k),
-    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
+    HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_q)),
+    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_k)),
+    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_q)),
   ],
   CAR.TUCSON_4TH_GEN: [
-    HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
-    HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
+    HyundaiCarInfo("Hyundai Tucson 2022", harness_kit=HarnessKit(Harness.hyundai_n)),
+    HyundaiCarInfo("Hyundai Tucson 2023", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
   ],
-  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness=Harness.hyundai_n),
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_n)),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness_kit=HarnessKit(Harness.hyundai_n)),
 
   # Kia
   CAR.KIA_FORTE: [
-    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
-    HyundaiCarInfo("Kia Forte 2023", harness=Harness.hyundai_e),
+    HyundaiCarInfo("Kia Forte 2019-21", harness_kit=HarnessKit(Harness.hyundai_g)),
+    HyundaiCarInfo("Kia Forte 2023", harness_kit=HarnessKit(Harness.hyundai_e)),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
-  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness_kit=HarnessKit(Harness.hyundai_a)),
+  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness_kit=HarnessKit(Harness.hyundai_a)),
   CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
-    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
+    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_f)),
+    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_c)),
+    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness_kit=HarnessKit(Harness.hyundai_h)),
   ],
-  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a),
+  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
   CAR.KIA_NIRO_PHEV: [
-    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d),
+    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness_kit=HarnessKit(Harness.hyundai_c)),
+    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness_kit=HarnessKit(Harness.hyundai_d)),
   ],
   CAR.KIA_NIRO_HEV_2021: [
-    HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f),  # TODO: 2021 could be hyundai_d, verify
+    HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness_kit=HarnessKit(Harness.hyundai_f)),  # TODO: 2021 could be hyundai_d, verify
   ],
-  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a),
-  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b),  # TODO: may support 2016, 2018
-  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
+  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_a)),
+  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness_kit=HarnessKit(Harness.hyundai_b)),  # TODO: may support 2016, 2018
+  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness_kit=HarnessKit(Harness.hyundai_g)),
   CAR.KIA_OPTIMA_H: [
     HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
     HyundaiCarInfo("Kia Optima Hybrid 2019"),
   ],
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
-  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
+  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness_kit=HarnessKit(Harness.hyundai_a)),
+  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_c)),
+    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness_kit=HarnessKit(Harness.hyundai_e)),
   ],
-  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
-  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a),
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
-  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
-  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
+  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness_kit=HarnessKit(Harness.hyundai_k)),
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness_kit=HarnessKit(Harness.hyundai_a)),
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness_kit=HarnessKit(Harness.hyundai_n)),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness_kit=HarnessKit(Harness.hyundai_c)),
+  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
+  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness_kit=HarnessKit(Harness.hyundai_e)),
   CAR.KIA_EV6: [
-    HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p),
-    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l),
-    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p)
+    HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_p)),
+    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness_kit=HarnessKit(Harness.hyundai_l)),
+    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness_kit=HarnessKit(Harness.hyundai_p))
   ],
 
   # Genesis
   CAR.GENESIS_GV60_EV_1ST_GEN: [
-    HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness=Harness.hyundai_a),
-    HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness=Harness.hyundai_k),
+    HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_a)),
+    HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", harness_kit=HarnessKit(Harness.hyundai_k)),
   ],
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
+  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness_kit=HarnessKit(Harness.hyundai_f)),
   CAR.GENESIS_GV70_1ST_GEN: [
-    HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness=Harness.hyundai_l),
-    HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness=Harness.hyundai_m),
+    HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_l)),
+    HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
   ],
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
-  CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness=Harness.hyundai_m),
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness_kit=HarnessKit(Harness.hyundai_h)),
+  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness_kit=HarnessKit(Harness.hyundai_c)),
+  CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", harness_kit=HarnessKit(Harness.hyundai_m)),
 }
 
 class Buttons:
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 8f993e26514a30..79f07a1fde157e 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,10 +1,9 @@
 from dataclasses import dataclass
-from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -38,7 +37,7 @@ class CAR:
 @dataclass
 class MazdaCarInfo(CarInfo):
   package: str = "All"
-  harness: Enum = Harness.mazda
+  harness_kit: HarnessKit = HarnessKit(Harness.mazda)
 
 
 CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index d0f0aa93c9c1ef..cbe62645d53e4f 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,11 +1,10 @@
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
-from enum import Enum
 
 from cereal import car
 from panda.python import uds
 from selfdrive.car import AngleRateLimit, dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit, HarnessPart
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -31,10 +30,13 @@ class CAR:
   ALTIMA = "NISSAN ALTIMA 2020"
 
 
+NISSAN_HARNESS_PARTS = [HarnessPart.harness_box, HarnessPart.rj45_cable, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler]
+
+
 @dataclass
 class NissanCarInfo(CarInfo):
   package: str = "ProPILOT Assist"
-  harness: Enum = Harness.nissan_a
+  harness_kit: HarnessKit = HarnessKit(Harness.nissan_a, parts=NISSAN_HARNESS_PARTS)
 
 
 CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
@@ -42,7 +44,7 @@ class NissanCarInfo(CarInfo):
   CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
   CAR.LEAF_IC: None,  # same platforms
   CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
-  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),
+  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness_kit=HarnessKit(Harness.nissan_b, parts=NISSAN_HARNESS_PARTS)),
 }
 
 FINGERPRINTS = {
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 446f9be2a37a74..f90f015bfb8529 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,11 +1,11 @@
 from dataclasses import dataclass
-from enum import Enum, IntFlag
+from enum import IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarInfo, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -53,13 +53,13 @@ class CAR:
 @dataclass
 class SubaruCarInfo(CarInfo):
   package: str = "EyeSight Driver Assistance"
-  harness: Enum = Harness.subaru_a
+  harness_kit: HarnessKit = HarnessKit(Harness.subaru_a)
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
-  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
+  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness_kit=HarnessKit(Harness.subaru_b)),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index e56f98f7a8ee39..e36bdc5dedffdb 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -74,7 +74,8 @@ def test_harnesses(self):
         if car.name == "comma body":
           raise unittest.SkipTest
 
-        self.assertNotIn(car.harness, [None, Harness.none], f"Need to specify car harness: {car.name}")
+        self.assertNotIn(car.harness_kit.connector, [None, Harness.none], f"Need to specify car harness: {car.name}")
+        self.assertTrue(car.harness_kit.parts, f"Need to specify harness parts: {car.name} with {car.harness_kit.connector.value} connector")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ab585f49681363..00552485a88d03 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -6,7 +6,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -102,7 +102,7 @@ class Footnote(Enum):
 @dataclass
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
-  harness: Enum = Harness.toyota
+  harness_kit: HarnessKit = HarnessKit(Harness.toyota)
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 5fd3925a2a3e26..db28a62439e557 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -7,7 +7,7 @@
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, HarnessKit, HarnessPart
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
@@ -166,7 +166,7 @@ class Footnote(Enum):
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  harness: Enum = Harness.j533
+  harness_kit: HarnessKit = HarnessKit(Harness.j533, parts=[HarnessPart.harness_box, HarnessPart.long_obdc_cable, HarnessPart.usbc_coupler])
 
   def init_make(self, CP: car.CarParams):
     self.footnotes.insert(0, Footnote.VW_EXP_LONG)

From f327053ac0326e9ac8d4094d35940245c07b0f3b Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Mon, 15 May 2023 22:12:47 -0400
Subject: [PATCH 155/175] Subaru: rename legacy to preglobal (#28204)

* rename

* submodules too

* missed some variables

* fix find/replace error

* revert modules

* bump submodules

* bump cereal
---
 cereal                            | 2 +-
 panda                             | 2 +-
 selfdrive/car/subaru/interface.py | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/cereal b/cereal
index 4ffd63b955a6b9..e0cf7e09ae2864 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 4ffd63b955a6b965fc278c5551fdb2b5ef0deaa5
+Subproject commit e0cf7e09ae2864034bc370fb6c3db71a83eaf3e6
diff --git a/panda b/panda
index f95f4a52946da4..0a738b7ee8a49d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit f95f4a52946da442125f44ff7baeb642b9eb8d3d
+Subproject commit 0a738b7ee8a49d153142ea0dd8c8c57693035845
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 8cd3239a0e9e30..f7698dbe7c0565 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -21,7 +21,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     if candidate in PREGLOBAL_CARS:
       ret.enableBsm = 0x25c in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
     else:
       ret.enableBsm = 0x228 in fingerprint[0]
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]

From b7daab0ee07c6bdf0ff1cdbf93de08fe02be3236 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Mon, 15 May 2023 19:32:40 -0700
Subject: [PATCH 156/175] set ssh enabled in ssh helper script

---
 tools/scripts/setup_ssh_keys.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index b6d448673306da..8f03303b59037a 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -14,8 +14,10 @@
   keys = requests.get(f"https://github.com/{username}.keys", timeout=10)
 
   if keys.status_code == 200:
-    Params().put("GithubSshKeys", keys.text)
-    Params().put("GithubUsername", username)
+    params = Params()
+    params.put_bool("SshEnabled", True)
+    params.put("GithubSshKeys", keys.text)
+    params.put("GithubUsername", username)
     print("Setup ssh keys successfully")
   else:
     print("Error getting public keys from github")

From 577374215beb5807d7522d0c61f2a2021b04d388 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 15 May 2023 23:23:55 -0700
Subject: [PATCH 157/175] Nissan: set LKA active with latActive (#28055)

Update carcontroller.py
---
 selfdrive/car/nissan/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 73493a97460cd8..5064e8c457e52d 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -61,7 +61,7 @@ def update(self, CC, CS, now_nanos):
       can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
-      self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
+      self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
 
     if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:

From 7e9acfd1395d0612a555edd50bd4486d0cbb8d80 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 16 May 2023 07:23:22 -0700
Subject: [PATCH 158/175] tici: allow fan to run to 100% (#28203)

---
 selfdrive/thermald/fan_controller.py          | 12 +++++------
 .../thermald/tests/test_fan_controller.py     | 20 +++++++++----------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py
index 2094faeaa73c04..f3e822da519a99 100644
--- a/selfdrive/thermald/fan_controller.py
+++ b/selfdrive/thermald/fan_controller.py
@@ -8,7 +8,7 @@
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, max_cpu_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool) -> int:
     pass
 
 
@@ -18,19 +18,19 @@ def __init__(self) -> None:
     cloudlog.info("Setting up TICI fan handler")
 
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
+    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
-  def update(self, max_cpu_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(80 if ignition else 30)
+  def update(self, cur_temp: float, ignition: bool) -> int:
+    self.controller.neg_limit = -(100 if ignition else 30)
     self.controller.pos_limit = -(30 if ignition else 0)
 
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - max_cpu_temp
+    error = 70 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
-                      feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
+                      feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
                     ))
 
     self.last_ignition = ignition
diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py
index 857866f64eac60..22d618485ca5b7 100755
--- a/selfdrive/thermald/tests/test_fan_controller.py
+++ b/selfdrive/thermald/tests/test_fan_controller.py
@@ -14,43 +14,43 @@ def patched_controller(controller_class):
 class TestFanController(unittest.TestCase):
   def wind_up(self, controller, ignition=True):
     for _ in range(1000):
-      controller.update(max_cpu_temp=100, ignition=ignition)
+      controller.update(100, ignition)
 
   def wind_down(self, controller, ignition=False):
     for _ in range(1000):
-      controller.update(max_cpu_temp=10, ignition=ignition)
+      controller.update(10, ignition)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_hot_onroad(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_up(controller)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70)
+    self.assertGreaterEqual(controller.update(100, True), 70)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_offroad_limits(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_up(controller)
-    self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30)
+    self.assertLessEqual(controller.update(100, False), 30)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_no_fan_wear(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_down(controller)
-    self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0)
+    self.assertEqual(controller.update(10, False), 0)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_limited(self, controller_class):
     controller = patched_controller(controller_class)
-    self.wind_up(controller, ignition=True)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80)
+    self.wind_up(controller, True)
+    self.assertEqual(controller.update(100, True), 100)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_windup_speed(self, controller_class):
     controller = patched_controller(controller_class)
-    self.wind_down(controller, ignition=True)
+    self.wind_down(controller, True)
     for _ in range(10):
-      controller.update(max_cpu_temp=90, ignition=True)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60)
+      controller.update(90, True)
+    self.assertGreaterEqual(controller.update(90, True), 60)
 
 if __name__ == "__main__":
   unittest.main()

From 22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 16 May 2023 12:45:05 -0700
Subject: [PATCH 159/175] manager: initialize onroad params before starting
 processes (#28198)

* initialize to off on startup

* params

* better

* better

* move to helpers

* rm
---
 selfdrive/manager/helpers.py |  5 +++++
 selfdrive/manager/manager.py | 10 +++++-----
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
index 983c7cc0b16c56..f8607fffc66b33 100644
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@@ -36,3 +36,8 @@ def unblock_stdout() -> None:
     # whose low byte is the signal number and whose high byte is the exit status
     exit_status = os.wait()[1] >> 8
     os._exit(exit_status)
+
+
+def write_onroad_params(started, params):
+  params.put_bool("IsOnroad", started)
+  params.put_bool("IsOffroad", not started)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 55116637774b26..a1efd564f08ee6 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -14,7 +14,7 @@
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
 from system.hardware import HARDWARE, PC
-from selfdrive.manager.helpers import unblock_stdout
+from selfdrive.manager.helpers import unblock_stdout, write_onroad_params
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
@@ -136,6 +136,7 @@ def manager_thread() -> None:
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])
 
+  write_onroad_params(False, params)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
@@ -150,10 +151,9 @@ def manager_thread() -> None:
     elif not started and started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
-    # initialize and update onroad params, which drives boardd's safety setter thread
-    if started != started_prev or sm.frame == 0:
-      params.put_bool("IsOnroad", started)
-      params.put_bool("IsOffroad", not started)
+    # update onroad params, which drives boardd's safety setter thread
+    if started != started_prev:
+      write_onroad_params(started, params)
 
     started_prev = started
 

From 2d4558d5cfefe8d5a5080a08ba0ea8bf2869c7e7 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Tue, 16 May 2023 13:40:49 -0700
Subject: [PATCH 160/175] update DM model README (#28211)

* update DM model readme

* rename + permalink + correct types and ranges
---
 selfdrive/modeld/models/README.md | 48 ++++++++++++++++---------------
 1 file changed, 25 insertions(+), 23 deletions(-)

diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 1bfca8e95a6a54..80d6dc0e02a453 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -32,28 +32,30 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0
 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs
 
 ### input format
-* single image (640 * 320 * 3 in RGB):
-  * full input size is 6 * 640/2 * 320/2 = 307200
-  * represented in YUV420 with 6 channels:
-    * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-    * Channel 4 represents the half-res U channel
-    * Channel 5 represents the half-res V channel
-  * normalized, ranging from -1.0 to 1.0
+* single image W = 1440  H = 960 represented in planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
 
 ### output format
-* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165))
-  * face pose: 12 = 6 + 6
-    * face orientation [pitch, yaw, roll] in camera frame: 3
-    * face position [dx, dy] relative to image center: 2
-    * normalized face size: 1
-    * standard deviations for above outputs: 6
-  * face visible probability: 1
-  * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-    * eye position and size, and their standard deviations: 8
-    * eye visible probability: 1
-    * eye closed probability: 1
-  * wearing sunglasses probability: 1
-  * poor camera vision probability: 1
-  * face partially out-of-frame probability: 1
-  * (deprecated) distracted probabilities: 2
-  * face covered probability: 1
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1

From fe6ce429c5e05a918f8838665a49ab442a483dc6 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 17 May 2023 05:01:06 +0800
Subject: [PATCH 161/175] ui/drawDriverState: don't draw circle bg twice
 (#28168)

do not draw circle bg twice
---
 selfdrive/ui/qt/onroad.cc | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 0378a85e90616c..51c3f3dbbb00ca 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -460,6 +460,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB
   p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size);
   p.setOpacity(opacity);
   p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img);
+  p.setOpacity(1.0);
 }
 
 
@@ -560,13 +561,7 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   int x = rightHandDM ? rect().right() -  (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2);
   int y = rect().bottom() - footer_h / 2;
   float opacity = dmActive ? 0.65 : 0.2;
-  drawIcon(painter, x, y, dm_img, blackColor(0), opacity);
-
-  // circle background
-  painter.setOpacity(1.0);
-  painter.setPen(Qt::NoPen);
-  painter.setBrush(blackColor(70));
-  painter.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size);
+  drawIcon(painter, x, y, dm_img, blackColor(70), opacity);
 
   // face
   QPointF face_kpts_draw[std::size(default_face_kpts_3d)];

From 504768f92287b47c205798b67894cfcef7206cf9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 16 May 2023 15:30:28 -0700
Subject: [PATCH 162/175] process_replay: sort logs before comparing them
 (#28201)

* Sort logs before comparing them in process replay

* Simplify
---
 selfdrive/test/process_replay/compare_logs.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index c96e624421ba9f..821429a70f2dd3 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -70,7 +70,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
     field_tolerances = {}
   default_tolerance = EPSILON if tolerance is None else tolerance
 
-  log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))
+  log1, log2 = (
+    sorted((m for m in log if m.which() not in ignore_msgs), key=lambda m: (m.logMonoTime, m.which()))
+    for log in (log1, log2)
+  )
 
   if len(log1) != len(log2):
     cnt1 = Counter(m.which() for m in log1)

From 66abfb933d39513cc9a52c86c88523aa31f00973 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 16 May 2023 20:11:05 -0700
Subject: [PATCH 163/175] Ford: add Explorer 2020 ST FW (#28205)

4458bd61cf193dab|2023-05-17--01-45-39

VIN: 1FM5K8GC7LGA15147
---
 selfdrive/car/ford/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index a950b91069a735..6a0639cee36819 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -155,11 +155,13 @@ class FordCarInfo(CarInfo):
   },
   CAR.EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
+      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -169,11 +171,13 @@ class FordCarInfo(CarInfo):
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
+      b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7E0, None): [
+      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

From 7f7637f3e51ca01ad26a77336cc0b1991664f5bc Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 16 May 2023 21:55:24 -0700
Subject: [PATCH 164/175] uploader: check upload key value (#28206)

* fix check

* tests

* fix test

* fix

* xattr truthy and falsy tests

---------

Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
---
 system/loggerd/tests/loggerd_tests_common.py |  9 ++--
 system/loggerd/tests/test_uploader.py        | 47 ++++++++++++++++----
 system/loggerd/uploader.py                   |  2 +-
 3 files changed, 45 insertions(+), 13 deletions(-)

diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 6aca83858bdab7..780316ad0c44b5 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -7,7 +7,7 @@
 
 import system.loggerd.uploader as uploader
 
-def create_random_file(file_path, size_mb, lock=False):
+def create_random_file(file_path, size_mb, lock=False, xattr=None):
   try:
     os.mkdir(os.path.dirname(file_path))
   except OSError:
@@ -25,6 +25,9 @@ def create_random_file(file_path, size_mb, lock=False):
     for _ in range(chunks):
       f.write(data)
 
+  if xattr is not None:
+    uploader.setxattr(file_path, uploader.UPLOAD_ATTR_NAME, xattr)
+
 class MockResponse():
   def __init__(self, text, status_code):
     self.text = text
@@ -95,8 +98,8 @@ def tearDown(self):
       if e.errno != errno.ENOENT:
         raise
 
-  def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False):
+  def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False, xattr=None):
     file_path = os.path.join(self.root, f_dir, fn)
-    create_random_file(file_path, size_mb, lock)
+    create_random_file(file_path, size_mb, lock, xattr)
 
     return file_path
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 11b273cec8a582..df99651447133e 100755
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -7,7 +7,7 @@
 import json
 
 from system.swaglog import cloudlog
-import system.loggerd.uploader as uploader
+from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
 from system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
@@ -42,7 +42,7 @@ def setUp(self):
 
   def start_thread(self):
     self.end_event = threading.Event()
-    self.up_thread = threading.Thread(target=uploader.uploader_fn, args=[self.end_event])
+    self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event])
     self.up_thread.daemon = True
     self.up_thread.start()
 
@@ -50,13 +50,13 @@ def join_thread(self):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, boot=True):
+  def gen_files(self, lock=False, xattr=None, boot=True):
     f_paths = list()
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
-      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock))
+      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, xattr=xattr))
 
     if boot:
-      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock))
+      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, xattr=xattr))
     return f_paths
 
   def gen_order(self, seg1, seg2, boot=True):
@@ -82,7 +82,25 @@ def test_upload(self):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded")
+      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+
+    self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
+
+  def test_upload_with_wrong_xattr(self):
+    self.gen_files(lock=False, xattr=b'0')
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored")
+    self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
+    self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
+    for f_path in exp_order:
+      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -101,7 +119,7 @@ def test_upload_ignored(self):
     self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore")
     self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice")
     for f_path in exp_order:
-      self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not ignored")
+      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
 
     self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order")
 
@@ -126,7 +144,7 @@ def test_upload_files_in_create_order(self):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded")
+      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -141,9 +159,20 @@ def test_no_upload_with_lock_file(self):
     self.join_thread()
 
     for f_path in f_paths:
-      uploaded = uploader.UPLOAD_ATTR_NAME in os.listxattr(f_path.replace('.bz2', ''))
+      fn = f_path.replace('.bz2', '')
+      uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
       self.assertFalse(uploaded, "File upload when locked")
 
+  def test_no_upload_with_xattr(self):
+    self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    self.assertEqual(len(log_handler.upload_order), 0, "File uploaded again")
+
   def test_clear_locks_on_startup(self):
     f_paths = self.gen_files(lock=True, boot=False)
     self.start_thread()
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 5fda902bd69cd8..245e5cbcf94030 100644
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -115,7 +115,7 @@ def list_upload_files(self) -> Iterator[Tuple[str, str, str]]:
         fn = os.path.join(path, name)
         # skip files already uploaded
         try:
-          is_uploaded = bool(getxattr(fn, UPLOAD_ATTR_NAME))
+          is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
         except OSError:
           cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn)
           is_uploaded = True  # deleter could have deleted

From 5b54f0938fef846525a6e7f3c2444cdbc5585333 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 17 May 2023 15:08:10 +0800
Subject: [PATCH 165/175] cabana: add #include <QObject> in dbcfile.h (#28219)

---
 tools/cabana/dbc/dbcfile.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 15ecdf89c6efc8..9f140f44d90233 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -2,6 +2,7 @@
 
 #include <map>
 #include <QList>
+#include <QObject>
 #include <QString>
 
 #include "tools/cabana/dbc/dbc.h"

From 7b68a13048df675c0d3b5686d478c6c3f469d631 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 17 May 2023 14:04:17 -0700
Subject: [PATCH 166/175] lateral_planner: init missing variables (#28222)

Init missing variables in LateralPlanner constructor
---
 selfdrive/controls/lib/lateral_planner.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index da6465ac24b12d..fc29aeb08763c1 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -39,7 +39,11 @@ def __init__(self, CP):
     self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
     self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
     self.t_idxs = np.arange(TRAJECTORY_SIZE)
-    self.y_pts = np.zeros(TRAJECTORY_SIZE)
+    self.y_pts = np.zeros((TRAJECTORY_SIZE,))
+    self.v_plan = np.zeros((TRAJECTORY_SIZE,))
+    self.v_ego = 0.0
+    self.l_lane_change_prob = 0.0
+    self.r_lane_change_prob = 0.0
 
     self.lat_mpc = LateralMpc()
     self.reset_mpc(np.zeros(4))

From 781a6fcc5fcdc8b73040e16c1994f655ee79593d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 18 May 2023 11:16:39 +0800
Subject: [PATCH 167/175] ui/settings: fixed button overlap in sidebar.
 (#28220)

fix button overlap
---
 selfdrive/ui/qt/offroad/settings.cc | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index bc4a10fd0513b1..b9fec9d62db083 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -343,7 +343,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     QPushButton {
       font-size: 140px;
       padding-bottom: 20px;
-      font-weight: bold;
       border 1px grey solid;
       border-radius: 100px;
       background-color: #292929;
@@ -379,22 +378,18 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
 #endif
 
-  const int padding = panels.size() > 3 ? 25 : 35;
-
   nav_btns = new QButtonGroup(this);
   for (auto &[name, panel] : panels) {
     QPushButton *btn = new QPushButton(name);
     btn->setCheckable(true);
     btn->setChecked(nav_btns->buttons().size() == 0);
-    btn->setStyleSheet(QString(R"(
+    btn->setStyleSheet(R"(
       QPushButton {
         color: grey;
         border: none;
         background: none;
         font-size: 65px;
         font-weight: 500;
-        padding-top: %1px;
-        padding-bottom: %1px;
       }
       QPushButton:checked {
         color: white;
@@ -402,8 +397,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
       QPushButton:pressed {
         color: #ADADAD;
       }
-    )").arg(padding));
-
+    )");
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
     nav_btns->addButton(btn);
     sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
 

From c722120a88ece813615a4cb397dedfefd9ff0d27 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 17 May 2023 22:19:35 -0700
Subject: [PATCH 168/175] boardd: log when sendcan is dropped (#28224)

* log when we drop sendcan

* log both

* i don't want to touch that

* llu

* noo
---
 selfdrive/boardd/boardd.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 0c19d1eb082e32..6248da7d4b40d0 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -232,6 +232,8 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
         panda->can_send(event.getSendcan());
         LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
       }
+    } else {
+      LOGE("sendcan too old to send: %llu, %llu", nanos_since_boot(), event.getLogMonoTime());
     }
   }
 }

From 041ab5bb7fcdc5bd3723cc0c53dd84b1d160adcf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 17 May 2023 22:19:49 -0700
Subject: [PATCH 169/175] disable_ecu: log retries as errors (#28223)

* log ecu disable retries as errors

* and here if it totally failsd
---
 selfdrive/car/disable_ecu.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index cd3e93fa80c1bd..ed98e14dc146c2 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -31,8 +31,8 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
     except Exception:
       cloudlog.exception("ecu disable exception")
 
-    print(f"ecu disable retry ({i+1}) ...")
-  cloudlog.warning("ecu disable failed")
+    cloudlog.error(f"ecu disable retry ({i + 1}) ...")
+  cloudlog.error("ecu disable failed")
   return False
 
 

From 885e1edf966f241113ea5f7af2d2030ab24dd808 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 17 May 2023 23:28:46 -0700
Subject: [PATCH 170/175] boardd: match panda python lib ack bytes (#28225)

---
 selfdrive/boardd/spi.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index d418d2bdac58c2..82a95f77590696 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -283,7 +283,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  tx_buf[0] = 0x12;
+  tx_buf[0] = 0x11;
   transfer.len = 1;
   ret = wait_for_ack(transfer, SPI_HACK);
   if (ret < 0) {
@@ -303,7 +303,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  tx_buf[0] = 0xab;
+  tx_buf[0] = 0x13;
   transfer.len = 1;
   ret = wait_for_ack(transfer, SPI_DACK);
   if (ret < 0) {

From 703fe85cf5d00fe18e0c8fcef25215b65db59500 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 18 May 2023 00:19:40 -0700
Subject: [PATCH 171/175] QCOM laikad: add glonass support (#28217)

* QCOM laikad: add glonass support

* reject garbage timestamps

* update ref
---
 selfdrive/locationd/laikad.py            | 55 +++++++++++++++++-------
 selfdrive/test/process_replay/ref_commit |  2 +-
 2 files changed, 40 insertions(+), 17 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index e9e2e06b4785cd..71b81cc307c5fa 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -176,17 +176,32 @@ def get_lsq_fix(self, t, measurements):
 
       return position_estimate, position_std, velocity_estimate, velocity_std
 
+  def gps_time_from_qcom_report(self, gnss_msg):
+    report = gnss_msg.drMeasurementReport
+    if report.source == log.QcomGnss.MeasurementSource.gps:
+      report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
+    elif report.source == log.QcomGnss.MeasurementSource.sbas:
+      report_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
+    elif report.source == log.QcomGnss.MeasurementSource.glonass:
+      report_time = GPSTime.from_glonass(report.glonassYear,
+                                            report.glonassDay,
+                                            report.glonassMilliseconds / 1000.0)
+    else:
+      raise NotImplementedError(f'Unknownconstellation {report.source}')
+    return report_time
+
   def is_good_report(self, gnss_msg):
     if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
       constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
       # TODO: Understand and use remaining unknown constellations
       try:
-        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
+        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
       except NotImplementedError:
         good_constellation = False
-      # gpsWeek 65535 is received rarely from quectel, this cannot be
-      # passed to GnssMeasurements's gpsWeek (Int16)
-      good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max
+      # Garbage timestamps with week > 32767 are sometimes sent by module.
+      # This is an issue with gpsTime and GLONASS time.
+      report_time = self.gps_time_from_qcom_report(gnss_msg)
+      good_week = report_time.week < np.iinfo(np.int16).max
       return good_constellation and good_week
     elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
       return True
@@ -195,17 +210,26 @@ def is_good_report(self, gnss_msg):
 
   def read_report(self, gnss_msg):
     if self.use_qcom:
+      # QCOM reports are per constellation, should always send 3 reports
       report = gnss_msg.drMeasurementReport
-      week = report.gpsWeek
-      tow = report.gpsMilliseconds / 1000.0
-      new_meas = read_raw_qcom(report)
+      report_time = self.gps_time_from_qcom_report(gnss_msg)
+
+      if report_time - self.last_report_time > 0:
+        self.qcom_reports = [report]
+      else:
+        self.qcom_reports.append(report)
+      self.last_report_time = report_time
+
+      new_meas = []
+      if len(self.qcom_reports) == 3:
+        for report in self.qcom_reports:
+          new_meas.extend(read_raw_qcom(report))
+
     else:
       report = gnss_msg.measurementReport
-      week = report.gpsWeek
-      tow = report.rcvTow
+      self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
       new_meas = read_raw_ublox(report)
-    self.last_report_time = GPSTime(week, tow)
-    return week, tow, new_meas
+    return self.last_report_time, new_meas
 
   def is_ephemeris(self, gnss_msg):
     if self.use_qcom:
@@ -279,12 +303,11 @@ def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
     if self.is_ephemeris(gnss_msg):
       self.read_ephemeris(gnss_msg)
     elif self.is_good_report(gnss_msg):
-      week, tow, new_meas = self.read_report(gnss_msg)
-      self.gps_week = week
-      if week > 0:
-        latest_msg_t = GPSTime(week, tow)
+      report_t, new_meas = self.read_report(gnss_msg)
+      self.gps_week = report_t.week
+      if report_t.week > 0:
         if self.auto_fetch_navs:
-          self.fetch_navs(latest_msg_t, block)
+          self.fetch_navs(report_t, block)
 
       corrected_measurements = self.process_report(new_meas, t)
       msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index a7fb186c1694ff..4dee64009f6a2f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-8bbb5436ef66dffbe57c3ac5e9b91d262f3f412b
\ No newline at end of file
+658e4dd36d92ae7a973a090aaf3fab62fdf701b6

From e5faef113fc2db45afcab220ba2c9c3691f830ac Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 18 May 2023 00:42:40 -0700
Subject: [PATCH 172/175] bump panda (#28227)

bumppanda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 0a738b7ee8a49d..2ed514807e51f7 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0a738b7ee8a49d153142ea0dd8c8c57693035845
+Subproject commit 2ed514807e51f7a9c2cf160ac18a093474a0ca2b

From 902cc891a88eb5b4474e29ab2f174f602c1223ed Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 18 May 2023 03:56:35 -0700
Subject: [PATCH 173/175] Ford: log stock AEB (#28228)

log AEB
---
 selfdrive/car/ford/carstate.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 4ab968ea99fc3b..9be2c7637cae0a 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -75,7 +75,7 @@ def update(self, cp, cp_cam):
 
     # safety
     ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
-    ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled
+    ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
 
     # button presses
     ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
@@ -217,6 +217,8 @@ def get_can_parser(CP):
   def get_cam_can_parser(CP):
     signals = [
       # sig_name, sig_address
+      ("CmbbBrkDecel_B_Rq", "ACCDATA_2"),           # AEB actuation request bit
+
       ("HaDsply_No_Cs", "ACCDATA_3"),
       ("HaDsply_No_Cnt", "ACCDATA_3"),
       ("AccStopStat_D_Dsply", "ACCDATA_3"),         # ACC stopped status message
@@ -261,6 +263,7 @@ def get_cam_can_parser(CP):
 
     checks = [
       # sig_address, frequency
+      ("ACCDATA_2", 50),
       ("ACCDATA_3", 5),
       ("IPMA_Data", 1),
     ]

From 00915bb9781b8573afb393b28dd1d9f9507c3b5a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 18 May 2023 14:24:07 -0700
Subject: [PATCH 174/175] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 2ed514807e51f7..2a538337537e68 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2ed514807e51f7a9c2cf160ac18a093474a0ca2b
+Subproject commit 2a538337537e6830f02565c2c36af4f886c963e4

From c7d3b28b93faa6c955fb24bc64031512ee985ee9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 18 May 2023 14:30:07 -0700
Subject: [PATCH 175/175] Ford: longitudinal clean up (#28231)

clean ups
---
 selfdrive/car/ford/carcontroller.py | 9 ++++-----
 selfdrive/car/ford/fordcan.py       | 4 +++-
 selfdrive/car/ford/values.py        | 2 ++
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 29b86f4ff66c45..d9a9ae6bc0902f 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -82,15 +82,14 @@ def update(self, CC, CS, now_nanos):
     ### longitudinal control ###
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
+      # Both gas and accel are in m/s^2, accel is used solely for braking
       accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-
       gas = accel
-      decel = accel < 0.0
-      if accel < -0.5:
-        gas = -5.0
+      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
+        gas = CarControllerParams.INACTIVE_GAS
 
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping))
+      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index daf880aa8254e7..97a8c025d4c914 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -101,7 +101,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
   return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
 
 
-def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: bool, stopping: bool):
+def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -111,11 +111,13 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: b
   Frequency is 50Hz.
   """
 
+  decel = accel < 0 and long_active
   values = {
     "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
     "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
     "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
     "AccResumEnbl_B_Rq": 1 if long_active else 0,
+    # TODO: we may be able to improve braking response by utilizing pre-charging better
     "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
     "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
     "AccStopStat_B_Rq": 1 if stopping else 0,
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 6a0639cee36819..6425179a27b108 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -31,6 +31,8 @@ class CarControllerParams:
 
   ACCEL_MAX = 2.0               # m/s^s max acceleration
   ACCEL_MIN = -3.5              # m/s^s max deceleration
+  MIN_GAS = -0.5
+  INACTIVE_GAS = -5.0
 
   def __init__(self, CP):
     pass