diff --git a/cereal/.github/workflows/tests.yml b/cereal/.github/workflows/tests.yml
new file mode 100644
index 000000000..3b8f6ca8e
--- /dev/null
+++ b/cereal/.github/workflows/tests.yml
@@ -0,0 +1,23 @@
+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+
+    runs-on: ubuntu-16.04
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: docker build -t cereal .
+    - name: Unit Tests
+      run: |
+        docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
+    - name: Test ZMQ
+      run: |
+        docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
+    - name: Test MSGQ
+      run: |
+        docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
+
diff --git a/cereal/azure-pipelines.yml b/cereal/azure-pipelines.yml
deleted file mode 100644
index c14526a5c..000000000
--- a/cereal/azure-pipelines.yml
+++ /dev/null
@@ -1,14 +0,0 @@
-pr: none
-
-pool:
-  vmImage: 'ubuntu-16.04'
-
-steps:
-- script: |
-    set -e
-    docker build -t cereal .
-    docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
-    docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
-    docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
-
-  displayName: 'Run Tests'
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 745389232..58ff3fb42 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -477,5 +477,6 @@ struct CarParams {
   enum FingerprintSource {
     can @0;
     fw @1;
+    fixed @2;
   }
 }
diff --git a/cereal/log.capnp b/cereal/log.capnp
index e01c8977e..46971d81a 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -280,6 +280,7 @@ struct ThermalData {
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
   networkType @22 :NetworkType;
+  offroadPowerUsage @23 :UInt32;  # Power usage since going offroad in uWh
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
diff --git a/cereal/service_list.yaml b/cereal/service_list.yaml
index 7dd1a62e9..5747293ab 100644
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -31,7 +31,7 @@ carState: [8021, true, 100., 10]
 # 8022 is reserved for sshd
 carControl: [8023, true, 100., 10]
 plan: [8024, true, 20.]
-liveLocation: [8025, true, 0.]
+liveLocation: [8025, true, 0., 1]
 gpsLocation: [8026, true, 1., 1]
 ethernetData: [8027, true, 0.]
 navUpdate: [8028, true, 0.]