diff --git a/1.sh b/1.sh
new file mode 100644
index 00000000..cc7881d4
--- /dev/null
+++ b/1.sh
@@ -0,0 +1,83 @@
+#!/bin/env sh
+
+persist_dir=/persist
+target_dir=${persist_dir}/comma
+# Change target dir from sunnylink to comma to make this no longer a test
+
+
+# Function to remount /persist as read-only
+cleanup() {
+    echo "Remounting ${persist_dir} as read-only..."
+    sudo mount -o remount,ro ${persist_dir}
+}
+
+# Function to check and backup existing keys
+backup_keys() {
+    if [ -f "id_rsa" ] || [ -f "id_rsa.pub" ]; then
+        timestamp=$(date +%s)
+        backup_base="id_rsa_backup_$timestamp"
+        backup_private="$backup_base"
+        backup_public="${backup_base}.pub"
+
+        # Ensure we're not overwriting an existing backup
+        counter=0
+        while [ -f "$backup_private" ] || [ -f "$backup_public" ]; do
+            counter=$((counter + 1))
+            backup_private="${backup_base}_$counter"
+            backup_public="${backup_base}_$counter.pub"
+        done
+
+        # Backup the keys
+        cp id_rsa "$backup_private"
+        cp id_rsa.pub "$backup_public"
+
+        # Verify the backup
+        original_private_hash=$(sha256sum id_rsa | cut -d ' ' -f 1)
+        backup_private_hash=$(sha256sum "$backup_private" | cut -d ' ' -f 1)
+        original_public_hash=$(sha256sum id_rsa.pub | cut -d ' ' -f 1)
+        backup_public_hash=$(sha256sum "$backup_public" | cut -d ' ' -f 1)
+
+        if [ "$original_private_hash" = "$backup_private_hash" ] && [ "$original_public_hash" = "$backup_public_hash" ]; then
+            echo "Backup verified successfully."
+            # Safe to delete original keys after successful backup verification
+        else
+            echo "Backup verification failed. Aborting operation."
+            exit 1
+        fi
+
+        echo "Existing keys backed up as $backup_private and $backup_public"
+    fi
+}
+
+# Trap any signal that exits the script to run cleanup function
+trap cleanup EXIT
+
+# Remount /persist as read-write
+sudo mount -o remount,rw ${persist_dir}
+
+# Ensure the directory exists
+mkdir -p ${target_dir}
+cd ${target_dir}
+
+# Check for and backup existing keys
+#backup_keys
+
+# Generate new keys
+if ! ssh-keygen -t rsa -b 4096 -m PEM -f id_rsa -N ''; then
+    echo "Failed to generate new RSA keys. Exiting..."
+    exit 1
+fi
+
+# Convert the generated SSH public key to PEM format and store it temporarily
+if ! openssl rsa -pubout -in id_rsa -out id_rsa.pub -outform PEM; then
+    echo "Failed to convert the public key to PEM format. Exiting..."
+    exit 1
+fi
+
+# Display the public key
+echo "Displaying the public key:"
+cat id_rsa.pub
+
+# Cleanup will be called automatically due to trap on EXIT
+#echo "Operation completed successfully. System will reboot now."
+#sudo reboot
\ No newline at end of file
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index d4841b60..d132410b 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,20 +1,6 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
+export ATHENA_HOST='ws://athena.mr-one.cn'
+export API_HOST='http://res.mr-one.cn'
 
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh
diff --git a/selfdrive/selfdrived/beep.py b/selfdrive/selfdrived/beep.py
new file mode 100644
index 00000000..caf65111
--- /dev/null
+++ b/selfdrive/selfdrived/beep.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+import subprocess
+import time
+from cereal import car, messaging
+from openpilot.common.realtime import Ratekeeper
+import threading
+
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+class Beepd:
+  def __init__(self):
+    self.current_alert = AudibleAlert.none
+    self.enable_gpio()
+    #self.startup_beep()
+
+  def enable_gpio(self):
+    # 尝试 export，忽略已 export 的错误
+    try:
+      subprocess.run("echo 42 | sudo tee /sys/class/gpio/export",
+                     shell=True,
+                     stderr=subprocess.DEVNULL,
+                     stdout=subprocess.DEVNULL,
+                     encoding='utf8')
+    except Exception:
+      pass
+    subprocess.run("echo \"out\" | sudo tee /sys/class/gpio/gpio42/direction",
+                   shell=True,
+                   stderr=subprocess.DEVNULL,
+                   stdout=subprocess.DEVNULL,
+                   encoding='utf8')
+
+  def _beep(self, on):
+    val = "1" if on else "0"
+    subprocess.run(f"echo \"{val}\" | sudo tee /sys/class/gpio/gpio42/value",
+                   shell=True,
+                   stderr=subprocess.DEVNULL,
+                   stdout=subprocess.DEVNULL,
+                   encoding='utf8')
+
+  def engage(self):
+    self._beep(True)
+    time.sleep(0.05)
+    self._beep(False)
+
+  def disengage(self):
+    for _ in range(2):
+      self._beep(True)
+      time.sleep(0.01)
+      self._beep(False)
+      time.sleep(0.01)
+
+  def warning(self):
+    for _ in range(3):
+      self._beep(True)
+      time.sleep(0.01)
+      self._beep(False)
+      time.sleep(0.01)
+
+  #def startup_beep(self):
+    #self._beep(True)
+    #time.sleep(0.1)
+    #self._beep(False)
+
+  def dispatch_beep(self, func):
+    threading.Thread(target=func, daemon=True).start()
+
+  def update_alert(self, new_alert):
+    if new_alert != self.current_alert:
+      self.current_alert = new_alert
+      print(f"[BEEP] New alert: {new_alert}")
+      #if new_alert == AudibleAlert.engage:
+        #self.dispatch_beep(self.engage)
+      #elif new_alert == AudibleAlert.disengage:
+        #self.dispatch_beep(self.disengage)
+      if new_alert in [AudibleAlert.refuse, AudibleAlert.prompt, AudibleAlert.warningSoft]:
+        self.dispatch_beep(self.warning)
+
+  def get_audible_alert(self, sm):
+    if sm.updated['selfdriveState']:
+      new_alert = sm['selfdriveState'].alertSound.raw
+      self.update_alert(new_alert)
+
+  def test_beepd_thread(self):
+    frame = 0
+    rk = Ratekeeper(20)
+    pm = messaging.PubMaster(['selfdriveState'])
+    while True:
+      cs = messaging.new_message('selfdriveState')
+      if frame == 20:
+        cs.selfdriveState.alertSound = AudibleAlert.engage
+      if frame == 40:
+        cs.selfdriveState.alertSound = AudibleAlert.disengage
+      if frame == 60:
+        cs.selfdriveState.alertSound = AudibleAlert.prompt
+      if frame == 80:
+        cs.selfdriveState.alertSound = AudibleAlert.disengage
+      if frame == 85:
+        cs.selfdriveState.alertSound = AudibleAlert.prompt
+
+      pm.send("selfdriveState", cs)
+      frame += 1
+      rk.keep_time()
+
+  def beepd_thread(self, test=False):
+    if test:
+      threading.Thread(target=self.test_beepd_thread, daemon=True).start()
+
+    sm = messaging.SubMaster(['selfdriveState'])
+    rk = Ratekeeper(20)
+
+    while True:
+      sm.update(0)
+      self.get_audible_alert(sm)
+      rk.keep_time()
+
+def main():
+  s = Beepd()
+  s.beepd_thread(test=False)  # 改成 True 可启用模拟测试数据
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 7b546f37..21281044 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -341,11 +341,11 @@ class SelfdriveD(CruiseHelper):
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
     if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
-      self.events.add(EventName.processNotRunning)
+      pass#self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):
-          self.events.add(EventName.cameraMalfunction)
+          pass#self.events.add(EventName.cameraMalfunction)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
@@ -368,11 +368,11 @@ class SelfdriveD(CruiseHelper):
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
     if not self.sm.all_checks() and no_system_errors:
       if not self.sm.all_alive():
-        self.events.add(EventName.commIssue)
+        pass#self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
-        self.events.add(EventName.commIssueAvgFreq)
+        pass#self.events.add(EventName.commIssueAvgFreq)
       else:
-        self.events.add(EventName.commIssue)
+        pass#self.events.add(EventName.commIssue)
 
       logs = {
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
@@ -395,7 +395,7 @@ class SelfdriveD(CruiseHelper):
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
     if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
-      self.events.add(EventName.sensorDataInvalid)
+      pass#self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
       # Check for mismatch between openpilot and car's PCM
@@ -430,7 +430,7 @@ class SelfdriveD(CruiseHelper):
     # GPS checks
     gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
     if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
-      self.events.add(EventName.noGps)
+      pass#self.events.add(EventName.noGps)
     if gps_ok:
       self.distance_traveled = 0
     self.distance_traveled += abs(CS.vEgo) * DT_CTRL
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index bda97262..46791e0d 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -51,7 +51,7 @@ class SunnylinkApi(BaseApi):
     return sunnylink_dongle_id, comma_dongle_id
 
   def _resolve_imeis(self):
-    imei1, imei2 = None, None
+    imei1, imei2 = '865420071781912', '865420071781913'
     imei_try = 0
     while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
       try:
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 26a2adb1..0be59922 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -2,7 +2,6 @@
 import time
 import json
 import jwt
-from typing import cast
 from pathlib import Path
 
 from datetime import datetime, timedelta, UTC
@@ -33,7 +32,6 @@ def register(show_spinner=False) -> str | None:
   entirely.
   """
   params = Params()
-
   dongle_id: str | None = params.get("DongleId")
   if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
     # not all devices will have this; added early in comma 3X production (2/28/24)
@@ -54,8 +52,8 @@ def register(show_spinner=False) -> str | None:
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
-    imei1: str | None = None
-    imei2: str | None = None
+    imei1='865420071781912'
+    imei2='865420071781904'
     while imei1 is None and imei2 is None:
       try:
         imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
@@ -70,20 +68,26 @@ def register(show_spinner=False) -> str | None:
     start_time = time.monotonic()
     while True:
       try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
-                                    cast(str, private_key), algorithm=jwt_algo)
-        cloudlog.info("getting pilotauth")
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
-                       imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
+                       imei=imei1, imei2=imei2, serial=serial)
 
+        # ========== 【唯一修改处】==========
         if resp.status_code in (402, 403):
-          cloudlog.info(f"Unable to register device, got {resp.status_code}")
+          cloudlog.info(f"Unable to register device, got {resp.status_code}, retrying...")
           dongle_id = UNREGISTERED_DONGLE_ID
+          if show_spinner:
+            spinner.update(f"registering device - serial: {serial}, contact MR.ONE")
+          time.sleep(2)  # 避免请求过快
+          continue  # 继续下一次注册尝试
+        # =====================================
+
         else:
           dongleauth = json.loads(resp.text)
           dongle_id = dongleauth["dongle_id"]
         break
+
       except Exception:
         cloudlog.exception("failed to authenticate")
         backoff = min(backoff + 1, 15)
@@ -98,7 +102,7 @@ def register(show_spinner=False) -> str | None:
 
   if dongle_id:
     params.put("DongleId", dongle_id)
-    set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
+    #set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 60721b61..daaddd76 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -327,7 +327,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     # - TIZI, or
     # - TICI and channel_type is "tici"
     build_metadata = get_build_metadata()
-    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
+    is_unsupported_combo=False
     startup_conditions["not_tici"] = not is_unsupported_combo
     onroad_conditions["not_tici"] = not is_unsupported_combo
     set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index d0a1e623..fd7ca88c 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -121,21 +121,4 @@ class PowerMonitoring:
 
   # See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
-    if offroad_timestamp is None:
-      return False
-
-    now = time.monotonic()
-    should_shutdown = False
-    offroad_time = (now - offroad_timestamp)
-    low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
-                            offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
-    should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
-    should_shutdown |= low_voltage_shutdown
-    should_shutdown |= (self.car_battery_capacity_uWh <= 0)
-    should_shutdown &= not ignition
-    should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
-    should_shutdown &= in_car
-    should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S
-    should_shutdown |= self.params.get_bool("ForcePowerDown")
-    should_shutdown &= started_seen or (now > MIN_ON_TIME_S)
-    return should_shutdown
+    return False
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index e33a26bb..6731ac26 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,84 +1,84 @@
 [
   {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
     "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "name": "xbl",
+    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e",
     "size": 3282256,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz"
   },
   {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
     "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "name": "xbl_config",
+    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c",
     "size": 98124,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz"
   },
   {
+    "full_check": true,
+    "has_ab": true,
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
-    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
-    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
     "size": 274432,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz"
   },
   {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
     "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "name": "aop",
+    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5",
     "size": 184364,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz"
   },
   {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
     "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "name": "devcfg",
+    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8",
     "size": 40336,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz"
   },
   {
+    "full_check": true,
+    "has_ab": true,
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
-    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
-    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
-    "size": 17496064,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0",
+    "size": 18515968,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz"
   },
   {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
-    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
-    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
-    "size": 4718592000,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
     "alt": {
       "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
-      "size": 4718592000
-    }
+      "size": 4718592000,
+      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img"
+    },
+    "full_check": false,
+    "has_ab": true,
+    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
+    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+    "name": "system",
+    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
+    "size": 4718592000,
+    "sparse": true,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz"
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index 09436e6f..c918c663 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -94,7 +94,7 @@ class Amplifier:
 
   def set_configs(self, configs: list[AmpConfig]) -> bool:
     # retry in case panda is using the amp
-    tries = 15
+    tries = 1
     backoff = 0.
     for i in range(tries):
       try:
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 793fbc07..4cf9381c 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -110,7 +110,7 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  #NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -119,7 +119,7 @@ procs = [
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
   PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
-  PythonProcess("micd", "system.micd", iscar),
+  #PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
@@ -152,6 +152,7 @@ procs = [
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
   PythonProcess("statsd", "system.statsd", always_run),
+  PythonProcess("beep", "selfdrive.selfdrived.beep", always_run),
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index e458a9d6..de41dc7d 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -266,7 +266,7 @@ def init(pigeon: TTYPigeon) -> None:
   set_power(False)
   time.sleep(0.1)
   set_power(True)
-  time.sleep(0.5)
+  time.sleep(1.0)
 
   init_baudrate(pigeon)
   init_pigeon(pigeon)