diff --git a/VERSION b/VERSION
index 0d687f1e..1de48e4c 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-v1.7.3
\ No newline at end of file
+v1.7.4
\ No newline at end of file
diff --git a/board/safety.h b/board/safety.h
index 407f33f6..782c4ef7 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -37,6 +37,7 @@
 #define SAFETY_GM_ASCM 18U
 #define SAFETY_NOOUTPUT 19U
 #define SAFETY_HONDA_BOSCH_HARNESS 20U
+#define SAFETY_VOLKSWAGEN_PQ 21U
 #define SAFETY_SUBARU_LEGACY 22U
 
 uint16_t current_safety_mode = SAFETY_SILENT;
@@ -203,6 +204,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
   {SAFETY_MAZDA, &mazda_hooks},
   {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
+  {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
   {SAFETY_NOOUTPUT, &nooutput_hooks},
 #ifdef ALLOW_DEBUG
   {SAFETY_CADILLAC, &cadillac_hooks},
diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
index 132c10d1..241d7e25 100644
--- a/board/safety/safety_volkswagen.h
+++ b/board/safety/safety_volkswagen.h
@@ -30,6 +30,26 @@ AddrCheckStruct volkswagen_mqb_rx_checks[] = {
 };
 const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);
 
+// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
+#define MSG_LENKHILFE_3 0x0D0   // RX from EPS, for steering angle and driver steering torque
+#define MSG_HCA_1       0x0D2   // TX by OP, Heading Control Assist steering torque
+#define MSG_MOTOR_2     0x288   // RX from ECU, for CC state and brake switch state
+#define MSG_MOTOR_3     0x380   // RX from ECU, for driver throttle input
+#define MSG_GRA_NEU     0x38A   // TX by OP, ACC control buttons for cancel/resume
+#define MSG_BREMSE_3    0x4A0   // RX from ABS, for wheel speeds
+#define MSG_LDW_1       0x5BE   // TX by OP, Lane line recognition and text alerts
+
+// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+const AddrBus VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0}, {MSG_GRA_NEU, 0}, {MSG_GRA_NEU, 2}, {MSG_LDW_1, 0}};
+const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);
+
+AddrCheckStruct volkswagen_pq_rx_checks[] = {
+  {.addr = {MSG_LENKHILFE_3}, .bus = 0, .check_checksum = true,  .max_counter = 15U, .expected_timestep = 10000U},
+  {.addr = {MSG_MOTOR_2},     .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 20000U},
+  {.addr = {MSG_MOTOR_3},     .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+  {.addr = {MSG_BREMSE_3},    .bus = 0, .check_checksum = false, .max_counter = 0U,  .expected_timestep = 10000U},
+};
+const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);
 
 struct sample_t volkswagen_torque_driver; // Last few driver torques measured
 int volkswagen_rt_torque_last = 0;
@@ -45,10 +65,17 @@ static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   return (uint8_t)GET_BYTE(to_push, 0);
 }
 
-static uint8_t volkswagen_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // MQB message counters are consistently found at LSB 8.
   return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
 }
 
+static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
+  // Few PQ messages have counters, and their offsets are inconsistent. This
+  // function works only for Lenkhilfe_3 at this time.
+  return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
+}
+
 static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
   int addr = GET_ADDR(to_push);
   int len = GET_LEN(to_push);
@@ -62,7 +89,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
     crc = volkswagen_crc8_lut_8h2f[crc];
   }
 
-  uint8_t counter = volkswagen_get_counter(to_push);
+  uint8_t counter = volkswagen_mqb_get_counter(to_push);
   switch(addr) {
     case MSG_EPS_01:
       crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
@@ -84,6 +111,17 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
   return crc ^ 0xFFU;
 }
 
+static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
+  int len = GET_LEN(to_push);
+  uint8_t checksum = 0U;
+
+  for (int i = 1; i < len; i++) {
+    checksum ^= (uint8_t)GET_BYTE(to_push, i);
+  }
+
+  return checksum;
+}
+
 static void volkswagen_mqb_init(int16_t param) {
   UNUSED(param);
 
@@ -94,10 +132,19 @@ static void volkswagen_mqb_init(int16_t param) {
   gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
 }
 
+static void volkswagen_pq_init(int16_t param) {
+  UNUSED(param);
+
+  controls_allowed = false;
+  relay_malfunction = false;
+  volkswagen_torque_msg = MSG_HCA_1;
+  volkswagen_lane_msg = MSG_LDW_1;
+}
+
 static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   bool valid = addr_safety_check(to_push, volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_RX_CHECKS_LEN,
-                                 volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_get_counter);
+                                 volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
 
   if (valid && (GET_BUS(to_push) == 0)) {
     int addr = GET_ADDR(to_push);
@@ -160,6 +207,73 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   return valid;
 }
 
+static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
+
+  bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
+                                volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
+
+  if (valid) {
+    int bus = GET_BUS(to_push);
+    int addr = GET_ADDR(to_push);
+
+    // Update in-motion state by sampling front wheel speeds
+    // Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
+    // Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
+    if ((bus == 0) && (addr == MSG_BREMSE_3)) {
+      int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
+      int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
+      // Check for average front speed in excess of 0.3m/s, 1.08km/h
+      // DBC speed scale 0.01: 0.3m/s = 108, sum both wheels to compare
+      volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 216;
+    }
+
+    // Update driver input torque samples
+    // Signal: Lenkhilfe_3.LH3_LM (absolute torque)
+    // Signal: Lenkhilfe_3.LH3_LMSign (direction)
+    if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
+      int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
+      int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
+      if (sign == 1) {
+        torque_driver_new *= -1;
+      }
+      update_sample(&volkswagen_torque_driver, torque_driver_new);
+    }
+
+    // Update ACC status from ECU for controls-allowed state
+    // Signal: Motor_2.GRA_Status
+    if ((bus == 0) && (addr == MSG_MOTOR_2)) {
+      int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
+      controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
+    }
+
+    // Exit controls on rising edge of gas press
+    // Signal: Motor_3.Fahrpedal_Rohsignal
+    if ((bus == 0) && (addr == MSG_MOTOR_3)) {
+      int gas_pressed = (GET_BYTE(to_push, 2));
+      if (gas_pressed && !gas_pressed_prev) {
+        controls_allowed = 0;
+      }
+      gas_pressed_prev = gas_pressed;
+    }
+
+    // Exit controls on rising edge of brake press
+    // Signal: Motor_2.Bremslichtschalter
+    if ((bus == 0) && (addr == MSG_MOTOR_2)) {
+      bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
+      if (brake_pressed && (!(brake_pressed_prev) || volkswagen_moving)) {
+        controls_allowed = 0;
+      }
+      brake_pressed_prev = brake_pressed;
+    }
+
+    // If there are HCA messages on bus 0 not sent by OP, there's a relay problem
+    if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
+      relay_malfunction = true;
+    }
+  }
+  return valid;
+}
+
 static bool volkswagen_steering_check(int desired_torque) {
   bool violation = false;
   uint32_t ts = TIM2->CNT;
@@ -237,6 +351,44 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
+static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
+  int addr = GET_ADDR(to_send);
+  int bus = GET_BUS(to_send);
+  int tx = 1;
+
+  if (!msg_allowed(addr, bus, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
+    tx = 0;
+  }
+
+  // Safety check for HCA_1 Heading Control Assist torque
+  // Signal: HCA_1.LM_Offset (absolute torque)
+  // Signal: HCA_1.LM_Offsign (direction)
+  if (addr == MSG_HCA_1) {
+    int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
+    desired_torque = desired_torque / 32;  // DBC scale from PQ network to centi-Nm
+    int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
+    if (sign == 1) {
+      desired_torque *= -1;
+    }
+
+    if (volkswagen_steering_check(desired_torque)) {
+      tx = 0;
+    }
+  }
+
+  // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
+  // This avoids unintended engagements while still allowing resume spam
+  if ((addr == MSG_GRA_NEU) && !controls_allowed) {
+    // disallow resume and set: bits 16 and 17
+    if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
+      tx = 0;
+    }
+  }
+
+  // 1 allows the message through
+  return tx;
+}
+
 static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int addr = GET_ADDR(to_fwd);
   int bus_fwd = -1;
@@ -275,3 +427,14 @@ const safety_hooks volkswagen_mqb_hooks = {
   .addr_check = volkswagen_mqb_rx_checks,
   .addr_check_len = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]),
 };
+
+// Volkswagen PQ35/PQ46/NMS platforms
+const safety_hooks volkswagen_pq_hooks = {
+  .init = volkswagen_pq_init,
+  .rx = volkswagen_pq_rx_hook,
+  .tx = volkswagen_pq_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .fwd = volkswagen_fwd_hook,
+  .addr_check = volkswagen_pq_rx_checks,
+  .addr_check_len = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]),
+};
diff --git a/python/__init__.py b/python/__init__.py
index c0e27e8d..8e87aadd 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -129,6 +129,7 @@ class Panda(object):
   SAFETY_GM_ASCM = 18
   SAFETY_NOOUTPUT = 19
   SAFETY_HONDA_BOSCH_HARNESS = 20
+  SAFETY_VOLKSWAGEN_PQ = 21
   SAFETY_SUBARU_LEGACY = 22
 
   SERIAL_DEBUG = 0
diff --git a/tests/safety/test_volkswagen_pq.py b/tests/safety/test_volkswagen_pq.py
new file mode 100644
index 00000000..5bdd3328
--- /dev/null
+++ b/tests/safety/test_volkswagen_pq.py
@@ -0,0 +1,357 @@
+#!/usr/bin/env python3
+import unittest
+import numpy as np
+from panda import Panda
+from panda.tests.safety import libpandasafety_py
+from panda.tests.safety.common import StdTest, make_msg, MAX_WRONG_COUNTERS
+
+MAX_RATE_UP = 4
+MAX_RATE_DOWN = 10
+MAX_STEER = 300
+MAX_RT_DELTA = 75
+RT_INTERVAL = 250000
+
+DRIVER_TORQUE_ALLOWANCE = 80
+DRIVER_TORQUE_FACTOR = 3
+
+MSG_LENKHILFE_3 = 0x0D0  # RX from EPS, for steering angle and driver steering torque
+MSG_HCA_1 = 0x0D2        # TX by OP, Heading Control Assist steering torque
+MSG_MOTOR_2 = 0x288      # RX from ECU, for CC state and brake switch state
+MSG_MOTOR_3 = 0x380      # RX from ECU, for driver throttle input
+MSG_GRA_NEU = 0x38A      # TX by OP, ACC control buttons for cancel/resume
+MSG_BREMSE_3 = 0x4A0     # RX from ABS, for wheel speeds
+MSG_LDW_1 = 0x5BE        # TX by OP, Lane line recognition and text alerts
+
+# Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
+TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]]
+
+def sign(a):
+  if a > 0:
+    return 1
+  else:
+    return -1
+
+def volkswagen_pq_checksum(msg, addr, len_msg):
+  msg_bytes = msg.RDLR.to_bytes(4, 'little') + msg.RDHR.to_bytes(4, 'little')
+  msg_bytes = msg_bytes[1:len_msg]
+
+  checksum = 0
+  for i in msg_bytes:
+    checksum ^= i
+  return checksum
+
+class TestVolkswagenPqSafety(unittest.TestCase):
+  cruise_engaged = False
+  brake_pressed = False
+  cnt_lenkhilfe_3 = 0
+  cnt_hca_1 = 0
+
+  @classmethod
+  def setUp(cls):
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0)
+    cls.safety.init_tests_volkswagen()
+
+  def _set_prev_torque(self, t):
+    self.safety.set_volkswagen_desired_torque_last(t)
+    self.safety.set_volkswagen_rt_torque_last(t)
+
+  # Wheel speeds (Bremse_3)
+  def _speed_msg(self, speed):
+    wheel_speed_scaled = int(speed / 0.01)
+    to_send = make_msg(0, MSG_BREMSE_3)
+    to_send[0].RDLR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
+    to_send[0].RDHR = (wheel_speed_scaled | (wheel_speed_scaled << 16)) << 1
+    return to_send
+
+  # Brake light switch (shared message Motor_2)
+  def _brake_msg(self, brake):
+    self.__class__.brake_pressed = brake
+    return self._motor_2_msg()
+
+  # ACC engaged status (shared message Motor_2)
+  def _cruise_msg(self, cruise):
+    self.__class__.cruise_engaged = cruise
+    return self._motor_2_msg()
+
+  # Driver steering input torque
+  def _lenkhilfe_3_msg(self, torque):
+    to_send = make_msg(0, MSG_LENKHILFE_3)
+    t = abs(torque)
+    to_send[0].RDLR = ((t & 0x3FF) << 16)
+    if torque < 0:
+      to_send[0].RDLR |= 0x1 << 26
+    to_send[0].RDLR |= (self.cnt_lenkhilfe_3 % 16) << 12
+    to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_LENKHILFE_3, 8)
+    self.__class__.cnt_lenkhilfe_3 += 1
+    return to_send
+
+  # openpilot steering output torque
+  def _hca_1_msg(self, torque):
+    to_send = make_msg(0, MSG_HCA_1)
+    t = abs(torque) << 5  # DBC scale from centi-Nm to PQ network (approximated)
+    to_send[0].RDLR = (t & 0x7FFF) << 16
+    if torque < 0:
+      to_send[0].RDLR |= 0x1 << 31
+    to_send[0].RDLR |= (self.cnt_hca_1 % 16) << 8
+    to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_HCA_1, 8)
+    self.__class__.cnt_hca_1 += 1
+    return to_send
+
+  # ACC engagement and brake light switch status
+  # Called indirectly for compatibility with common.py tests
+  def _motor_2_msg(self):
+    to_send = make_msg(0, MSG_MOTOR_2)
+    to_send[0].RDLR = (0x1 << 16) if self.__class__.brake_pressed else 0
+    to_send[0].RDLR |= (self.__class__.cruise_engaged & 0x3) << 22
+    return to_send
+
+  # Driver throttle input
+  def _motor_3_msg(self, gas):
+    to_send = make_msg(0, MSG_MOTOR_3)
+    to_send[0].RDLR = (gas & 0xFF) << 16
+    return to_send
+
+  # Cruise control buttons
+  def _gra_neu_msg(self, bit):
+    to_send = make_msg(2, MSG_GRA_NEU)
+    to_send[0].RDLR = 1 << bit
+    to_send[0].RDLR |= volkswagen_pq_checksum(to_send[0], MSG_GRA_NEU, 8)
+    return to_send
+
+  def test_spam_can_buses(self):
+    StdTest.test_spam_can_buses(self, TX_MSGS)
+
+  def test_relay_malfunction(self):
+    StdTest.test_relay_malfunction(self, MSG_HCA_1)
+
+  def test_prev_gas(self):
+    for g in range(0, 256):
+      self.safety.safety_rx_hook(self._motor_3_msg(g))
+      self.assertEqual(True if g > 0 else False, self.safety.get_gas_pressed_prev())
+
+  def test_default_controls_not_allowed(self):
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_enable_control_allowed_from_cruise(self):
+    self.safety.safety_rx_hook(self._brake_msg(False))
+    self.safety.set_controls_allowed(0)
+    self.safety.safety_rx_hook(self._cruise_msg(True))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_disable_control_allowed_from_cruise(self):
+    self.safety.safety_rx_hook(self._brake_msg(False))
+    self.safety.set_controls_allowed(1)
+    self.safety.safety_rx_hook(self._cruise_msg(False))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_sample_speed(self):
+    # Stationary
+    self.safety.safety_rx_hook(self._speed_msg(0))
+    self.assertEqual(0, self.safety.get_volkswagen_moving())
+    # 1 km/h, just under 0.3 m/s safety grace threshold
+    self.safety.safety_rx_hook(self._speed_msg(1))
+    self.assertEqual(0, self.safety.get_volkswagen_moving())
+    # 2 km/h, just over 0.3 m/s safety grace threshold
+    self.safety.safety_rx_hook(self._speed_msg(2))
+    self.assertEqual(1, self.safety.get_volkswagen_moving())
+    # 144 km/h, openpilot V_CRUISE_MAX
+    self.safety.safety_rx_hook(self._speed_msg(144))
+    self.assertEqual(1, self.safety.get_volkswagen_moving())
+
+  def test_prev_brake(self):
+    self.assertFalse(self.safety.get_brake_pressed_prev())
+    self.safety.safety_rx_hook(self._brake_msg(True))
+    self.assertTrue(self.safety.get_brake_pressed_prev())
+    self.safety.safety_rx_hook(self._brake_msg(False))
+
+  def test_brake_disengage(self):
+    self.__class__.cruise_engaged = True  # Hack due to brake and ACC signals being in the same message
+    StdTest.test_allow_brake_at_zero_speed(self)
+    StdTest.test_not_allow_brake_when_moving(self, 1)
+
+  def test_disengage_on_gas(self):
+    self.safety.safety_rx_hook(self._motor_3_msg(0))
+    self.safety.set_controls_allowed(True)
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+  def test_allow_engage_with_gas_pressed(self):
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.safety_rx_hook(self._motor_3_msg(1))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_steer_safety_check(self):
+    for enabled in [0, 1]:
+      for t in range(-500, 500):
+        self.safety.set_controls_allowed(enabled)
+        self._set_prev_torque(t)
+        if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
+          self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+        else:
+          self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+
+  def test_manually_enable_controls_allowed(self):
+    StdTest.test_manually_enable_controls_allowed(self)
+
+  def test_spam_cancel_safety_check(self):
+    BIT_CANCEL = 9
+    BIT_SET = 16
+    BIT_RESUME = 17
+    self.safety.set_controls_allowed(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_CANCEL)))
+    self.assertFalse(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_RESUME)))
+    self.assertFalse(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_SET)))
+    # do not block resume if we are engaged already
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self.safety.safety_tx_hook(self._gra_neu_msg(BIT_RESUME)))
+
+  def test_non_realtime_limit_up(self):
+    self.safety.set_volkswagen_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(MAX_RATE_UP)))
+    self._set_prev_torque(0)
+    self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_RATE_UP)))
+
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(MAX_RATE_UP + 1)))
+    self.safety.set_controls_allowed(True)
+    self._set_prev_torque(0)
+    self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_RATE_UP - 1)))
+
+  def test_non_realtime_limit_down(self):
+    self.safety.set_volkswagen_torque_driver(0, 0)
+    self.safety.set_controls_allowed(True)
+
+  def test_against_torque_driver(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
+        t *= -sign
+        self.safety.set_volkswagen_torque_driver(t, t)
+        self._set_prev_torque(MAX_STEER * sign)
+        self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(MAX_STEER * sign)))
+
+      self.safety.set_volkswagen_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(-MAX_STEER)))
+
+    # spot check some individual cases
+    for sign in [-1, 1]:
+      driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
+      torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
+      delta = 1 * sign
+      self._set_prev_torque(torque_desired)
+      self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(torque_desired)))
+      self._set_prev_torque(torque_desired + delta)
+      self.safety.set_volkswagen_torque_driver(-driver_torque, -driver_torque)
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(torque_desired + delta)))
+
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(0)))
+      self._set_prev_torque(MAX_STEER * sign)
+      self.safety.set_volkswagen_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
+
+  def test_realtime_limits(self):
+    self.safety.set_controls_allowed(True)
+
+    for sign in [-1, 1]:
+      self.safety.init_tests_volkswagen()
+      self._set_prev_torque(0)
+      self.safety.set_volkswagen_torque_driver(0, 0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+      self.assertFalse(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
+
+      self._set_prev_torque(0)
+      for t in np.arange(0, MAX_RT_DELTA, 1):
+        t *= sign
+        self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(t)))
+
+      # Increase timer to update rt_torque_last
+      self.safety.set_timer(RT_INTERVAL + 1)
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA - 1))))
+      self.assertTrue(self.safety.safety_tx_hook(self._hca_1_msg(sign * (MAX_RT_DELTA + 1))))
+
+  def test_torque_measurements(self):
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(50))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(-50))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+
+    self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
+    self.assertEqual(50, self.safety.get_volkswagen_torque_driver_max())
+
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
+    self.assertEqual(-50, self.safety.get_volkswagen_torque_driver_min())
+
+    self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.assertEqual(0, self.safety.get_volkswagen_torque_driver_max())
+    self.assertEqual(0, self.safety.get_volkswagen_torque_driver_min())
+
+  def test_rx_hook(self):
+    # checksum checks
+    # TODO: Would be ideal to check non-checksum non-counter messages as well,
+    # but I'm not sure if we can easily validate Panda's simple temporal
+    # reception-rate check here.
+    for msg in [MSG_LENKHILFE_3]:
+      self.safety.set_controls_allowed(1)
+      if msg == MSG_LENKHILFE_3:
+        to_push = self._lenkhilfe_3_msg(0)
+      self.assertTrue(self.safety.safety_rx_hook(to_push))
+      to_push[0].RDHR ^= 0xFF
+      self.assertFalse(self.safety.safety_rx_hook(to_push))
+      self.assertFalse(self.safety.get_controls_allowed())
+
+    # counter
+    # reset wrong_counters to zero by sending valid messages
+    for i in range(MAX_WRONG_COUNTERS + 1):
+      self.__class__.cnt_lenkhilfe_3 += 1
+      if i < MAX_WRONG_COUNTERS:
+        self.safety.set_controls_allowed(1)
+        self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+      else:
+        self.assertFalse(self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0)))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+    # restore counters for future tests with a couple of good messages
+    for i in range(2):
+      self.safety.set_controls_allowed(1)
+      self.safety.safety_rx_hook(self._lenkhilfe_3_msg(0))
+    self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_fwd_hook(self):
+    buss = list(range(0x0, 0x3))
+    msgs = list(range(0x1, 0x800))
+    blocked_msgs_0to2 = []
+    blocked_msgs_2to0 = [MSG_HCA_1, MSG_LDW_1]
+    for b in buss:
+      for m in msgs:
+        if b == 0:
+          fwd_bus = -1 if m in blocked_msgs_0to2 else 2
+        elif b == 1:
+          fwd_bus = -1
+        elif b == 2:
+          fwd_bus = -1 if m in blocked_msgs_2to0 else 0
+
+        # assume len 8
+        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/tests/safety_replay/Dockerfile b/tests/safety_replay/Dockerfile
index b0b5f0c2..d876f6e9 100644
--- a/tests/safety_replay/Dockerfile
+++ b/tests/safety_replay/Dockerfile
@@ -25,8 +25,7 @@ RUN mkdir /openpilot
 WORKDIR /openpilot
 RUN git clone https://github.com/commaai/cereal.git || true
 WORKDIR /openpilot/cereal
-RUN git pull
-RUN git checkout bb2cc7572de99becce1bfbae63f3b38d5464e162
+RUN git pull && git checkout 35040fe6bb9ebc31d38e98faa64d5ec4093ce3d5
 COPY . /openpilot/panda
 
 WORKDIR /openpilot/panda/tests/safety_replay
diff --git a/tests/safety_replay/test_safety_replay.py b/tests/safety_replay/test_safety_replay.py
index 81b9f5b1..dde81ac0 100755
--- a/tests/safety_replay/test_safety_replay.py
+++ b/tests/safety_replay/test_safety_replay.py
@@ -18,7 +18,8 @@ logs = [
   ("02ec6bea180a4d36|2019-04-17--11-21-35.bz2", Panda.SAFETY_HYUNDAI, 0), # HYUNDAI.SANTA_FE
   ("6fb4948a7ebe670e|2019-11-12--00-35-53.bz2", Panda.SAFETY_CHRYSLER, 0), # CHRYSLER.PACIFICA_2018_HYBRID
   ("791340bc01ed993d|2019-04-08--10-26-00.bz2", Panda.SAFETY_SUBARU, 0), # SUBARU.IMPREZA
-  ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF
+  ("76b83eb0245de90e|2020-03-05--19-16-05.bz2", Panda.SAFETY_VOLKSWAGEN_MQB, 0), # VOLKSWAGEN.GOLF (MK7)
+  ("d12cd943127f267b|2020-03-27--15-57-18.bz2", Panda.SAFETY_VOLKSWAGEN_PQ, 0), # 2009 VW Passat R36 (B6), supporting OP port not yet upstreamed
   ("fbbfa6af821552b9|2020-03-03--08-09-43.bz2", Panda.SAFETY_NISSAN, 0), # NISSAN.XTRAIL
 ]