Merge remote-tracking branch 'origin/master' into hyundai-custom-button

# Conflicts: # RELEASES.md # opendbc_repo # selfdrive/ui/feedback/feedbackd.py
2026-02-18 22:23:56 +08:00 · 2025-08-25 09:04:57 -04:00
parent d251ae4976 7c6d887187
commit ae30f4119f
74 changed files with 812 additions and 761 deletions
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -39,4 +39,4 @@ jobs:
        git config --global --add safe.directory '*'
        git lfs pull
    - name: Push __nightly
-      run: BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_stripped.sh
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -27,7 +27,7 @@ env:

  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

-  PYTEST: pytest --continue-on-collection-errors --durations=0 --durations-min=5 -n logical
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

 jobs:
  build_release:
@@ -52,7 +52,7 @@ jobs:
        command: git lfs pull
    - name: Build devel
      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
    - uses: ./.github/workflows/setup-with-retry
    - name: Build openpilot and run checks
      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
@@ -190,7 +190,8 @@ jobs:
      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
      run: |
        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        $PYTEST --collect-only -m 'not slow' &> /dev/null && \
+                        # Pre-compile Python bytecode so each pytest worker doesn't need to
+                        $PYTEST --collect-only -m 'not slow' -qq && \
                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
--- a/2
+++ b/2
@@ -167,7 +167,7 @@ node {
  env.GIT_COMMIT = checkout(scm).GIT_COMMIT

  def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
+                         'release-tici', 'testing-closet*', 'hotfix-*']
  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')

  if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,19 +1,23 @@
 Version 0.10.1 (2025-09-08)
 ========================
+* Record driving feedback using LKAS button
+* Honda City 2023 support thanks to drFritz!

 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
  * New training architecture
-     * Architecture outlined in CVPR paper: "Learning to Drive from a World Model"
-     * Longitudinal MPC replaced by E2E planning from worldmodel in experimental mode
-     * Action from lateral MPC as training objective replaced by E2E planning from worldmodel
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
  * Low-speed lead car ground-truth fixes
-
 * Enable live-learned steering actuation delay
-* Record driving feedback using LKAS button when MADS is disabled
 * Allow Bookmark/Record driving feedback using Custom ☆ button for Hyundai/Kia/Genesis vehicles
 * Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!

 Version 0.9.9 (2025-05-23)
 ========================
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Down To Ride (Default)"
+#define DEFAULT_MODEL "Steam Powered (Default)"
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -73,9 +73,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
-    {"LastUpdateRouteCount", {PERSISTENT, INT}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
    {"LastUpdateTime", {PERSISTENT, TIME}},
-    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
    {"LiveParameters", {PERSISTENT, JSON}},
    {"LiveParametersV2", {PERSISTENT, BYTES}},
@@ -200,7 +200,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {

    // mapd
    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING, ""}},
+    {"MapdVersion", {PERSISTENT, STRING}},
    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
@@ -216,5 +216,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OsmStateName", {PERSISTENT, STRING, "All"}},
    {"OsmStateTitle", {PERSISTENT, STRING}},
    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING, ""}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
 };
--- a/common/pid.py
+++ b/common/pid.py
@@ -14,8 +14,7 @@ class PIDController:
    if isinstance(self._k_d, Number):
      self._k_d = [[0], [self._k_d]]

-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)

    self.i_rate = 1.0 / rate
    self.speed = 0.0
@@ -41,6 +40,10 @@ class PIDController:
    self.f = 0.0
    self.control = 0

+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
    self.speed = speed
    self.p = float(error) * self.k_p
--- a/common/run.py
+++ b/common/run.py
@@ -1,4 +1,6 @@
 import subprocess
+from contextlib import contextmanager
+from subprocess import Popen, PIPE, TimeoutExpired


 def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
@@ -11,3 +13,16 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
  except subprocess.CalledProcessError:
    return default

+
+@contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -6,7 +6,7 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu

 ### Getting Started

-* Setup your [development environment](../tools/)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai

--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*

-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.

 And if you have a comma 3/3X, we'll deploy the change to your device for testing.

-## 1. Setup your development environment
+## 1. Set up your development environment

 Run this to clone openpilot and install all the dependencies:
 ```bash
--- 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="12.6"
+  export AGNOS_VERSION="12.8"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/release/README.md
+++ b/release/README.md
@@ -3,33 +3,34 @@
 ```
 ## release checklist

-**Go to `devel-staging`**
- [ ] make issue to track release
+### Go to staging
+- [ ] make a GitHub issue to track release
+- [ ] create release master branch
 - [ ] update RELEASES.md
- [ ] trigger new nightly build: https://github.com/commaai/openpilot/actions/workflows/release.yaml
- [ ] update `devel-staging`: `git reset --hard origin/__nightly`
+- [ ] bump version on master: `common/version.h` and `RELEASES.md`
 - [ ] build new userdata partition from `release3-staging`
- [ ] open a pull request from `devel-staging` to `devel`
 - [ ] post on Discord, tag `@release crew`

-**Go to `devel`**
- [ ] bump version on master: `common/version.h` and `RELEASES.md`
- [ ] before merging the pull request, test the following:
+Updating staging:
+1. either rebase on master or cherry-pick changes
+2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
+3. build new userdata partition from `release3-staging`
+
+### Go to release
+- [ ] before going to release, test the following:
  - [ ] update from previous release -> new release
  - [ ] update from new release -> previous release
  - [ ] fresh install with `openpilot-test.comma.ai`
  - [ ] drive on fresh install
  - [ ] no submodules or LFS
  - [ ] check sentry, MTBF, etc.
-  - [ ] stress test in production
-
-**Go to `release3`**
+  - [ ] stress test passes in production
 - [ ] publish the blog post
 - [ ] `git reset --hard origin/release3-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
 - [ ] update factory provisioning
- [ ] close out milestone
+- [ ] close out milestone and issue
 - [ ] post on Discord, X, etc.
 ```
--- a/release/build_stripped.sh
+++ b/release/build_stripped.sh
@@ -17,28 +17,23 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
-pre-commit uninstall || true

-echo "[-] bringing __nightly and devel in sync T=$SECONDS"
+echo "[-] setting up stripped branch sync T=$SECONDS"
 cd $TARGET_DIR

-git fetch --depth 1 origin __nightly
-git fetch --depth 1 origin devel
-
-git checkout -f --track origin/__nightly
-git reset --hard __nightly
-git checkout __nightly
-git reset --hard origin/devel
-git clean -xdff
-git lfs uninstall
+# tmp branch
+git checkout --orphan tmp

 # remove everything except .git
 echo "[-] erasing old sunnypilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;

-# reset source tree
+# cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
+git submodule foreach --recursive git clean -xdff

 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -47,6 +42,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/

 # in the directory
 cd $TARGET_DIR
+rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed

 # include source commit hash and build date in commit
@@ -85,7 +81,7 @@ fi

 if [ ! -z "$BRANCH" ]; then
  echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin __nightly:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi

 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -3,7 +3,6 @@ import numpy as np

 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
@@ -29,9 +28,11 @@ class LatControlTorque(LatControl):
  def __init__(self, CP, CP_SP, CI):
    super().__init__(CP, CP_SP, CI)
    self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
+                             k_f=self.torque_params.kf)
+    self.update_limits()
    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg

    self.extension = LatControlTorqueExt(self, CP, CP_SP)
@@ -40,6 +41,11 @@ class LatControlTorque(LatControl):
    self.torque_params.latAccelFactor = latAccelFactor
    self.torque_params.latAccelOffset = latAccelOffset
    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))

  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
    pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -61,13 +67,10 @@ class LatControlTorque(LatControl):
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            gravity_adjusted=False)
-      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                               gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                          gravity_adjusted=True)
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(setpoint - measurement)
+      ff = gravity_adjusted_lateral_accel
      ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)

      # Lateral acceleration torque controller extension updates
@@ -77,17 +80,18 @@ class LatControlTorque(LatControl):
                                          desired_curvature, actual_curvature)

      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(pid_log.error,
+      output_lataccel = self.pid.update(pid_log.error,
                                      feedforward=ff,
                                      speed=CS.vEgo,
                                      freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)

      pid_log.active = True
      pid_log.p = float(self.pid.p)
      pid_log.i = float(self.pid.i)
      pid_log.d = float(self.pid.d)
      pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
+      pid_log.output = float(-output_torque)  # TODO: log lat accel?
      pid_log.actualLateralAccel = float(actual_lateral_accel)
      pid_log.desiredLateralAccel = float(desired_lateral_accel)
      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -93,12 +93,12 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    return x, v, a, j, throttle_prob

  def update(self, sm):
-    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
    if not self.mlsim:
-      self.mpc.mode = self.mode
+      self.mpc.mode = mode
    LongitudinalPlannerSP.update(self, sm)
    if dec_mpc_mode := self.get_mpc_mode():
-      self.mode = dec_mpc_mode
+      mode = dec_mpc_mode
      if not self.mlsim:
        self.mpc.mode = dec_mpc_mode

@@ -123,7 +123,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    # No change cost when user is controlling the speed, or when standstill
    prev_accel_constraint = not (reset_state or sm['carState'].standstill)

-    if self.mode == 'acc':
+    if mode == 'acc':
      accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
      accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -173,7 +173,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
    output_should_stop_e2e = sm['modelV2'].action.shouldStop

-    if self.mode == 'acc' or not self.mlsim:
+    if mode == 'acc' or not self.mlsim:
      output_a_target = output_a_target_mpc
      self.output_should_stop = output_should_stop_mpc
    else:
--- a/selfdrive/controls/lib/tests/init.py
+++ b/selfdrive/controls/lib/tests/init.py
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -5,6 +5,7 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@@ -17,7 +18,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac

 class TestLatControl:

-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
  def test_saturation(self, car_name, controller):
    CarInterface = interfaces[car_name]
    CP = CarInterface.get_non_essential_params(car_name)
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -107,15 +107,12 @@ class ModelState(ModelStateBase):

    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)

    # policy inputs
    self.numpy_inputs = {
      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
    }

@@ -148,7 +145,6 @@ class ModelState(ModelStateBase):
    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)

    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}

    if TICI and not USBGPU:
@@ -174,11 +170,6 @@ class ModelState(ModelStateBase):
    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

-    # TODO model only uses last value now
-    self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-    self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED:
      combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -299,7 +290,6 @@ def main(demo=False):
    if sm.frame % 60 == 0:
      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
    if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
      dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -332,7 +322,6 @@ def main(demo=False):
    inputs:dict[str, np.ndarray] = {
      'desire': vec_desire,
      'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
    }

    mt1 = time.perf_counter()
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
-size 15583374
+oid sha256:04b763fb71efe57a8a4c4168a8043ecd58939015026ded0dc755ded6905ac251
+size 12343523
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b
-size 46265993
+oid sha256:e66bb8d53eced3786ed71a59b55ffc6810944cb217f0518621cc76303260a1ef
+size 46271991
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -22,9 +22,10 @@ class Parser:
    self.ignore_missing = ignore_missing

  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
+    missing = name not in outs
+    if missing and not self.ignore_missing:
      raise ValueError(f"Missing output {name}")
-    return name not in outs
+    return missing

  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
    if self.check_missing(outs, name):
@@ -84,6 +85,13 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -94,23 +102,17 @@ class Parser:
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
    self.parse_binary_crossentropy('lead_prob', outs)
-    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
-      self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
-    else:
-      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
+    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
+    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
-      self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    else:
-      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
    return outs

--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -93,7 +93,7 @@ def main() -> None:

      # TODO: remove this in the next AGNOS
      # wait until USB is up before counting
-      if time.monotonic() < 35.:
+      if time.monotonic() < 60.:
        no_internal_panda_count = 0

      # Handle missing internal panda
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -265,7 +265,10 @@ class SelfdriveD(CruiseHelper):
      if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
        self.events.add(EventName.ldw)

-    # Check for excessive actuation
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
    if self.sm.updated['liveCalibration']:
      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
    if self.sm.updated['livePose']:
@@ -280,6 +283,7 @@ class SelfdriveD(CruiseHelper):

    if self.excessive_actuation:
      self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************

    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-543bd2347fa35f8300478a3893fdd0a03a7c1fe6
+6d3219bca9f66a229b38a5382d301a92b0147edb
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -63,7 +63,7 @@ segments = [
 ]

 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "body"]
+excluded_interfaces = ["mock", "body", "psa"]

 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -333,20 +333,18 @@ class TestOnroad:
            assert np.all(eof_sof_diff > 0)
            assert np.all(eof_sof_diff < 50*1e6)

-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
        if cam.endswith('CameraState'):
          # camerad guarantees that all cams start on frame ID 0
          # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"

        # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10

-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
        for i in range(end-start):
          ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
          diff = (max(ts.values()) - min(ts.values()))
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -24,11 +24,13 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"

-const std::string CACHE_PATH = "/data/openpilot.cache";
+const std::string INSTALL_PATH = "/data/openpilot";
+const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";

-#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"

+const int FONT_SIZE = 120;
+
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
 extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
@@ -41,6 +43,16 @@ void run(const char* cmd) {
  assert(err == 0);
 }

+void finishInstall() {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    const char *m = "Finishing install...";
+    int text_width = MeasureText(m, FONT_SIZE);
+    DrawTextEx(font, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
+  EndDrawing();
+  util::sleep_for(60 * 1000);
+}
+
 void renderProgress(int progress) {
  BeginDrawing();
    ClearBackground(BLACK);
@@ -62,11 +74,11 @@ int doInstall() {
  }

  // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH);

  // do the install
-  if (util::file_exists(CACHE_PATH)) {
-    return cachedFetch(CACHE_PATH);
+  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
+    return cachedFetch(INSTALL_PATH);
  } else {
    return freshClone();
  }
@@ -135,7 +147,9 @@ void cloneFinished(int exitCode) {
  run("git submodule update --init");

  // move into place
-  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run(("rm -f " + VALID_CACHE_PATH).c_str());
+  run(("rm -rf " + INSTALL_PATH).c_str());
+  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());

 #ifdef INTERNAL
  run("mkdir -p /data/params/d/");
@@ -153,9 +167,9 @@ void cloneFinished(int exitCode) {
    param << value;
    param.close();
  }
-  run("cd " INSTALL_PATH " && "
+  run(("cd " + INSTALL_PATH + " && "
      "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
 #endif

  // write continue.sh
@@ -171,16 +185,22 @@ void cloneFinished(int exitCode) {
  run("mv /data/continue.sh.new " CONTINUE_PATH);

  // wait for the installed software's UI to take over
-  util::sleep_for(60 * 1000);
+  finishInstall();
 }

 int main(int argc, char *argv[]) {
  InitWindow(2160, 1080, "Installer");
-  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
  SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
-  renderProgress(0);
-  int result = doInstall();
-  cloneFinished(result);
+
+  if (util::file_exists(CONTINUE_PATH)) {
+    finishInstall();
+  } else {
+    renderProgress(0);
+    int result = doInstall();
+    cloneFinished(result);
+  }
+
  CloseWindow();
  UnloadFont(font);
  return 0;
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -23,10 +23,6 @@ DESCRIPTIONS = {
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
-  "RecordAudioFeedback": (
-    "Press the LKAS button to record audio feedback about openpilot. When this toggle is disabled, the button acts as a bookmark button. " +
-    "The event will be highlighted in comma connect and the segment will be preserved on your device's storage."
-  ),
 }


@@ -85,12 +81,6 @@ class TogglesLayout(Widget):
        self._params.get_bool("RecordAudio"),
        icon="microphone.png",
      ),
-      toggle_item(
-        "Record Audio Feedback with LKAS button",
-        DESCRIPTIONS["RecordAudioFeedback"],
-        self._params.get_bool("RecordAudioFeedback"),
-        icon="microphone.png",
-      ),
      toggle_item(
        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="metric.png"
      ),
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -2,12 +2,15 @@ from enum import IntEnum
 import os
 import threading
 import time
+from functools import lru_cache

 from openpilot.common.api import Api, api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID

+TOKEN_EXPIRY_HOURS = 2
+

 class PrimeType(IntEnum):
  UNKNOWN = -2,
@@ -20,6 +23,12 @@ class PrimeType(IntEnum):
  PURPLE = 5,


+@lru_cache(maxsize=1)
+def get_token(dongle_id: str, t: int):
+  print('getting token')
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
 class PrimeState:
  FETCH_INTERVAL = 5.0  # seconds between API calls
  API_TIMEOUT = 10.0  # seconds for API requests
@@ -49,13 +58,15 @@ class PrimeState:
      return

    try:
-      identity_token = Api(dongle_id).get_token()
+      identity_token = get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token)
      if response.status_code == 200:
        data = response.json()
        is_paired = data.get("is_paired", False)
        prime_type = data.get("prime_type", 0)
        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+      elif response.status_code == 401:
+        get_token.cache_clear()
    except Exception as e:
      cloudlog.error(f"Failed to fetch prime status: {e}")

--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -187,9 +187,9 @@ class ModelRenderer(Widget):
      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
    )

-    self._update_experimental_gradient(self._rect.height)
+    self._update_experimental_gradient()

-  def _update_experimental_gradient(self, height):
+  def _update_experimental_gradient(self):
    """Pre-calculate experimental mode gradient colors"""
    if not self._experimental_mode:
      return
@@ -201,22 +201,21 @@ class ModelRenderer(Widget):

    i = 0
    while i < max_len:
-      track_idx = max_len - i - 1  # flip idx to start from bottom right
-      track_y = self._path.projected_points[track_idx][1]
-      if track_y < 0 or track_y > height:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
        i += 1
        continue

-      # Calculate color based on acceleration
-      lin_grad_point = (height - track_y) / height
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height

      # speed up: 120, slow down: 0
-      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
-      path_hue = int(path_hue * 100 + 0.5) / 100
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)

      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
-      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
-      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])

      # Use HSL to RGB conversion
      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
@@ -280,7 +279,7 @@ class ModelRenderer(Widget):

    if self._experimental_mode:
      # Draw with acceleration coloring
-      if len(self._exp_gradient['colors']) > 2:
+      if len(self._exp_gradient['colors']) > 1:
        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
      else:
        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
@@ -409,13 +408,6 @@ class ModelRenderer(Widget):

    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)

-  @staticmethod
-  def _map_val(x, x0, x1, y0, y1):
-    x = np.clip(x, x0, x1)
-    ra = x1 - x0
-    rb = y1 - y0
-    return (x - x0) * rb / ra + y0 if ra != 0 else y0
-
  @staticmethod
  def _hsla_to_color(h, s, l, a):
    rgb = colorsys.hls_to_rgb(h, l, s)
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -75,13 +75,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      "../assets/icons/microphone.png",
      true,
    },
-    {
-      "RecordAudioFeedback",
-      tr("Record Audio Feedback with LKAS button"),
-      tr("Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device's storage.\n\nNote that this feature is only compatible with select cars."),
-      "../assets/icons/microphone.png",
-      false,
-    },
    {
      "IsMetric",
      tr("Use Metric System"),
--- a/selfdrive/ui/tests/test_feedbackd.py
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -5,6 +5,7 @@ from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes


+@pytest.mark.skip("tmp disabled")
 class TestFeedbackd:
  def setup_method(self):
    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -2248,16 +2248,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -2230,16 +2230,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -2232,16 +2232,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -2228,16 +2228,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -2227,16 +2227,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>運転中にマイク音声を録音・保存します。音声は comma connect のドライブレコーダー映像に含まれます。</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -2241,18 +2241,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>운전 중 마이크 오디오를 녹음하고 저장합니다. 이 오디오는 comma connect의 대시캠 영상에 포함됩니다.</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation>LKAS 버튼으로 오디오 피드백 녹음</translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation>LKAS 버튼을 눌러 openpilot 팀과 주행 피드백을 녹음하고 공유하세요. 이 기능을 비활성화하면, 해당 버튼은 북마크 버튼 역할을 합니다. 이 이벤트는 comma connect에서 강조되며, 해당 구간 영상은 기기 저장소에 보존됩니다.
-
-참고: 이 기능은 일부 차량에서만 호환됩니다.</translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation>sunnypilot 사용</translation>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -2232,16 +2232,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>Grave e armazene o áudio do microfone enquanto estiver dirigindo. O áudio será incluído ao vídeo dashcam no comma connect.</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -2223,16 +2223,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -2222,16 +2222,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -2227,16 +2227,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>在驾驶时录制并存储麦克风音频。该音频将会包含在 comma connect 的行车记录仪视频中。</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -2227,16 +2227,6 @@ Warning: You are on a metered connection!</source>
        <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
        <translation>在駕駛時錄製並儲存麥克風音訊。此音訊將會收錄在 comma connect 的行車記錄器影片中。</translation>
    </message>
-    <message>
-        <source>Record Audio Feedback with LKAS button</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Press the LKAS button to record and share driving feedback with the openpilot team. When this toggle is disabled, the button acts as a bookmark button. The event will be highlighted in comma connect and the segment will be preserved on your device&apos;s storage.
-
-Note that this feature is only compatible with select cars.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Enable sunnypilot</source>
        <translation type="unfinished"></translation>
--- a/sunnypilot/mapd/live_map_data/osm_map_data.py
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -34,7 +34,7 @@ class OsmMapData(BaseMapData):
    return float(self.mem_params.get("MapSpeedLimit") or 0.0)

  def get_current_road_name(self) -> str:
-    return str(self.mem_params.get("RoadName"))
+    return str(self.mem_params.get("RoadName") or "")

  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
--- a/sunnypilot/mapd/mapd_installer.py
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -90,7 +90,7 @@ class MapdInstallManager:
    logging.error("Failed to download file after all retries")

  def get_installed_version(self) -> str:
-    return str(self._params.get("MapdVersion"))
+    return str(self._params.get("MapdVersion") or "")

  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
    max_retries = 10
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -69,24 +69,26 @@ class ModelState(ModelStateBase):

    # img buffers are managed in openCL transform code
    self.numpy_inputs = {}
+    self.temporal_buffers = {}
+    self.temporal_idxs_map = {}

    for key, shape in self.model_runner.input_shapes.items():
      if key not in self.frames: # Managed by opencl
        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
-
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
-      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
-      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
-                                  self.numpy_inputs['desire'].shape[2])
+        # Temporal input: shape is [batch, history, features]
+        if len(shape) == 3 and shape[1] > 1:
+          buffer_history_len = max(100, (shape[1] * 4 if shape[1] < 100 else shape[1]))   # Allow for higher history buffers in the future
+          feature_len = shape[2]
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
+          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
+          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            step = int(-buffer_history_len / shape[1])
+            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
+          elif shape[1] == 25:  # Split
+            skip = buffer_history_len // shape[1]
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
+          elif shape[1] == buffer_history_len:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)

  @property
  def mlsim(self) -> bool:
@@ -98,19 +100,16 @@ class ModelState(ModelStateBase):
    inputs['desire'][0] = 0
    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
    self.prev_desire[:] = inputs['desire']
+    self.temporal_buffers['desire'][0,:-1] = self.temporal_buffers['desire'][0,1:]
+    self.temporal_buffers['desire'][0,-1] = new_desire

-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_desire[0,:-1] = self.full_desire[0,1:]
-      self.full_desire[0,-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_desire[:-1] = self.full_desire[1:]
-      self.full_desire[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
-    else: # not 20hz
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+    # Roll buffer and assign based on desire.shape[1] value
+    if self.temporal_buffers['desire'].shape[1] > self.numpy_inputs['desire'].shape[1]:
+      skip = self.temporal_buffers['desire'].shape[1] // self.numpy_inputs['desire'].shape[1]
+      self.numpy_inputs['desire'][:] = (
+        self.temporal_buffers['desire'][0].reshape(self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], skip, -1).max(axis=2))
+    else:
+      self.numpy_inputs['desire'][:] = self.temporal_buffers['desire'][0, self.temporal_idxs_map['desire']]

    for key in self.numpy_inputs:
      if key in inputs and key not in ['desire']:
@@ -127,42 +126,27 @@ class ModelState(ModelStateBase):
    # Run model inference
    outputs = self.model_runner.run_model()

-    if self.model_runner.is_20hz_3d: # split models
-      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
-      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
-    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
-      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
-      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
-    else: # not 20hz
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+    # Update features_buffer
+    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
+    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]

    if "desired_curvature" in outputs:
      input_name_prev = None
-
      if "prev_desired_curvs" in self.numpy_inputs.keys():
        input_name_prev = 'prev_desired_curvs'
      elif "prev_desired_curv" in self.numpy_inputs.keys():
        input_name_prev = 'prev_desired_curv'
-
-      if input_name_prev is not None:
+      if input_name_prev and input_name_prev in self.temporal_buffers:
        self.process_desired_curvature(outputs, input_name_prev)
    return outputs

  def process_desired_curvature(self, outputs, input_name_prev):
-    if self.model_runner.is_20hz_3d:  # split models
-      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
-      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
-      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
-      if self.mlsim:
-        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-    else:
-      length = outputs['desired_curvature'][0].size
-      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
+    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
+    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+    if self.mlsim:
+      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]

  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -1,6 +1,5 @@
 import numpy as np
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
-from openpilot.sunnypilot.models.helpers import get_active_bundle


 def safe_exp(x, out=None):
@@ -25,8 +24,6 @@ def softmax(x, axis=-1):
 class Parser:
  def __init__(self, ignore_missing=False):
    self.ignore_missing = ignore_missing
-    model_bundle = get_active_bundle()
-    self.generation = model_bundle.generation if model_bundle is not None else None

  def check_missing(self, outs, name):
    if name not in outs and not self.ignore_missing:
@@ -91,26 +88,26 @@ class Parser:
    outs[name] = pred_mu_final.reshape(final_shape)
    outs[name + '_stds'] = pred_std_final.reshape(final_shape)

-  def _parse_plan_mhp(self, outs):
-    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
-                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True

  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'lead' in outs:
-      if self.generation >= 12 and \
-         outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
-        self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
-      else:
-        self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
    if 'plan' in outs:
-      if self.generation >= 12 and \
-        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
-      else:
-        self._parse_plan_mhp(outs)
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))

  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
    if 'desired_curvature' in outs:
--- a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
+++ b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
@@ -0,0 +1,256 @@
+import numpy as np
+import pytest
+from typing import Any
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.models.runners.helpers as runner_helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+
+ModelState = modeld_module.ModelState
+
+
+# These are the shapes extracted/loaded from the model onnx
+SHAPE_MODE_PARAMS = [
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512), 'prev_desired_curv': (1, 25, 1)}, 'split'),
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512), 'prev_desired_curv': (1, 25, 1)}, '20hz'),
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1)}, 'non20hz'),
+]
+
+
+# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
+class DummyOverride:
+  def __init__(self, key: str, value: str) -> None:
+    self.key = key
+    self.value = value
+
+
+class DummyBundle:
+  def __init__(self) -> None:
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
+
+
+class DummyModelRunner:
+  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
+    self.input_shapes = input_shapes
+    self.constants = constants or type('C', (), {
+      'FULL_HISTORY_BUFFER_LEN': 100,
+      'FEATURE_LEN': 512,
+      'DESIRE_LEN': 8,
+      'PREV_DESIRED_CURV_LEN': 1,
+      'INPUT_HISTORY_BUFFER_LEN': 25,
+      'TEMPORAL_SKIP': 4,
+    })()
+    self.vision_input_names: list[str] = []
+    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
+    if shape[1] == 25:
+      self.is_20hz = True
+    else:
+      self.is_20hz = False
+
+  # Minimal prepare/run methods so ModelState can be run without actually running the model
+  def prepare_inputs(self, imgs_cl, numpy_inputs, frames):
+    return None
+
+  def run_model(self):
+    return {
+      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
+      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
+    }
+
+
+@pytest.fixture
+def shapes(request):
+  return request.param
+
+
+@pytest.fixture
+def bundle() -> DummyBundle:
+  return DummyBundle()
+
+
+@pytest.fixture
+def runner(shapes) -> DummyModelRunner:
+  return DummyModelRunner(shapes)
+
+
+@pytest.fixture
+def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
+  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+
+# These are expected shapes and indices based on the time the model was presented
+def get_expected_indices(shape, constants, mode, key=None):
+  if mode == 'split':
+    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
+    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    idxs = arr[start::constants.TEMPORAL_SKIP]
+    return idxs
+  elif mode == '20hz':
+    num_elements = shape[1]
+    step_size = int(-100 / num_elements)
+    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    return idxs
+  elif mode == 'non20hz':
+    if key and shape[1] == constants.FULL_HISTORY_BUFFER_LEN:
+      return np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    return None
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  for key in shapes:
+    buf = state.temporal_buffers.get(key, None)
+    idxs = state.temporal_idxs_map.get(key, None)
+    # Buffer shape logic
+    if mode == 'split':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
+    elif mode == '20hz':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
+    elif mode == 'non20hz':
+      if key == 'features_buffer':
+        expected_shape = (1, shapes[key][1]*4, shapes[key][2])
+      else:
+        expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
+
+    assert buf is not None, f"{key}: buffer not found"
+    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
+    if expected_idxs is not None:
+      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
+    else:
+      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
+
+
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs):
+  # This is what we compare the new dynamic logic to, to ensure it does the same thing
+  if mode == 'split':
+    if key == 'desire':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif key == 'features_buffer':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf[0, idxs]
+    elif key == 'prev_desired_curv':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1,:] = new_val
+      return buf[0, idxs]
+  elif mode == '20hz':
+    if key == 'desire':
+      buf[:-1] = buf[1:]
+      buf[-1] = new_val
+      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
+      reshaped = buf.reshape(reshape_dims).max(axis=2)
+      # Slice to last shape[1] elements to match model input shape
+      input_len = reshaped.shape[1]
+      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
+      if input_len > model_input_len:
+        reshaped = reshaped[:, -model_input_len:, :]
+      return reshaped
+    elif key == 'features_buffer':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1] = new_val
+      return legacy_buf[idxs]
+    elif key == 'prev_desired_curv':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1,:] = new_val
+      return legacy_buf[idxs]
+  elif mode == 'non20hz':
+    if key == 'desire':
+      length = new_val.shape[0]
+      buf[0,:-1,:length] = buf[0,1:,:length]
+      buf[0,-1,:length] = new_val[:length]
+      return buf[0]
+    elif key == 'features_buffer':
+      feature_len = new_val.shape[0]
+      buf[0,:-1,:feature_len] = buf[0,1:,:feature_len]
+      buf[0,-1,:feature_len] = new_val[:feature_len]
+      return buf[0]
+    elif key == 'prev_desired_curv':
+      length = new_val.shape[0]
+      buf[0,:-length,0] = buf[0,length:,0]
+      buf[0,-length:,0] = new_val[:length]
+      return buf[0]
+  return None
+
+
+def dynamic_buffer_update(state, key, new_val, mode):
+  if key == 'desire':
+    state.temporal_buffers['desire'][0,:-1] = state.temporal_buffers['desire'][0,1:]
+    state.temporal_buffers['desire'][0,-1] = new_val
+    if state.temporal_buffers['desire'].shape[1] > state.numpy_inputs['desire'].shape[1]:
+      skip = state.temporal_buffers['desire'].shape[1] // state.numpy_inputs['desire'].shape[1]
+      return state.temporal_buffers['desire'][0].reshape(
+        state.numpy_inputs['desire'].shape[0], state.numpy_inputs['desire'].shape[1], skip, -1
+      ).max(axis=2)
+    else:
+      return state.temporal_buffers['desire'][0, state.temporal_idxs_map['desire']]
+
+  inputs = {'desire': np.zeros((1, state.constants.DESIRE_LEN), dtype=np.float32)}
+  for k, tb in state.temporal_buffers.items():
+    if k in state.temporal_idxs_map:
+      continue
+    buf_len = tb.shape[1]
+    if k in state.numpy_inputs:
+      out_len = state.numpy_inputs[k].shape[1]
+      if out_len <= buf_len:
+        state.temporal_idxs_map[k] = np.arange(buf_len)[-out_len:]
+      else:
+        state.temporal_idxs_map[k] = np.arange(buf_len)
+    else:
+      state.temporal_idxs_map[k] = np.arange(buf_len)
+
+  if key == 'features_buffer':
+    def run_model_stub():
+      return {
+        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['features_buffer'][0]
+
+  if key == 'prev_desired_curv':
+    def run_model_stub():
+      return {
+        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
+        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['prev_desired_curv'][0]
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
+def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
+  state = ModelState(None)
+  constants = DummyModelRunner(shapes).constants
+  buf = state.temporal_buffers.get(key, None)
+  idxs = state.temporal_idxs_map.get(key, None)
+  input_shape = shapes[key]
+  for step in range(20):    # multiple steps to ensure history is built up
+    new_val = np.full((input_shape[2],), step, dtype=np.float32)
+    expected = legacy_buffer_update(buf, new_val, mode, key, constants, idxs)
+    actual = dynamic_buffer_update(state, key, new_val, mode)
+    # Model returns the reduced numpy_inputs history, compare the last n entries so the test is checking the same slices.
+    if expected is not None and actual is not None and expected.shape != actual.shape:
+      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
+        expected = expected[-actual.shape[0]:]
+    assert np.allclose(actual, expected), f"{mode} {key}: dynamic buffer update does not match legacy logic"
--- a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -83,7 +83,7 @@ class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTiny

  def _run_model(self) -> NumpyDict:
    """Runs the Tinygrad model inference and parses the outputs."""
-    outputs = self.model_run(**self.inputs).numpy().flatten()
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy()
    return self._parse_outputs(outputs)

  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
+2ff2f49176a13bc7f856645d785b3b838a5c7ecf7f6cb37699fa0459ebf12453
--- a/system/camerad/sensors/ar0231_cl.h
+++ b/system/camerad/sensors/ar0231_cl.h
@@ -1,34 +0,0 @@
-#if SENSOR_ID == 1
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define PV_MAX 4096
-#define BLACK_LVL 168
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (rgb > mp) ?
-    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
-}
-
-#endif
--- a/system/camerad/sensors/os04c10_cl.h
+++ b/system/camerad/sensors/os04c10_cl.h
@@ -1,58 +0,0 @@
-#if SENSOR_ID == 3
-
-#define BGGR
-#define VIGNETTE_PROFILE_4DT6MM
-
-#define BIT_DEPTH 12
-#define PV_MAX10 1023
-#define PV_MAX12 4095
-#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
-
-float combine_dual_pvs(float lv, float sv, int expo_time) {
-  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
-  float svd = sv * fmin(expo_time, 8.0) / 8;
-
-  if (expo_time > 64) {
-    if (lv < PV_MAX10 - BLACK_LVL) {
-      return lv / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
-    }
-  } else {
-    if (lv > 32) {
-      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return svd / (PV_MAX16 - BLACK_LVL);
-    }
-  }
-}
-
-float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
-  float4 pl = convert_float4(parsed - BLACK_LVL);
-  float4 ps = convert_float4(short_parsed - BLACK_LVL);
-  float4 pv;
-  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
-  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
-  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
-  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
-  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
-  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
-}
-
-#endif
--- a/system/camerad/sensors/ox03c10_cl.h
+++ b/system/camerad/sensors/ox03c10_cl.h
@@ -1,47 +0,0 @@
-#if SENSOR_ID == 2
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define BLACK_LVL 64
-
-float ox_lut_func(int x) {
-  if (x < 512) {
-    return x * 5.94873e-8;
-  } else if (512 <= x && x < 768) {
-    return 3.0458e-05 + (x-512) * 1.19913e-7;
-  } else if (768 <= x && x < 1536) {
-    return 6.1154e-05 + (x-768) * 2.38493e-7;
-  } else if (1536 <= x && x < 1792) {
-    return 0.0002448 + (x-1536) * 9.56930e-7;
-  } else if (1792 <= x && x < 2048) {
-    return 0.00048977 + (x-1792) * 1.91441e-6;
-  } else if (2048 <= x && x < 2304) {
-    return 0.00097984 + (x-2048) * 3.82937e-6;
-  } else if (2304 <= x && x < 2560) {
-    return 0.0019601 + (x-2304) * 7.659055e-6;
-  } else if (2560 <= x && x < 2816) {
-    return 0.0039207 + (x-2560) * 1.525e-5;
-  } else {
-    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
-  }
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  // PWL
-  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
-  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
-  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
-  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
-}
-
-#endif
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -21,16 +21,16 @@ class TiciFanController(BaseFanController):
    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))

  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)
+    self.controller.pos_limit = 100 if ignition else 30
+    self.controller.neg_limit = 30 if ignition else 0

    if ignition != self.last_ignition:
      self.controller.reset()

-    error = 75 - cur_temp
-    fan_pwr_out = -int(self.controller.update(
+    error = cur_temp - 75
+    fan_pwr_out = int(self.controller.update(
                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
+                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
                    ))

    self.last_ignition = ignition
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -67,17 +67,17 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
-    "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
-    "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
    "alt": {
-      "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
      "size": 5368709120
    }
  }
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -350,51 +350,51 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img.xz",
-    "hash": "49faee0e9b084abf0ea46f87722e3366bbd0435fb6b25cce189295c1ff368da1",
-    "hash_raw": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
    "size": 5368709120,
    "sparse": true,
    "full_check": false,
    "has_ab": true,
-    "ondevice_hash": "db07761be0130e35a9d3ea6bec8df231260d3e767ae770850f18f10e14d0ab3f",
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
    "alt": {
-      "hash": "18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-18100d9065bb44a315262041b9fb6bfd9e59179981876e442200cc1284d43643.img",
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
      "size": 5368709120
    }
  },
  {
    "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda.img.xz",
-    "hash": "1eda66d4e31222fc2e792a62ae8e7d322fc643f0b23785e7527bb51a9fee97c7",
-    "hash_raw": "02f7abb4b667c04043c0c6950145aaebd704851261f32256d0f7e84a52059dda",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a.img.xz",
+    "hash": "6a11d448bac50467791809339051eed2894aae971c37bf6284b3b972a99ba3ac",
+    "hash_raw": "602d5103cba97e1b07f76508d5febb47cfc4463a7e31bd20e461b55c801feb0a",
    "size": 96636764160,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "679b650ee04b7b1ef610b63fde9b43569fded39ceacf88789b564de99c221ea1"
+    "ondevice_hash": "e014d92940a696bf8582807259820ab73948b950656ed83a45da738f26083705"
  },
  {
    "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588.img.xz",
-    "hash": "e63d3277285aae1f04fd7f4f48429ce35010f4843ab755f10d360c3aa788e484",
-    "hash_raw": "bab8399bbe3968f3c496f7bc83c2541b33acc1f47814c4ad95801bf5cb7e7588",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48.img.xz",
+    "hash": "748e31a5fc01fc256c012e359c3382d1f98cce98feafe8ecc0fca3e47caef116",
+    "hash_raw": "4d7f6d12a5557eb6e3cbff9a4cd595677456fdfddcc879eddcea96a43a9d8b48",
    "size": 95563022336,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "2947374fc5980ffe3c5b94b61cc1c81bc55214f494153ed234164801731f5dc0"
+    "ondevice_hash": "c181b93050787adcfef730c086bcb780f28508d84e6376d9b80d37e5dc02b55e"
  },
  {
    "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0.img.xz",
-    "hash": "12d9245711e8c49c51ff2c7b82d7301f2fcb1911edcddb35a105a80911859113",
-    "hash_raw": "22c874b4b66bbc000f3219abede8d62cb307f5786fd526a8473c61422765dea0",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668.img.xz",
+    "hash": "09ff390e639e4373d772e1688d05a5ac77a573463ed1deeff86390686fa686f9",
+    "hash_raw": "80a76c8e56bbd7536fd5e87e8daa12984e2960db4edeb1f83229b2baeecc4668",
    "size": 32212254720,
    "sparse": true,
    "full_check": true,
    "has_ab": false,
-    "ondevice_hash": "03c8b65c945207f887ed6c52d38b53d53d71c8597dcb0b63dfbb11f7cfff8d2b"
+    "ondevice_hash": "2c01ab470c02121c721ff6afc25582437e821686207f3afef659387afb69c507"
  }
 ]
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -44,7 +44,7 @@ def manager_init() -> None:
  # set unset params to their default value
  for k in params.all_keys():
    default_value = params.get_default_value(k)
-    if default_value and params.get(k) is None:
+    if default_value is not None and params.get(k) is None:
      params.put(k, default_value)

  # Create folders needed for msgq
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -46,9 +46,10 @@ class TestManager:
    manager.main()
    for k in params.all_keys():
      default_value = params.get_default_value(k)
-      if default_value:
+      if default_value is not None:
        assert params.get(k) == default_value
    assert params.get("OpenpilotEnabledToggle")
+    assert params.get("RouteCount") == 0

  @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
  def test_clean_exit(self, subtests):
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -67,7 +67,8 @@ class MouseEvent(NamedTuple):


 class MouseState:
-  def __init__(self):
+  def __init__(self, scale: float = 1.0):
+    self._scale = scale
    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS

@@ -102,8 +103,10 @@ class MouseState:
  def _handle_mouse_event(self):
    for slot in range(MAX_TOUCH_SLOTS):
      mouse_pos = rl.get_touch_position(slot)
+      x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
+      y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
      ev = MouseEvent(
-        MousePos(mouse_pos.x, mouse_pos.y),
+        MousePos(x, y),
        slot,
        rl.is_mouse_button_pressed(slot),
        rl.is_mouse_button_released(slot),
@@ -133,7 +136,7 @@ class GuiApplication:
    self._trace_log_callback = None
    self._modal_overlay = ModalOverlay()

-    self._mouse = MouseState()
+    self._mouse = MouseState(self._scale)
    self._mouse_events: list[MouseEvent] = []

    # Debug variables
--- a/system/ui/lib/shader_polygon.py
+++ b/system/ui/lib/shader_polygon.py
@@ -39,6 +39,10 @@ vec4 getGradientColor(vec2 pos) {
  float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);

  if (gradientColorCount <= 1) return gradientColors[0];
+
+  // handle t before first / after last stop
+  if (t <= gradientStops[0]) return gradientColors[0];
+  if (t >= gradientStops[gradientColorCount-1]) return gradientColors[gradientColorCount-1];
  for (int i = 0; i < gradientColorCount - 1; i++) {
    if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
      float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -37,7 +37,7 @@ NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
 NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8

 TETHERING_IP_ADDRESS = "192.168.43.1"
-DEFAULT_TETHERING_PASSWORD = "12345678"
+DEFAULT_TETHERING_PASSWORD = "swagswagcomma"


 # NetworkManager device states
--- a/system/ui/setup.py
+++ b/system/ui/setup.py
@@ -6,10 +6,14 @@ import time
 import urllib.request
 from urllib.parse import urlparse
 from enum import IntEnum
+import shutil
+
 import pyray as rl

 from cereal import log
+from openpilot.common.run import run_cmd
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
@@ -30,6 +34,19 @@ BUTTON_SPACING = 50
 OPENPILOT_URL = "https://openpilot.comma.ai"
 USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"

+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""

 class SetupState(IntEnum):
  LOW_VOLTAGE = 0
@@ -93,14 +110,21 @@ class Setup(Widget):
    self._network_setup_continue_button.set_enabled(False)
    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, TextAlignment.LEFT)

-    self._custom_software_warning_continue_button = Button("Continue", self._custom_software_warning_continue_button_callback)
+    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
+                                                           button_style=ButtonStyle.PRIMARY)
+    self._custom_software_warning_continue_button.set_enabled(False)
    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 100, FontWeight.BOLD, TextAlignment.LEFT, text_color=rl.Color(255,89,79,255),
                                                      text_padding=60)
-    self._custom_software_warning_body_label = Label("Use caution when installing third-party software. Third-party software has not been tested by comma,"
-                                              + " and may cause damage to your device and/or vehicle.\n\nIf you'd like to proceed, use https://flash.comma.ai "
+    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
+                                              + "⚠️ It has not been tested by comma.\n\n"
+                                              + "⚠️ It may not comply with relevant safety standards.\n\n"
+                                              + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
+                                              + "If you'd like to proceed, use https://flash.comma.ai "
                                              + "to restore your device to a factory state later.",
                                             85, text_alignment=TextAlignment.LEFT, text_padding=60)
+    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
+
    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM)

    try:
@@ -136,21 +160,19 @@ class Setup(Widget):
    self.state = SetupState.SOFTWARE_SELECTION

  def _custom_software_warning_continue_button_callback(self):
-    self.state = SetupState.CUSTOM_SOFTWARE
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()

  def _getting_started_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.SOFTWARE_SELECTION

  def _software_selection_back_button_callback(self):
-    self.state = SetupState.NETWORK_SETUP
-    self.stop_network_check_thread.clear()
-    self.start_network_check()
+    self.state = SetupState.GETTING_STARTED

  def _software_selection_continue_button_callback(self):
    if self._software_selection_openpilot_button.selected:
-      self.download(OPENPILOT_URL)
+      self.use_openpilot()
    else:
      self.state = SetupState.CUSTOM_SOFTWARE_WARNING

@@ -158,11 +180,14 @@ class Setup(Widget):
    self.state = SetupState.GETTING_STARTED

  def _network_setup_back_button_callback(self):
-    self.state = SetupState.GETTING_STARTED
+    self.state = SetupState.SOFTWARE_SELECTION

  def _network_setup_continue_button_callback(self):
-    self.state = SetupState.SOFTWARE_SELECTION
    self.stop_network_check_thread.set()
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE

  def render_low_voltage(self, rect: rl.Rectangle):
    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
@@ -274,13 +299,23 @@ class Setup(Widget):
    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))

  def render_custom_software_warning(self, rect: rl.Rectangle):
-    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, rect.y + 150, rect.width - 265, TITLE_FONT_SIZE))
-    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, rect.y + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    offset = self._custom_software_warning_body_scroll_panel.handle_scroll(rect, warn_rect)

    button_width = (rect.width - MARGIN * 3) / 2
    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE))
+    y_offset = rect.y + offset.y
+    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE))
+    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 200 , rect.width - 50, BODY_FONT_SIZE * 3))
+    rl.end_scissor_mode()
+
    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+    if offset.y < (rect.height - warn_rect.height):
+      self._custom_software_warning_continue_button.set_enabled(True)
+      self._custom_software_warning_continue_button.set_text("Continue")

  def render_custom_software(self):
    def handle_keyboard_result(result):
@@ -299,6 +334,23 @@ class Setup(Widget):
    self.keyboard.set_title("Enter URL", "for Custom Software")
    gui_app.set_modal_overlay(self.keyboard, callback=handle_keyboard_result)

+  def use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(1)
+      gui_app.request_close()
+    else:
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
+
  def download(self, url: str):
    # autocomplete incomplete URLs
    if re.match("^([^/.]+)/([^/]+)$", url):
@@ -316,7 +368,7 @@ class Setup(Widget):
    try:
      import tempfile

-      _, tmpfile = tempfile.mkstemp(prefix="installer_")
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")

      headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
      req = urllib.request.Request(self.download_url, headers=headers)
@@ -346,12 +398,16 @@ class Setup(Widget):
        self.download_failed(self.download_url, "No custom software found at this URL.")
        return

-      os.rename(tmpfile, "/tmp/installer")
-      os.chmod("/tmp/installer", 0o755)
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)

-      with open("/tmp/installer_url", "w") as f:
+      with open(INSTALLER_URL_PATH, "w") as f:
        f.write(self.download_url)

+      # give time for installer UI to take over
+      time.sleep(5)
      gui_app.request_close()

    except Exception:
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -1,17 +1,17 @@
-from dataclasses import dataclass
+from enum import IntEnum
 from functools import partial
 from threading import Lock
-from typing import Literal
+from typing import cast

 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import ButtonStyle, Button, TextAlignment
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
 from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.label import TextAlignment, gui_label

 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
@@ -27,43 +27,20 @@ STRENGTH_ICONS = [
 ]


-@dataclass
-class StateIdle:
-  action: Literal["idle"] = "idle"
-
-
-@dataclass
-class StateConnecting:
-  network: NetworkInfo
-  action: Literal["connecting"] = "connecting"
-
-
-@dataclass
-class StateNeedsAuth:
-  network: NetworkInfo
-  retry: bool
-  action: Literal["needs_auth"] = "needs_auth"
-
-
-@dataclass
-class StateShowForgetConfirm:
-  network: NetworkInfo
-  action: Literal["show_forget_confirm"] = "show_forget_confirm"
-
-
-@dataclass
-class StateForgetting:
-  network: NetworkInfo
-  action: Literal["forgetting"] = "forgetting"
-
-
-UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+class UIState(IntEnum):
+  IDLE = 0
+  CONNECTING = 1
+  NEEDS_AUTH = 2
+  SHOW_FORGET_CONFIRM = 3
+  FORGETTING = 4


 class WifiManagerUI(Widget):
  def __init__(self, wifi_manager: WifiManagerWrapper):
    super().__init__()
-    self.state: UIState = StateIdle()
+    self.state: UIState = UIState.IDLE
+    self._state_network: NetworkInfo | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
+    self._password_retry: bool = False  # for NEEDS_AUTH
    self.btn_width: int = 200
    self.scroll_panel = GuiScrollPanel()
    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
@@ -93,17 +70,16 @@ class WifiManagerUI(Widget):
        gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
        return

-      match self.state:
-        case StateNeedsAuth(network, retry):
-          self.keyboard.set_title("Wrong password" if retry else "Enter password", f"for {network.ssid}")
-          self.keyboard.reset()
-          gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(network, result))
-        case StateShowForgetConfirm(network):
-          self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{network.ssid}"?')
-          self._confirm_dialog.reset()
-          gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(network, result))
-        case _:
-          self._draw_network_list(rect)
+      if self.state == UIState.NEEDS_AUTH and self._state_network:
+        self.keyboard.set_title("Wrong password" if self._password_retry else "Enter password", f"for {self._state_network.ssid}")
+        self.keyboard.reset()
+        gui_app.set_modal_overlay(self.keyboard, lambda result: self._on_password_entered(cast(NetworkInfo, self._state_network), result))
+      elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
+        self._confirm_dialog.set_text(f'Forget Wi-Fi Network "{self._state_network.ssid}"?')
+        self._confirm_dialog.reset()
+        gui_app.set_modal_overlay(self._confirm_dialog, callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      else:
+        self._draw_network_list(rect)

  def _on_password_entered(self, network: NetworkInfo, result: int):
    if result == 1:
@@ -113,13 +89,13 @@ class WifiManagerUI(Widget):
      if len(password) >= MIN_PASSWORD_LENGTH:
        self.connect_to_network(network, password)
    elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE

  def on_forgot_confirm_finished(self, network, result: int):
    if result == 1:
      self.forget_network(network)
    elif result == 0:
-      self.state = StateIdle()
+      self.state = UIState.IDLE

  def _draw_network_list(self, rect: rl.Rectangle):
    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
@@ -147,17 +123,18 @@ class WifiManagerUI(Widget):
    security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)

    status_text = ""
-    match self.state:
-      case StateConnecting(network=connecting):
-        if connecting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].set_enabled(False)
-          status_text = "CONNECTING..."
-      case StateForgetting(network=forgetting):
-        if forgetting.ssid == network.ssid:
-          self._networks_buttons[network.ssid].set_enabled(False)
-          status_text = "FORGETTING..."
-      case _:
-        self._networks_buttons[network.ssid].set_enabled(True)
+    if self.state == UIState.CONNECTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "CONNECTING..."
+    elif self.state == UIState.FORGETTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = "FORGETTING..."
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      self._networks_buttons[network.ssid].set_enabled(False)
+    else:
+      self._networks_buttons[network.ssid].set_enabled(True)

    self._networks_buttons[network.ssid].render(ssid_rect)

@@ -181,13 +158,16 @@ class WifiManagerUI(Widget):
  def _networks_buttons_callback(self, network):
    if self.scroll_panel.is_touch_valid():
      if not network.is_saved and network.security_type != SecurityType.OPEN:
-        self.state = StateNeedsAuth(network, False)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = False
      elif not network.is_connected:
        self.connect_to_network(network)

  def _forget_networks_buttons_callback(self, network):
    if self.scroll_panel.is_touch_valid():
-      self.state = StateShowForgetConfirm(network)
+      self.state = UIState.SHOW_FORGET_CONFIRM
+      self._state_network = network

  def _draw_status_icon(self, rect, network: NetworkInfo):
    """Draw the status icon based on network's connection state"""
@@ -212,14 +192,16 @@ class WifiManagerUI(Widget):
    rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)

  def connect_to_network(self, network: NetworkInfo, password=''):
-    self.state = StateConnecting(network)
+    self.state = UIState.CONNECTING
+    self._state_network = network
    if network.is_saved and not password:
      self.wifi_manager.activate_connection(network.ssid)
    else:
      self.wifi_manager.connect_to_network(network.ssid, password)

  def forget_network(self, network: NetworkInfo):
-    self.state = StateForgetting(network)
+    self.state = UIState.FORGETTING
+    self._state_network = network
    network.is_saved = False
    self.wifi_manager.forget_connection(network.ssid)

@@ -236,22 +218,24 @@ class WifiManagerUI(Widget):
    with self._lock:
      network = next((n for n in self._networks if n.ssid == ssid), None)
      if network:
-        self.state = StateNeedsAuth(network, True)
+        self.state = UIState.NEEDS_AUTH
+        self._state_network = network
+        self._password_retry = True

  def _on_activated(self):
    with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+      if self.state == UIState.CONNECTING:
+        self.state = UIState.IDLE

  def _on_forgotten(self, ssid):
    with self._lock:
-      if isinstance(self.state, StateForgetting):
-        self.state = StateIdle()
+      if self.state == UIState.FORGETTING:
+        self.state = UIState.IDLE

  def _on_connection_failed(self, ssid: str, error: str):
    with self._lock:
-      if isinstance(self.state, StateConnecting):
-        self.state = StateIdle()
+      if self.state == UIState.CONNECTING:
+        self.state = UIState.IDLE


 def main():
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -242,6 +242,9 @@ class Updater:
    b: str | None = self.params.get("UpdaterTargetBranch")
    if b is None:
      b = self.get_branch(BASEDIR)
+    b = {
+      ("tici", "release3"): "release-tici"
+    }.get((HARDWARE.get_device_type(), b), b)
    return b

  @property
@@ -283,8 +286,8 @@ class Updater:
      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
      self.params.put("LastUpdateRouteCount", last_route_count)
    else:
-      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad") or last_uptime_onroad
-      last_route_count = self.params.get("LastUpdateRouteCount") or last_route_count
+      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
+      last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)

    if exception is None:
      self.params.remove("LastUpdateException")
--- a/system/version.py
+++ b/system/version.py
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
+RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES

 BUILD_METADATA_FILENAME = "build.json"
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):


 class CompressedVipc:
-  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
    print("getting frame sizes")
    os.environ["ZMQ"] = "1"
    messaging.reset_context()
@@ -117,7 +117,7 @@ class CompressedVipc:
    os.environ.pop("ZMQ")
    messaging.reset_context()

-    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server = VisionIpcServer(server_name)
    for vst in vision_streams:
      ed = sm[ENCODE_SOCKETS[vst]]
      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@@ -144,6 +144,7 @@ if __name__ == "__main__":
  parser.add_argument("addr", help="Address of comma three")
  parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
  parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--server", default="camerad", help="choose vipc server name")
  parser.add_argument("--silent", action="store_true", help="Suppress debug output")
  args = parser.parse_args()

@@ -154,7 +155,7 @@ if __name__ == "__main__":
  ]

  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))

  # register exit handler
  signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3

-import atexit
 import logging
 import os
 import platform
@@ -11,13 +10,14 @@ from argparse import ArgumentParser, ArgumentTypeError
 from collections.abc import Sequence
 from pathlib import Path
 from random import randint
-from subprocess import Popen, PIPE
+from subprocess import Popen
 from typing import Literal

 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.common.run import managed_proc
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader

@@ -38,22 +38,23 @@ UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
 logger = logging.getLogger('clip.py')


-def check_for_failure(proc: Popen):
-  exit_code = proc.poll()
-  if exit_code is not None and exit_code != 0:
-    cmd = str(proc.args)
-    if isinstance(proc.args, str):
-      cmd = proc.args
-    elif isinstance(proc.args, Sequence):
-      cmd = str(proc.args[0])
-    msg = f'{cmd} failed, exit code {exit_code}'
-    logger.error(msg)
-    stdout, stderr = proc.communicate()
-    if stdout:
-      logger.error(stdout.decode())
-    if stderr:
-      logger.error(stderr.decode())
-    raise ChildProcessError(msg)
+def check_for_failure(procs: list[Popen]):
+  for proc in procs:
+    exit_code = proc.poll()
+    if exit_code is not None and exit_code != 0:
+      cmd = str(proc.args)
+      if isinstance(proc.args, str):
+        cmd = proc.args
+      elif isinstance(proc.args, Sequence):
+        cmd = str(proc.args[0])
+      msg = f'{cmd} failed, exit code {exit_code}'
+      logger.error(msg)
+      stdout, stderr = proc.communicate()
+      if stdout:
+        logger.error(stdout.decode())
+      if stderr:
+        logger.error(stderr.decode())
+      raise ChildProcessError(msg)


 def escape_ffmpeg_text(value: str):
@@ -137,10 +138,6 @@ def populate_car_params(lr: LogReader):
  logger.debug('persisted CarParams')


-def start_proc(args: list[str], env: dict[str, str]):
-  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
-
-
 def validate_env(parser: ArgumentParser):
  if platform.system() not in ['Linux']:
    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
@@ -176,8 +173,7 @@ def wait_for_frames(procs: list[Popen]):
  while no_frames_drawn:
    sm.update()
    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
-    for proc in procs:
-      check_for_failure(proc)
+    check_for_failure(procs)


 def clip(
@@ -253,35 +249,22 @@ def clip(

  with OpenpilotPrefix(prefix, shared_download_cache=True):
    populate_car_params(lr)
-
    env = os.environ.copy()
    env['DISPLAY'] = display

-    xvfb_proc = start_proc(xvfb_cmd, env)
-    atexit.register(lambda: xvfb_proc.terminate())
-    ui_proc = start_proc(ui_cmd, env)
-    atexit.register(lambda: ui_proc.terminate())
-    replay_proc = start_proc(replay_cmd, env)
-    atexit.register(lambda: replay_proc.terminate())
-    procs = [replay_proc, ui_proc, xvfb_proc]
-
-    logger.info('waiting for replay to begin (loading segments, may take a while)...')
-    wait_for_frames(procs)
-
-    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
-    time.sleep(SECONDS_TO_WARM)
-    for proc in procs:
-      check_for_failure(proc)
-
-    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
-    procs.append(ffmpeg_proc)
-    atexit.register(lambda: ffmpeg_proc.terminate())
-
-    logger.info(f'recording in progress ({duration}s)...')
-    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
-    for proc in procs:
-      check_for_failure(proc)
-    logger.info(f'recording complete: {Path(out).resolve()}')
+    with managed_proc(xvfb_cmd, env) as xvfb_proc, managed_proc(ui_cmd, env) as ui_proc, managed_proc(replay_cmd, env) as replay_proc:
+      procs = [xvfb_proc, ui_proc, replay_proc]
+      logger.info('waiting for replay to begin (loading segments, may take a while)...')
+      wait_for_frames(procs)
+      logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+      time.sleep(SECONDS_TO_WARM)
+      check_for_failure(procs)
+      with managed_proc(ffmpeg_cmd, env) as ffmpeg_proc:
+        procs.append(ffmpeg_proc)
+        logger.info(f'recording in progress ({duration}s)...')
+        ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+        check_for_failure(procs)
+        logger.info(f'recording complete: {Path(out).resolve()}')


 def main():
@@ -319,9 +302,7 @@ def main():
    logger.exception('interrupted by user', exc_info=e)
  except Exception as e:
    logger.exception('encountered error', exc_info=e)
-  finally:
-    atexit._run_exitfuncs()
-    sys.exit(exit_code)
+  sys.exit(exit_code)


 if __name__ == '__main__':
--- a/tools/lib/file_sources.py
+++ b/tools/lib/file_sources.py
@@ -0,0 +1,57 @@
+from collections.abc import Callable
+
+from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
+from openpilot.tools.lib.openpilotci import get_url
+from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
+from openpilot.tools.lib.route import Route, SegmentRange, FileName
+
+# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
+FileNames = tuple[str, ...]
+Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
+
+InternalUnavailableException = Exception("Internal source not available")
+
+
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  route = Route(sr.route_name)
+
+  # comma api will have already checked if the file exists
+  if fns == FileName.RLOG:
+    return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
+  else:
+    return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
+
+
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+  if not internal_source_available(endpoint_url):
+    raise InternalUnavailableException
+
+  def get_internal_url(sr: SegmentRange, seg, file):
+    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
+
+  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
+
+
+def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
+  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
+  valid_files: dict[int, str] = {}
+
+  for seg_idx, urls in files.items():
+    if isinstance(urls, str):
+      urls = [urls]
+
+    # Add first valid file URL
+    for url in urls:
+      if file_exists(url):
+        valid_files[seg_idx] = url
+        break
+
+  return valid_files
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -12,16 +12,15 @@ import urllib.parse
 import warnings
 import zstandard as zstd

-from collections.abc import Callable, Iterable, Iterator
+from collections.abc import Iterable, Iterator
 from typing import cast
 from urllib.parse import parse_qs, urlparse

 from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
-from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import DATA_ENDPOINT, FileReader, file_exists, internal_source_available
-from openpilot.tools.lib.route import Route, SegmentRange, FileName
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
+from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series

 LogMessage = type[capnp._DynamicStructReader]
@@ -40,6 +39,7 @@ def save_log(dest, log_msgs, compress=True):
  with open(dest, "wb") as f:
    f.write(dat)

+
 def decompress_stream(data: bytes):
  dctx = zstd.ZstdDecompressor()
  decompressed_data = b""
@@ -139,73 +139,22 @@ class ReadMode(enum.StrEnum):
  AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user


-LogPath = str | None
-LogFileName = tuple[str, ...]
-Source = Callable[[SegmentRange, LogFileName], list[LogPath]]
-
-InternalUnavailableException = Exception("Internal source not available")
-
-
 class LogsUnavailable(Exception):
  pass


-def comma_api_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
-  route = Route(sr.route_name)
-
-  # comma api will have already checked if the file exists
-  if fns == FileName.RLOG:
-    return [route.log_paths()[seg] for seg in sr.seg_idxs]
-  else:
-    return [route.qlog_paths()[seg] for seg in sr.seg_idxs]
-
-
-def internal_source(sr: SegmentRange, fns: LogFileName, endpoint_url: str = DATA_ENDPOINT) -> list[LogPath]:
-  if not internal_source_available(endpoint_url):
-    raise InternalUnavailableException
-
-  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
-
-  return eval_source([[get_internal_url(sr, seg, fn) for fn in fns] for seg in sr.seg_idxs])
-
-
-def openpilotci_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
-  return eval_source([[get_url(sr.route_name, seg, fn) for fn in fns] for seg in sr.seg_idxs])
-
-
-def comma_car_segments_source(sr: SegmentRange, fns: LogFileName) -> list[LogPath]:
-  return eval_source([get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs])
-
-
 def direct_source(file_or_url: str) -> list[str]:
  return [file_or_url]


-def eval_source(files: list[list[str] | str]) -> list[LogPath]:
-  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
-  valid_files: list[LogPath] = []
-
-  for urls in files:
-    if isinstance(urls, str):
-      urls = [urls]
-
-    for url in urls:
-      if file_exists(url):
-        valid_files.append(url)
-        break
-    else:
-      valid_files.append(None)
-
-  return valid_files
-
-
+# TODO this should apply to camera files as well
 def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
  exceptions = {}

  sr = SegmentRange(identifier)
-  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
+  needed_seg_idxs = sr.seg_idxs

+  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
  if mode == ReadMode.QLOG:
    try_fns = [FileName.QLOG]
  else:
@@ -217,37 +166,35 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)

  # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
  # This function only returns when we've sourced all files, or throws an exception
-  valid_files: dict[int, LogPath] = {}
+  valid_files: dict[int, str] = {}
  for fn in try_fns:
    for source in sources:
      try:
-        files = source(sr, fn)
-
-        # Check every source returns an expected number of files
-        assert len(files) == len(valid_files) or len(valid_files) == 0, f"Source {source.__name__} returned unexpected number of files"
+        files = source(sr, needed_seg_idxs, fn)

        # Build a dict of valid files
-        for idx, f in enumerate(files):
-          if valid_files.get(idx) is None:
-            valid_files[idx] = f
+        valid_files |= files
+
+        # Don't check for segment files that have already been found
+        needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]

        # We've found all files, return them
-        if all(f is not None for f in valid_files.values()):
+        if len(needed_seg_idxs) == 0:
          return cast(list[str], list(valid_files.values()))

      except Exception as e:
        exceptions[source.__name__] = e

    if fn == try_fns[0]:
-      missing_logs = list(valid_files.values()).count(None)
+      missing_logs = len(needed_seg_idxs)
      if mode == ReadMode.AUTO:
-        cloudlog.warning(f"{missing_logs}/{len(valid_files)} rlogs were not found, falling back to qlogs for those segments...")
+        cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
      elif mode == ReadMode.AUTO_INTERACTIVE:
-        if input(f"{missing_logs}/{len(valid_files)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
+        if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
          break

-  missing_logs = list(valid_files.values()).count(None)
-  raise LogsUnavailable(f"{missing_logs}/{len(valid_files)} logs were not found, please ensure all logs " +
+  missing_logs = len(needed_seg_idxs)
+  raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
                        "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
                        "Exceptions for sources:\n  - " + "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))

@@ -298,7 +245,7 @@ class LogReader:
  def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
               sources: list[Source] = None, sort_by_time=False, only_union_types=False):
    if sources is None:
-      sources = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]

    self.default_mode = default_mode
    self.sources = sources
@@ -351,6 +298,7 @@ class LogReader:
  def time_series(self):
    return msgs_to_time_series(self)

+
 if __name__ == "__main__":
  import codecs

--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -231,7 +231,6 @@ class RouteName:
  def __str__(self) -> str: return self._canonical_name


-
 class SegmentName:
  # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
  # of this class instead of manually constructing a segment name (use canonical_name prop instead)
@@ -252,7 +251,7 @@ class SegmentName:
  @property
  def canonical_name(self) -> str: return self._canonical_name

-  #TODO should only use one name
+  # TODO should only use one name
  @property
  def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"

@@ -283,7 +282,7 @@ class SegmentName:
  @staticmethod
  def from_file_name(file_name):
    # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
-    dongle_id, route_name, segment_num = file_name.replace('|','/').split('/')[-4:-1]
+    dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)

  @staticmethod
@@ -304,6 +303,7 @@ class SegmentName:
    dongle_id, route_name, segment_num = prefix.split("/")
    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)

+
@cache
 def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
  try:
@@ -365,4 +365,3 @@ class SegmentRange:

  def __repr__(self) -> str:
    return self.__str__()
-
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -10,7 +10,8 @@ import requests
 from parameterized import parameterized

 from cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
+from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException

@@ -36,12 +37,12 @@ def setup_source_scenario(mocker, is_internal=False):
  comma_api_source_mock.__name__ = comma_api_source_mock._mock_name

  if is_internal:
-    internal_source_mock.return_value = [QLOG_FILE]
+    internal_source_mock.return_value = {3: QLOG_FILE}
  else:
    internal_source_mock.side_effect = InternalUnavailableException

-  openpilotci_source_mock.return_value = [None]
-  comma_api_source_mock.return_value = [QLOG_FILE]
+  openpilotci_source_mock.return_value = {}
+  comma_api_source_mock.return_value = {3: QLOG_FILE}

  yield

@@ -90,7 +91,7 @@ class TestLogReader:

  @pytest.mark.parametrize("cache_enabled", [True, False])
  def test_direct_parsing(self, mocker, cache_enabled):
-    file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
+    file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
    qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)

@@ -208,13 +209,12 @@ class TestLogReader:
      assert qlog_len == log_len

  @pytest.mark.parametrize("is_internal", [True, False])
-  @pytest.mark.slow
  def test_auto_source_scenarios(self, mocker, is_internal):
    lr = LogReader(QLOG_FILE)
    qlog_len = len(list(lr))

    with setup_source_scenario(mocker, is_internal=is_internal):
-      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      lr = LogReader(f"{TEST_ROUTE}/3/q")
      log_len = len(list(lr))
      assert qlog_len == log_len

--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -9,12 +9,14 @@ from urllib3.util import Timeout

 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.hardware.hw import Paths
+
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K

 logging.getLogger("urllib3").setLevel(logging.WARNING)

+
 def hash_256(link: str) -> str:
  return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()

@@ -24,7 +26,7 @@ class URLFileException(Exception):


 class URLFile:
-  _pool_manager: PoolManager|None = None
+  _pool_manager: PoolManager | None = None

  @staticmethod
  def reset() -> None:
@@ -33,16 +35,16 @@ class URLFile:
  @staticmethod
  def pool_manager() -> PoolManager:
    if URLFile._pool_manager is None:
-      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
+      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
      retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
      URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
    return URLFile._pool_manager

-  def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
+  def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
    self._url = url
    self._timeout = Timeout(connect=timeout, read=timeout)
    self._pos = 0
-    self._length: int|None = None
+    self._length: int | None = None
    self._debug = debug
    #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
    self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
@@ -58,7 +60,7 @@ class URLFile:
  def __exit__(self, exc_type, exc_value, traceback) -> None:
    pass

-  def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
+  def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)

  def get_length_online(self) -> int:
@@ -85,7 +87,7 @@ class URLFile:
        file_length.write(str(self._length))
    return self._length

-  def read(self, ll: int|None=None) -> bytes:
+  def read(self, ll: int | None = None) -> bytes:
    if self._force_download:
      return self.read_aux(ll=ll)

@@ -117,7 +119,7 @@ class URLFile:
        self._pos = file_end
        return response

-  def read_aux(self, ll: int|None=None) -> bytes:
+  def read_aux(self, ll: int | None = None) -> bytes:
    download_range = False
    headers = {}
    if self._pos != 0 or ll is not None:
@@ -152,7 +154,7 @@ class URLFile:
    self._pos += len(ret)
    return ret

-  def seek(self, pos:int) -> None:
+  def seek(self, pos: int) -> None:
    self._pos = pos

  @property