IQ.Pilot Release Commit @ 3807439

2026-07-21 19:07:37 -05:00
parent ccb06b3624
commit 0952a162ef
98 changed files with 6193 additions and 1808 deletions
--- a/iqdbc_repo/iqdbc/car/CARS_template.md
+++ b/iqdbc_repo/iqdbc/car/CARS_template.md
@@ -0,0 +1,74 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
+# Support Information for {{all_car_docs | length}} Known Cars
+
+|{{ExtraCarsColumn | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
+|---|---|---|{% for _ in range((ExtraCarsColumn | length) - 3) %}{{':---:|'}}{% endfor +%}
+{% for car_docs in all_car_docs %}
+|{% for column in ExtraCarsColumn %}{{car_docs.get_extra_cars_column(column)}}|{% endfor %}
+
+{% endfor %}
+
+# Types of Support
+
+**iqdbc can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported!
+We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car
+support comes from users like you!
+
+## Upstream
+
+A supported vehicle is one that just works when you install a comma device. All supported cars provide a better
+experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
+
+## Under Review
+
+A vehicle under review is one for which software support has been merged into upstream openpilot, but hasn't yet been
+tested for drive quality and conformance with [comma safety guidelines](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md).
+This is a normal part of the development and quality assurance process. This vehicle will not work when upstream
+openpilot is installed, but custom forks may allow their use.
+
+## Custom
+
+Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
+these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
+location, or they might need unusual configuration after install. These vehicles will not work with release builds of
+openpilot, but depending on the situation, development builds or custom forks may allow their use.
+
+### SecOC cars with recoverable keys
+
+For a small subset of SecOC-protected vehicles, tools may be available in the community to recover the SecOC keys. These
+tools, and the recovery process, are not part of openpilot. If supplied with a valid SecOC key, development builds or
+custom forks may work with these vehicles. Release builds of openpilot don't support SecOC.
+
+## Dashcam
+
+Dashcam vehicles have software support in upstream openpilot, but will go into "dashcam mode" at startup and will not
+engage. This may be due to known issues with driving safety or quality, or it may be a work in progress that isn't yet
+ready for safety and quality review.
+
+## Community
+
+Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community
+Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+
+Some notable works-in-progress:
+* Honda
+  * 2022-24 Acura RDX, commaai/iqdbc#1967
+  * Camera ACC stability improvements, commaai/iqdbc#2192
+  * Alpha longitudinal stability improvements, commaai/iqdbc#2347 and commaai/iqdbc#2165
+
+## Incompatible
+
+### CAN Bus Security
+
+Vehicles with CAN security measures, such as AUTOSAR Secure Onboard Communication (SecOC) are not usable with openpilot
+unless the owner can recover the message signing key and implement CAN message signing. Examples include certain newer
+Toyota, and the GM Global B platform.
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
+CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
+manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
+may one day be supported, but we have no immediate plans to support FlexRay.
--- a/iqdbc_repo/iqdbc/car/car.capnp
+++ b/iqdbc_repo/iqdbc/car/car.capnp
@@ -535,9 +535,14 @@ struct CarParams {
  steerLimitAlert @28 :Bool;
  steerLimitTimer @47 :Float32;  # time before steerLimitAlert is issued

+  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
+  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
  steerControlType @34 :SteerControlType;
  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
@@ -770,9 +775,4 @@ struct CarParams {
  stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
  radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
  enableDsuDEPRECATED @5 :Bool;        # driving support unit
-  vEgoStartingDEPRECATED @59 :Float32;
-  startAccelDEPRECATED @32 :Float32;
-  startingStateDEPRECATED @70 :Bool;
-  vEgoStoppingDEPRECATED @29 :Float32;
-  stoppingDecelRateDEPRECATED @52 :Float32;
 }
--- a/iqdbc_repo/iqdbc/car/car_helpers.py
+++ b/iqdbc_repo/iqdbc/car/car_helpers.py
@@ -87,7 +87,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
                cached_params: CarParamsT | None,
                fixed_fingerprint: str | None) -> tuple[str | None, dict, str, list[CarParams.CarFw], CarParams.FingerprintSource, bool]:
  fixed_fingerprint = fixed_fingerprint or os.environ.get('FINGERPRINT', "")
-  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) or bool(fixed_fingerprint)
+  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
  ecu_rx_addrs = set()

--- a/iqdbc_repo/iqdbc/car/docs.py
+++ b/iqdbc_repo/iqdbc/car/docs.py
@@ -21,6 +21,7 @@ from iqdbc.car.extra_cars import CAR as EXTRA


 EXTRA_CARS_MD_OUT = os.path.join(BASEDIR, "../", "../", "docs", "CARS.md")
+EXTRA_CARS_MD_TEMPLATE = os.path.join(BASEDIR, "CARS_template.md")

 # TODO: merge these platforms into normal car ports with SupportType flag
 ExtraPlatform = Platform | EXTRA
@@ -105,6 +106,7 @@ if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="Auto generates supportability info docs for all known cars",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)

+  parser.add_argument("--template", default=EXTRA_CARS_MD_TEMPLATE, help="Override default template filename")
  parser.add_argument("--out", default=EXTRA_CARS_MD_OUT, help="Override default generated filename")
  args = parser.parse_args()

--- a/iqdbc_repo/iqdbc/car/gm/interface.py
+++ b/iqdbc_repo/iqdbc/car/gm/interface.py
@@ -125,6 +125,9 @@ class CarInterface(CarInterfaceBase, CarInterfaceExt):

      # Tuning for experimental long
      ret.longitudinalTuning.kiV = [2.0, 1.5]
+      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25

      if alpha_long:
        ret.pcmCruise = False
--- a/iqdbc_repo/iqdbc/car/hyundai/carcontroller.py
+++ b/iqdbc_repo/iqdbc/car/hyundai/carcontroller.py
@@ -23,10 +23,6 @@ MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2


-def _use_stock_lkas_request_path(CP) -> bool:
-  return CP.carFingerprint == CAR.HYUNDAI_PALISADE
-
-
 def process_hud_alert(enabled, fingerprint, hud_control):
  sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))

@@ -96,12 +92,12 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    else:
      self.apply_torque_last = apply_torque

-    if not _use_stock_lkas_request_path(self.CP) and apply_torque == 0 and CC.latActive and CS.out.steeringPressed:
+    if apply_torque == 0 and CC.latActive and CS.out.steeringPressed:
      apply_steer_req = False

    # Hold torque with induced temporary fault when cutting the actuation bit
    # FIXME: we don't use this with CAN FD?
-    torque_fault = False if _use_stock_lkas_request_path(self.CP) else (CC.latActive and not apply_steer_req)
+    torque_fault = CC.latActive and not apply_steer_req

    # accel + longitudinal
    accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
--- a/iqdbc_repo/iqdbc/car/hyundai/hyundaican.py
+++ b/iqdbc_repo/iqdbc/car/hyundai/hyundaican.py
@@ -7,10 +7,6 @@ from iqdbc.iqpilot.car.hyundai.lead_data_ext import CanLeadData
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)


-def _use_stock_scc_surrogates(CP) -> bool:
-  return CP.carFingerprint == CAR.HYUNDAI_PALISADE
-
-
 def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                  torque_fault, lkas11, sys_warning, sys_state, enabled,
                  left_lane, right_lane,
@@ -141,7 +137,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_data: CanL
  commands = []

  def get_scc11_values():
-    values = {
+    return {
      "MainMode_ACC": 1 if main_cruise_enabled else 0,
      "TauGapSet": hud_control.leadDistanceBars,
      "VSetDis": set_speed if enabled else 0,
@@ -152,11 +148,6 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_data: CanL
      "ACC_ObjRelSpd": lead_data.lead_rel_speed,
      "ACC_ObjDist": int(lead_data.lead_distance), # close lead makes controls tighter
    }
-    if _use_stock_scc_surrogates(CP):
-      values["ObjValid"] = 1
-      values["ACC_ObjStatus"] = 1
-      values["ACC_ObjDist"] = 1
-    return values

  def get_scc12_values():
    scc12_values = {
@@ -185,17 +176,15 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_data: CanL
    return values

  def get_scc14_values():
-    values = {
+    return {
      "ComfortBandUpper": tuning.comfort_band_upper, # stock usually is 0 but sometimes uses higher values
      "ComfortBandLower": tuning.comfort_band_lower, # stock usually is 0 but sometimes uses higher values
      "JerkUpperLimit": tuning.jerk_upper, # stock usually is 1.0 but sometimes uses higher values
      "JerkLowerLimit": tuning.jerk_lower, # stock usually is 0.5 but sometimes uses higher values
      "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
      "ObjGap": lead_data.object_gap, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+      "ObjDistStat": lead_data.object_rel_gap,
    }
-    if not _use_stock_scc_surrogates(CP):
-      values["ObjDistStat"] = lead_data.object_rel_gap
-    return values

  def get_fca11_values():
    return {
--- a/iqdbc_repo/iqdbc/car/hyundai/interface.py
+++ b/iqdbc_repo/iqdbc/car/hyundai/interface.py
@@ -134,6 +134,9 @@ class CarInterface(CarInterfaceBase):
    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
    ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
    ret.pcmCruise = not ret.openpilotLongitudinalControl
+    ret.startingState = True
+    ret.vEgoStarting = 0.1
+    ret.startAccel = 1.0
    ret.longitudinalActuatorDelay = 0.5

    if ret.openpilotLongitudinalControl:
--- a/iqdbc_repo/iqdbc/car/hyundai/tests/test_hyundaican.py
+++ b/iqdbc_repo/iqdbc/car/hyundai/tests/test_hyundaican.py
@@ -1,61 +0,0 @@
-from iqdbc.can import CANParser, CANPacker
-from iqdbc.car import Bus
-from iqdbc.car.hyundai import hyundaican
-from iqdbc.car.hyundai.values import CAR, DBC
-
-
-class DummyHudControl:
-  leadDistanceBars = 3
-  leadVisible = True
-
-
-class DummyLeadData:
-  lead_visible = False
-  lead_rel_speed = -7
-  lead_distance = 42
-  object_gap = 5
-  object_rel_gap = 2
-
-
-class DummyTuning:
-  comfort_band_upper = 0.2
-  comfort_band_lower = 0.3
-  jerk_upper = 1.7
-  jerk_lower = 1.2
-  desired_accel = 0.4
-  actual_accel = 0.3
-  stopping = False
-
-
-class DummyCP:
-  carFingerprint = CAR.HYUNDAI_PALISADE
-  flags = 0
-
-
-def _decode(msg_name: str, addr: int, dat: bytes):
-  cp = CANParser(DBC[CAR.HYUNDAI_PALISADE][Bus.pt], [(msg_name, 0)], 0)
-  cp.update([(0, [(addr, dat, 0)])])
-  return cp.vl[msg_name]
-
-
-def test_palisade_uses_stock_scc_surrogates():
-  packer = CANPacker(DBC[CAR.HYUNDAI_PALISADE][Bus.pt])
-  cp = DummyCP()
-  hud = DummyHudControl()
-  tuning = DummyTuning()
-  lead = DummyLeadData()
-
-  scc11 = hyundaican.create_acc_commands(
-    packer, True, 0.5, 3.0, 1, lead, hud, 72, False, False, True, cp, False, tuning
-  )[0]
-  scc14 = hyundaican.create_acc_commands(
-    packer, True, 0.5, 3.0, 1, lead, hud, 72, False, False, True, cp, False, tuning
-  )[2]
-
-  scc11_vals = _decode("SCC11", scc11[0], scc11[1])
-  assert scc11_vals["ObjValid"] == 1
-  assert scc11_vals["ACC_ObjStatus"] == 1
-  assert scc11_vals["ACC_ObjDist"] == 1
-
-  scc14_vals = _decode("SCC14", scc14[0], scc14[1])
-  assert "ObjDistStat" not in scc14_vals or scc14_vals["ObjDistStat"] == 0
--- a/iqdbc_repo/iqdbc/car/interfaces.py
+++ b/iqdbc_repo/iqdbc/car/interfaces.py
@@ -253,6 +253,9 @@ class CarInterfaceBase(ABC, CarInterfaceBaseIQ):
    ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
    ret.openpilotLongitudinalControl = False
    ret.stopAccel = -2.0
+    ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
+    ret.vEgoStopping = 0.5
+    ret.vEgoStarting = 0.5
    ret.longitudinalTuning.kpBP = [0.]
    ret.longitudinalTuning.kpV = [0.]
    ret.longitudinalTuning.kiBP = [0.]
--- a/iqdbc_repo/iqdbc/car/lateral.py
+++ b/iqdbc_repo/iqdbc/car/lateral.py
@@ -6,6 +6,7 @@ from iqdbc.car.vehicle_model import VehicleModel

 FRICTION_THRESHOLD = 0.2

+# ISO 11270
 ISO_LATERAL_ACCEL = 3.0  # m/s^2
 ISO_LATERAL_JERK = 5.0  # m/s^3
 AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees
--- a/iqdbc_repo/iqdbc/car/logreader.py
+++ b/iqdbc_repo/iqdbc/car/logreader.py
@@ -3,7 +3,7 @@ import os
 import capnp
 import urllib.parse
 import warnings
-from urllib.request import urlopen, Request
+from urllib.request import urlopen
 import zstandard as zstd

 from iqdbc.car.common.basedir import BASEDIR
@@ -27,7 +27,7 @@ class LogReader:
    _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)

    if fn.startswith("http"):
-      with urlopen(Request(fn, headers={"User-Agent": "iqdbc"})) as f:
+      with urlopen(fn) as f:
        dat = f.read()
    else:
      with open(fn, "rb") as f:
--- a/iqdbc_repo/iqdbc/car/rivian/interface.py
+++ b/iqdbc_repo/iqdbc/car/rivian/interface.py
@@ -32,6 +32,7 @@ class CarInterface(CarInterfaceBase):
      ret.safetyConfigs[0].safetyParam |= RivianSafetyFlags.LONG_CONTROL.value

    ret.longitudinalActuatorDelay = 0.35
+    ret.vEgoStopping = 0.25
    ret.stopAccel = 0

    return ret
--- a/iqdbc_repo/iqdbc/car/tesla/init.py
+++ b/iqdbc_repo/iqdbc/car/tesla/init.py
@@ -1,2 +0,0 @@
-# FIXME: gate by FingerPrint
-TESLA_BLINKERS = False
--- a/iqdbc_repo/iqdbc/car/tesla/carcontroller.py
+++ b/iqdbc_repo/iqdbc/car/tesla/carcontroller.py
@@ -3,13 +3,11 @@ from iqdbc.can import CANPacker
 from iqdbc.car import Bus
 from iqdbc.car.lateral import apply_steer_angle_limits_vm
 from iqdbc.car.interfaces import CarControllerBase
-from iqdbc.car.tesla import TESLA_BLINKERS
 from iqdbc.car.tesla.teslacan import TeslaCAN
 from iqdbc.car.tesla.values import CarControllerParams
 from iqdbc.car.vehicle_model import VehicleModel
 from openpilot.iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import get_set_speed_kph_from_params
 from iqdbc.iqpilot.car.tesla.coop_steering import CoopSteeringCarController
-from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ


 def get_safety_CP():
@@ -30,11 +28,6 @@ class CarController(CarControllerBase):
    # Vehicle model used for lateral limiting
    self.VM = VehicleModel(get_safety_CP())

-    self.has_vehicle_bus = bool(CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS)
-    self.body_controls_counter_last = -1
-    self.blinker_request_prev = False
-    self.blinker_cancel_frame = 0
-
  def update(self, CC, CC_IQ, CS, now_nanos):
    actuators = CC.actuators
    can_sends = []
@@ -59,8 +52,6 @@ class CarController(CarControllerBase):
      if self.frame % 4 == 0:
        state = 13 if CC.cruiseControl.cancel or CS.das_accCancel else 4  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
        accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
-        if not CC.longActive:
-          accel = 0.
        cntr = (self.frame // 4) % 8
        set_speed_kph = get_set_speed_kph_from_params(CC_IQ.params)
        can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CS.out.vEgo, CC.longActive,
@@ -72,30 +63,6 @@ class CarController(CarControllerBase):
        cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
        can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False, True))

-    # Nav blinker control via DAS_bodyControls on the vehicle bus, phase-locked to the car's
-    # counter. Cancel on the trailing edge since the body controller latches the signal.
-    stock_dat = getattr(CS, 'das_body_controls_dat', b"")
-    # FIXME: gate by FingerPrint
-    if TESLA_BLINKERS and self.has_vehicle_bus and len(stock_dat) >= 8:
-      left_blinker = CC.leftBlinker
-      right_blinker = CC.rightBlinker
-
-      driver_opposes = (left_blinker and CS.out.rightBlinker) or (right_blinker and CS.out.leftBlinker)
-      if driver_opposes:
-        left_blinker = right_blinker = False
-
-      nav_requesting = left_blinker or right_blinker
-
-      if self.blinker_request_prev and not nav_requesting and not driver_opposes:
-        self.blinker_cancel_frame = self.frame + 150  # ~1.5 s
-      self.blinker_request_prev = nav_requesting
-      cancel = not nav_requesting and not driver_opposes and self.frame < self.blinker_cancel_frame
-
-      body_counter = stock_dat[6] >> 4
-      if body_counter != self.body_controls_counter_last:
-        can_sends.append(self.tesla_can.create_body_controls(stock_dat, left_blinker, right_blinker, cancel))
-      self.body_controls_counter_last = body_counter
-
    # TODO: HUD control
    new_actuators = actuators.as_builder()
    new_actuators.steeringAngleDeg = self.apply_angle_last
--- a/iqdbc_repo/iqdbc/car/tesla/carstate.py
+++ b/iqdbc_repo/iqdbc/car/tesla/carstate.py
@@ -1,17 +1,13 @@
 import copy
 from iqdbc.can import CANDefine, CANParser
 from iqdbc.car import Bus, create_button_events, structs
+from iqdbc.car.carlog import carlog
 from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.interfaces import CarStateBase
-from iqdbc.car.tesla import TESLA_BLINKERS
+from iqdbc.car.tesla.teslacan import get_steer_ctrl_type
 from iqdbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, TeslaFlags

 from iqdbc.iqpilot.car.tesla.carstate_ext import CarStateExt
-from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ
-from openpilot.common.params import Params
-from openpilot.system.proprietary_runtime._verified_import import import_verified_module
-
-vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")

 ButtonType = structs.CarState.ButtonEvent.Type

@@ -26,12 +22,13 @@ class CarState(CarStateBase, CarStateExt):
    self.summon = False
    self.summon_prev = False
    self.cruise_enabled_prev = False
+    self.fsd14_error_logged = False
+    self.suspected_fsd14 = False
+    self.suspected_fsd14_clear_frames = 0

    self.hands_on_level = 0
    self.acc_state_last = 0
    self.das_control = None
-    self.das_body_controls_dat = b""
-    self._odometer_store = vehicle_state.VehicleOdometerStore(CP, Params())
    self.cruise_override = False

  def update_summon_state(self, summon_state: str, cruise_enabled: bool):
@@ -139,40 +136,54 @@ class CarState(CarStateBase, CarStateExt):
    ret.stockAeb = cp_ap_party.vl["DAS_control"]["DAS_aebEvent"] == 1

    # LKAS
-    steer_control_type = int(cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"])
-    if self.CP.flags & TeslaFlags.LEGACY_DAS_STEERING:
-      steer_control_type >>= 1  # legacy firmware uses a 2-bit field, one bit up from the 3-bit signal
-    ret.stockLkas = steer_control_type == 2  # LANE_KEEP_ASSIST
+    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
+    # FSD switched from using ANGLE_CONTROL to LANE_KEEP_ASSIST to likely keep the old steering override disengage logic.
+    # LKAS switched from LANE_KEEP_ASSIST to ANGLE_CONTROL to likely allow overriding LKAS events smoothly
+    lkas_ctrl_type = get_steer_ctrl_type(self.CP.flags, 2)
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == lkas_ctrl_type  # LANE_KEEP_ASSIST

-    # Stock Autosteer should be disengaged (includes FSD)
-    # TODO: find for TESLA_MODEL_X and HW2.5 vehicles
    if not (self.CP.flags & TeslaFlags.MISSING_DAS_SETTINGS):
      ret.invalidLkasSetting = cp_ap_party.vl["DAS_status"]["DAS_autopilotState"] not in (0, 1, 2)  # DISABLED, UNAVAILABLE, AVAILABLE

+      # Because we don't have FSD 14 detection outside of a set of FW, we should check if this FW is accidentally missing from FSD_14_FW
+      # 1. If in Autosteer or FSD, already caught by invalidLkasSetting
+      # 2. If in TACC and DAS ever sends ANGLE_CONTROL (1), we can infer it's trying to do LKAS on FSD 14+
+      # NOTE: Tesla's latest firmware changed ELDA (Emergency Lane Departure Assist) to use ANGLE_CONTROL (1)
+      # instead of EMERGENCY_LANE_KEEP (3). Exclude ELDA by checking eac_status so it doesn't latch suspected_fsd14.
+      eac_is_emergency = eac_status == "EMERGENCY_LANE_KEEP"
+      angle_control = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 1 and not eac_is_emergency  # ANGLE_CONTROL, excluding ELDA
+      if not ret.invalidLkasSetting and angle_control and not self.CP.flags & TeslaFlags.FSD_14:
+        self.suspected_fsd14 = True
+        self.suspected_fsd14_clear_frames = 0
+
+      if self.suspected_fsd14:
+        ret.invalidLkasSetting = True
+        if not self.fsd14_error_logged:
+          carlog.error("FSD 14 detected, but FW not in FSD_14_FW set")
+          self.fsd14_error_logged = True
+        # Un-latch if ANGLE_CONTROL has been absent for ~3 s (100 frames @ ~33 Hz).
+        # This allows re-engagement after transient triggers (e.g. if ELDA slips through on new FW variants).
+        if not angle_control:
+          self.suspected_fsd14_clear_frames += 1
+          if self.suspected_fsd14_clear_frames >= 100:
+            self.suspected_fsd14 = False
+            self.suspected_fsd14_clear_frames = 0
+        else:
+          self.suspected_fsd14_clear_frames = 0
+
    # Buttons # ToDo: add Gap adjust button

    # Messages needed by carcontroller
    self.das_control = copy.copy(cp_ap_party.vl["DAS_control"])

-    # Raw stock DAS_bodyControls bytes (bus 2), used to ride the blinker on the vehicle bus.
-    # FIXME: gate by FingerPrint
-    if TESLA_BLINKERS and Bus.cam in can_parsers:
-      self.das_body_controls_dat = bytes(can_parsers[Bus.cam].dat.get(0x3E9, b""))
-
    CarStateExt.update(self, ret, ret_iq, can_parsers)
-    if ret.odometer > 0.0:
-      ret.odometer = self._odometer_store.record(ret.odometer) or 0.0

    return ret, ret_iq

  @staticmethod
  def get_can_parsers(CP, CP_IQ):
-    parsers = {
+    return {
      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
      **CarStateExt.get_parser(CP, CP_IQ),
    }
-    # Stock DAS_bodyControls from the AP bus (bus 2) for the nav blinker.
-    if TESLA_BLINKERS and CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS and Bus.adas in DBC[CP.carFingerprint]:
-      parsers[Bus.cam] = CANParser(DBC[CP.carFingerprint][Bus.adas], [("DAS_bodyControls", 2)], CANBUS.autopilot_party)
-    return parsers
--- a/iqdbc_repo/iqdbc/car/tesla/interface.py
+++ b/iqdbc_repo/iqdbc/car/tesla/interface.py
@@ -2,7 +2,7 @@ from iqdbc.car import Bus, get_safety_config, structs
 from iqdbc.car.interfaces import CarInterfaceBase
 from iqdbc.car.tesla.carcontroller import CarController
 from iqdbc.car.tesla.carstate import CarState
-from iqdbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, LEGACY_DAS_STEERING_FW, Ecu
+from iqdbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, FSD_14_FW, Ecu
 from iqdbc.car.tesla.radar_interface import RadarInterface, RADAR_START_ADDR

 from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ, TeslaSafetyFlagsIQ
@@ -41,10 +41,14 @@ class CarInterface(CarInterfaceBase):
      ret.openpilotLongitudinalControl = True
      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value

-    legacy_das = any(fw.ecu == Ecu.eps and fw.fwVersion in LEGACY_DAS_STEERING_FW.get(candidate, []) for fw in car_fw)
-    if legacy_das:
-      ret.flags |= TeslaFlags.LEGACY_DAS_STEERING.value
-      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LEGACY_DAS_STEERING.value
+      ret.vEgoStopping = 0.1
+      ret.vEgoStarting = 0.1
+      ret.stoppingDecelRate = 0.3
+
+    fsd_14 = any(fw.ecu == Ecu.eps and fw.fwVersion in FSD_14_FW.get(candidate, []) for fw in car_fw)
+    if fsd_14:
+      ret.flags |= TeslaFlags.FSD_14.value
+      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.FSD_14.value

    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X,)  # dashcam only, pending find invalidLkasSetting signal

@@ -59,10 +63,7 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.TESLA_MODEL_X:
      stock_cp.dashcamOnly = False

-    # Vehicle-bus messages can be slow enough to miss the initial capture window.
-    # Accept either the established 0x3DF marker or the absolute odometer frame.
-    vehicle_bus_seen = any(0x3DF in bus or 0x3B6 in bus for bus in fingerprint.values())
-    if vehicle_bus_seen:
+    if 0x3DF in fingerprint[1]:
      ret.flags |= TeslaFlagsIQ.HAS_VEHICLE_BUS.value
      ret.iqSafetyFlags |= TeslaSafetyFlagsIQ.HAS_VEHICLE_BUS

--- a/iqdbc_repo/iqdbc/car/tesla/teslacan.py
+++ b/iqdbc_repo/iqdbc/car/tesla/teslacan.py
@@ -3,6 +3,14 @@ from iqdbc.car.tesla.values import CANBUS, CarControllerParams, TeslaFlags
 from iqdbc.car import DT_CTRL


+def get_steer_ctrl_type(flags: int, ctrl_type: int) -> int:
+  # Returns the flipped signal value for DAS_steeringControlType on FSD 14
+  if flags & TeslaFlags.FSD_14:
+    return {1: 2, 2: 1}.get(ctrl_type, ctrl_type)
+  else:
+    return ctrl_type
+
+
 class TeslaCAN:
  def __init__(self, CP, packer):
    self.CP = CP
@@ -10,15 +18,14 @@ class TeslaCAN:
    self.l_jerk = 0.0

  def create_steering_control(self, angle, enabled, control_type):
-    # control_type comes from coop_steering: ANGLE_CONTROL (1) normally, LANE_KEEP_ASSIST (2) when cooperative steering is enabled
-    control_type = control_type if enabled else 0
-    if self.CP.flags & TeslaFlags.LEGACY_DAS_STEERING:
-      control_type <<= 1  # legacy firmware uses a 2-bit field, one bit up from the 3-bit signal
-
+    # On FSD 14+, ANGLE_CONTROL behavior changed to allow user winddown while actuating.
+    # with openpilot, after overriding w/ ANGLE_CONTROL the wheel snaps back to the original angle abruptly
+    # so we now use LANE_KEEP_ASSIST to match stock FSD.
+    # see carstate.py for more details
    values = {
      "DAS_steeringAngleRequest": -angle,
      "DAS_steeringHapticRequest": 0,
-      "DAS_steeringControlType": control_type,
+      "DAS_steeringControlType": get_steer_ctrl_type(self.CP.flags, control_type if enabled else 0),
    }

    return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)
@@ -53,32 +60,6 @@ class TeslaCAN:

    return self.packer.make_can_msg("APS_eacMonitor", CANBUS.party, values)

-  def create_body_controls(self, stock_dat, left_blinker, right_blinker, cancel=False):
-    # Ride alongside the car's native DAS_bodyControls: copy the raw frame, override only the
-    # turn-indicator bits, and stamp counter + 1 so our frame supersedes the stock one.
-    dat = bytearray(stock_dat)
-    if len(dat) < 8:
-      dat.extend(b"\x00" * (8 - len(dat)))
-
-    if left_blinker or right_blinker:
-      turn_req = 1 if left_blinker else 2  # DAS_TURN_INDICATOR_LEFT / _RIGHT
-      dat[1] = (dat[1] & ~0x07) | (turn_req & 0x07)
-      dat[2] = (dat[2] & ~0x3C) | (1 << 2)  # DAS_ACTIVE_NAV_LANE_CHANGE
-    elif cancel:
-      dat[1] = (dat[1] & ~0x07) | 0x03  # DAS_TURN_INDICATOR_CANCEL
-      dat[2] = (dat[2] & ~0x3C) | (4 << 2)  # DAS_CANCEL_LANE_CHANGE
-
-    counter = (((dat[6] >> 4) + 1) & 0x0F)
-    dat[6] = (dat[6] & ~0xF0) | (counter << 4)
-
-    addr = 0x3E9
-    checksum = (addr & 0xFF) + ((addr >> 8) & 0xFF)
-    for i in range(7):
-      checksum += dat[i]
-    dat[7] = checksum & 0xFF
-
-    return addr, bytes(dat), CANBUS.vehicle
-

 def tesla_checksum(address: int, sig, d: bytearray) -> int:
  checksum = (address & 0xFF) + ((address >> 8) & 0xFF)
--- a/iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py
+++ b/iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py
@@ -4,7 +4,6 @@ from iqdbc.car.tesla.teslacan import TeslaCAN
 from iqdbc.car.tesla.radar_interface import RADAR_START_ADDR
 from iqdbc.car.tesla.carcontroller import CarController
 from iqdbc.car.tesla.values import CAR
-from iqdbc.can import CANPacker, CANParser


 class TestTeslaFingerprint:
@@ -32,19 +31,6 @@ class TestTeslaCan:
    def make_can_msg(self, name, bus, values):
      return name, bus, values

-  def test_vehicle_bus_odometer_decodes_kilometers(self):
-    packer = CANPacker("tesla_model3_vehicle")
-    parser = CANParser("tesla_model3_vehicle", [("ID3B6UI_odometer", 1)], 1)
-
-    message = packer.make_can_msg("ID3B6UI_odometer", 1, {
-      "UI_odometer": 29150.377,
-      "UI_odometerCounter": 1,
-      "UI_odometerChecksum": 0,
-    })
-    parser.update([1_000_000_000, [message]])
-
-    assert parser.vl["ID3B6UI_odometer"]["UI_odometer"] == 29150.377
-
  def test_longitudinal_command_does_not_reference_missing_jerk_attr(self):
    CP = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_3)
    tesla_can = TeslaCAN(CP, self.DummyPacker())
--- a/iqdbc_repo/iqdbc/car/tesla/values.py
+++ b/iqdbc_repo/iqdbc/car/tesla/values.py
@@ -79,41 +79,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
  ]
 )

-# Cars with this EPS FW have a 2-bit DAS_steeringControlType and use TeslaFlags.LEGACY_DAS_STEERING
-LEGACY_DAS_STEERING_FW = {
+# Cars with this EPS FW have FSD 14 and use TeslaFlags.FSD_14
+FSD_14_FW = {
  CAR.TESLA_MODEL_3: [
-    b'TeM3_E014p10_0.0.0 (16),E014.17.00',
-    b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
-    b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
-    b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
-    b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
-    b'TeMYG4_Legacy3Y_0.0.0 (2),E4015.02.0',
-    b'TeMYG4_Legacy3Y_0.0.0 (5),E4015.03.2',
-    b'TeMYG4_Legacy3Y_0.0.0 (5),E4L015.03.2',
-    b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
-    b'TeMYG4_Main_0.0.0 (65),E4H015.01.0',
-    b'TeMYG4_Main_0.0.0 (67),E4H015.02.1',
-    b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
+    b'TeMYG4_Main_0.0.0 (77),E4HP015.04.5',
+    b'TeMYG4_Main_0.0.0 (78),E4HP015.05.0',
  ],
  CAR.TESLA_MODEL_Y: [
-    b'TeM3_E014p10_0.0.0 (16),Y002.18.00',
-    b'TeM3_E014p10_0.0.0 (16),YP002.18.00',
-    b'TeM3_ES014p11_0.0.0 (16),YS002.17',
-    b'TeM3_ES014p11_0.0.0 (25),YS002.19.0',
-    b'TeMYG4_DCS_Update_0.0.0 (13),Y4002.27.1',
-    b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1',
-    b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0',
-    b'TeMYG4_Legacy3Y_0.0.0 (2),Y4003.02.0',
-    b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0',
-    b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
-    b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
-    b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
-    b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
-  ],
-  CAR.TESLA_MODEL_X: [
-    b'TeM3_SP_XP002p2_0.0.0 (23),XPR003.6.0',
-    b'TeM3_SP_XP002p2_0.0.0 (36),XPR003.10.0',
-  ],
+    b'TeMYG4_Legacy3Y_0.0.0 (6),Y4003.04.0',
+    b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
+  ]
 }


@@ -164,12 +139,12 @@ class CarControllerParams:

 class TeslaSafetyFlags(IntFlag):
  LONG_CONTROL = 1
-  LEGACY_DAS_STEERING = 2
+  FSD_14 = 2


 class TeslaFlags(IntFlag):
  LONG_CONTROL = 1
-  LEGACY_DAS_STEERING = 2
+  FSD_14 = 2
  MISSING_DAS_SETTINGS = 4


--- a/iqdbc_repo/iqdbc/car/tests/routes.py
+++ b/iqdbc_repo/iqdbc/car/tests/routes.py
@@ -301,8 +301,7 @@ routes = [
  CarTestRoute("578742b26807f756|00000010--41ee3e5bec", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK6),
  CarTestRoute("58a7d3b707987d65/2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7),
  CarTestRoute("4d134e099430fba2/2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8),
-  CarTestRoute("b29ee8c5a0a735d1|000000dc--a384e9083e", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS, segment=0),
-  CarTestRoute("0f53129ed44f6920|00000287--3efbddeb96", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS, segment=0),
+  CarTestRoute("3cfdec54aa035f3f/2022-07-19--23-45-10", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS),
  CarTestRoute("0cd0b7f7e31a3853/2021-11-03--19-30-22", VOLKSWAGEN.VOLKSWAGEN_POLO_MK6),
  CarTestRoute("064d1816e448f8eb/2022-09-29--15-32-34", VOLKSWAGEN.VOLKSWAGEN_SHARAN_MK2),
  CarTestRoute("7d82b2f3a9115f1f/2021-10-21--15-39-42", VOLKSWAGEN.VOLKSWAGEN_TAOS_MK1),
--- a/iqdbc_repo/iqdbc/car/tests/test_vw_real_can.py
+++ b/iqdbc_repo/iqdbc/car/tests/test_vw_real_can.py
@@ -1,133 +0,0 @@
-#!/usr/bin/env python3
-"""Real-CAN replay invariant tests for VW torque platforms (PQ / MQB / MLB).
-
-Replays real konn3kt routes through the car interface with openpilot lateral
-INACTIVE (latActive=False) and asserts openpilot never transmits an active-steering
-HCA command (active status or non-zero torque). Re-transmitting the stock camera's
-active HCA while not in control (stock-LKAS forwarding) leaves the EPS faulted for
-the whole drive (LH2_Sta_HCA=FAULT) - the regression that bricked steering on a PQ
-Passat NMS with a factory LKAS camera. Panda accepts these frames, so only a replay
-invariant like this catches it.
-
-Self-contained within iqdbc: routes are resolved through konn3kt's public
-/v1/route/<id>/files endpoint (URLs are signed server-side, no auth/token needed).
-"""
-import json
-import os
-import urllib.parse
-import urllib.request
-from collections import Counter
-
-import pytest
-
-from iqdbc.can.parser import CANParser
-from iqdbc.car import Bus, structs
-from iqdbc.car.can_definitions import CanData
-from iqdbc.car.car_helpers import can_fingerprint, interfaces
-from iqdbc.car.logreader import LogReader
-from iqdbc.car.volkswagen.values import CAR, DBC, VolkswagenFlags
-
-API_HOST = os.environ.get("API_HOST", "https://api-iqlabs.konn3kt.com")
-
-# konn3kt-hosted VW routes. (route_id, segment, platform, label)
-# Add MQB routes here as konn3kt-hosted MQB logs become available.
-VW_ROUTES = [
-  ("b29ee8c5a0a735d1|000000dc--a384e9083e", 0, CAR.VOLKSWAGEN_PASSAT_NMS, "PQ with stock LKAS camera"),
-  ("0f53129ed44f6920|00000287--3efbddeb96", 0, CAR.VOLKSWAGEN_PASSAT_NMS, "PQ without stock LKAS camera"),
-]
-
-# Per-platform HCA message: (address, msg, status signal, torque signal, active-status values)
-HCA_INFO = {
-  "pq": (0xD2, "HCA_1", "HCA_Status", "LM_Offset", (5, 7)),
-  "mqb": (0x126, "HCA_01", "HCA_01_Status_HCA", "HCA_01_LM_Offset", (5, 6, 7)),
-}
-
-
-def _request_headers() -> dict[str, str]:
-  # konn3kt's edge rejects the default urllib User-Agent with 403. The routes are public
-  # (access returns early for public routes), but IQ.Pilot/Cabana tooling conventionally
-  # sends a Konn3kt user JWT, so include one when available (env or ~/.comma/auth.json).
-  headers = {"User-Agent": "iqdbc"}
-  token = os.environ.get("KONN3KT_ACCESS_TOKEN")
-  if not token:
-    try:
-      with open(os.path.expanduser("~/.comma/auth.json")) as f:
-        token = json.load(f).get("access_token")
-    except (OSError, ValueError):
-      token = None
-  if token:
-    headers["Authorization"] = f"JWT {token}"
-  return headers
-
-
-def _rlog_url(route_id: str, segment: int) -> str:
-  req = urllib.request.Request(f"{API_HOST}/v1/route/{urllib.parse.quote(route_id, safe='|')}/files",
-                               headers=_request_headers())
-  with urllib.request.urlopen(req, timeout=30) as f:
-    files = json.load(f)
-  for url in files.get("logs", []):
-    # path looks like /connectdata/<dongle>/<log>/<seg>/rlog.zst
-    parts = urllib.parse.urlparse(url).path.rstrip("/").split("/")
-    if len(parts) >= 2 and parts[-2] == str(segment):
-      return url
-  raise RuntimeError(f"no rlog for {route_id} segment {segment} (uploaded & public?)")
-
-
-def _load_can(route_id: str, segment: int):
-  lr = LogReader(_rlog_url(route_id, segment), only_union_types=True, sort_by_time=True)
-  return [(m.logMonoTime, [CanData(c.address, c.dat, c.src) for c in m.can]) for m in lr if m.which() == "can"]
-
-
-@pytest.mark.parametrize("route_id,segment,platform,label", VW_ROUTES)
-def test_vw_inactive_steering_invariant(route_id, segment, platform, label):
-  can_msgs = _load_can(route_id, segment)
-  assert len(can_msgs) > 1000, f"insufficient CAN data for {label}: {len(can_msgs)} frames"
-
-  # fingerprint from a fresh iterator over the (unmutated) frame list
-  frame_iter = (frames for _, frames in can_msgs)
-  def can_recv(wait_for_one: bool = False):
-    return [next(frame_iter, [])]
-  _, fingerprint = can_fingerprint(can_recv)
-
-  CarInterface = interfaces[platform]
-  CP = CarInterface.get_params(platform, fingerprint, [], False, False, False)
-  CP_IQ = CarInterface.get_params_iq(CP, platform, fingerprint, [], False, False, False)
-
-  if CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
-    pytest.skip("invariant covers torque-based VW platforms (PQ/MQB/MLB)")
-
-  key = "pq" if CP.flags & VolkswagenFlags.PQ else "mqb"
-  hca_addr, hca_msg, status_sig, torque_sig, active_status = HCA_INFO[key]
-  cp = CANParser(DBC[platform][Bus.pt], [(hca_msg, 0)], 0)
-
-  CI = CarInterface(CP, CP_IQ)
-  CC = structs.CarControl().as_reader()  # latActive defaults to False
-  CC_IQ = structs.IQCarControl()
-
-  hca_seen = 0
-  violations = Counter()
-  for i, (mono, frames) in enumerate(can_msgs):
-    CI.update([(mono, frames)])
-    _, sendcan = CI.apply(CC, CC_IQ, mono)
-
-    if i < 300:  # CarController / CANParser warmup
-      continue
-
-    for addr, dat, bus in sendcan:
-      if addr != hca_addr or bus != 0:
-        continue
-      hca_seen += 1
-      cp.update([(mono, [(addr, bytes(dat), 0)])])
-      if int(cp.vl[hca_msg][status_sig]) in active_status:
-        violations["active_status"] += 1
-      if abs(cp.vl[hca_msg][torque_sig]) > 0:
-        violations["nonzero_torque"] += 1
-
-  assert hca_seen > 50, f"{label}: no HCA steering messages transmitted to inspect"
-  assert not len(violations), \
-    f"{label}: openpilot TX'd active HCA while latActive=False: {dict(violations)}"
-
-
-if __name__ == "__main__":
-  import sys
-  sys.exit(pytest.main([__file__, "-v"]))
--- a/iqdbc_repo/iqdbc/car/torque_data/override.toml
+++ b/iqdbc_repo/iqdbc/car/torque_data/override.toml
@@ -67,7 +67,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
-"SEAT_ALHAMBRA_MK1" = [2.5, 2.5, 0.1]
 "HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
 "KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
 "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
--- a/iqdbc_repo/iqdbc/car/torque_data/substitute.toml
+++ b/iqdbc_repo/iqdbc/car/torque_data/substitute.toml
@@ -76,7 +76,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_JETTA_MK6" = "VOLKSWAGEN_PASSAT_NMS"
 "VOLKSWAGEN_PASSAT_MK7" = "VOLKSWAGEN_PASSAT_NMS"
 "VOLKSWAGEN_PASSAT_NMS_PLUS" = "VOLKSWAGEN_PASSAT_NMS"
-"VOLKSWAGEN_PASSAT_B7" = "VOLKSWAGEN_PASSAT_NMS"

 "SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020"
 "SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020"
--- a/iqdbc_repo/iqdbc/car/toyota/carcontroller.py
+++ b/iqdbc_repo/iqdbc/car/toyota/carcontroller.py
@@ -260,7 +260,6 @@ class CarController(CarControllerBase, GasInterceptorCarController):
                                               freeze_integrator=actuators.longControlState != LongCtrlState.pid)
        else:
          self.long_pid.reset()
-          pcm_accel_cmd = 0.

        # Along with rate limiting positive jerk above, this greatly improves gas response time
        # Consider the net acceleration request that the PCM should be applying (pitch included)
@@ -270,9 +269,7 @@ class CarController(CarControllerBase, GasInterceptorCarController):
        elif net_acceleration_request_min > 0.3:
          self.permit_braking = False

-        sdsu_tssp_long_active = bool(self.CP_IQ.flags & ToyotaFlagsIQ.SMART_DSU) and \
-                                (self.CP.carFingerprint not in TSS2_CAR) and CC.longActive
-        pcm_accel_cmd = actuators.accel if sdsu_tssp_long_active else pcm_accel_cmd
+        pcm_accel_cmd = pcm_accel_cmd if self.CP.carFingerprint in TSS2_CAR else actuators.accel
        pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))

        main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
--- a/iqdbc_repo/iqdbc/car/toyota/interface.py
+++ b/iqdbc_repo/iqdbc/car/toyota/interface.py
@@ -36,6 +36,7 @@ class CarInterface(CarInterfaceBase):
    if ret.flags & ToyotaFlags.SECOC.value:
      ret.secOcRequired = True
      ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.SECOC.value
+      ret.dashcamOnly = is_release

    if candidate in ANGLE_CONTROL_CAR:
      ret.steerControlType = SteerControlType.angle
@@ -118,6 +119,10 @@ class CarInterface(CarInterfaceBase):
    if candidate in TSS2_CAR:
      ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value

+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+
      # Hybrids have much quicker longitudinal actuator response
      if ret.flags & ToyotaFlags.HYBRID.value:
        ret.longitudinalActuatorDelay = 0.05
@@ -127,6 +132,9 @@ class CarInterface(CarInterfaceBase):
  @staticmethod
  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
+    if stock_cp.flags & ToyotaFlags.SECOC.value and stock_cp.fingerprintSource == structs.CarParams.FingerprintSource.fixed:
+      stock_cp.dashcamOnly = False
+
    if candidate in UNSUPPORTED_DSU_CAR:
      ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU

--- a/iqdbc_repo/iqdbc/car/toyota/tests/test_toyota_iq.py
+++ b/iqdbc_repo/iqdbc/car/toyota/tests/test_toyota_iq.py
@@ -4,20 +4,26 @@ from iqdbc.car.toyota.values import CAR, ToyotaFlags
 from iqdbc.iqpilot.car.toyota.values import ToyotaFlagsIQ


-def test_secoc_toyota_not_dashcam_on_release():
-  # SecOC Toyotas are controllable regardless of branch or fingerprint source.
+def test_forced_secoc_toyota_clears_dashcam_mode():
  candidate = CAR.TOYOTA_SIENNA_4TH_GEN
-
-  # is_release=True (release branch) must not force dashcam mode
  cp = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, True, False)
-  assert cp.flags & ToyotaFlags.SECOC.value
-  assert cp.secOcRequired
+  assert cp.dashcamOnly
+
+  cp.fingerprintSource = structs.CarParams.FingerprintSource.fixed
+  CarInterface.get_params_iq(cp, candidate, gen_empty_fingerprint(), [], False, True, False)
+
  assert not cp.dashcamOnly

-  # fw/can-sourced fingerprint (not forced) must also stay controllable
+
+def test_automatic_secoc_toyota_release_stays_dashcam():
+  candidate = CAR.TOYOTA_SIENNA_4TH_GEN
+  cp = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, True, False)
+  assert cp.dashcamOnly
+
  cp.fingerprintSource = structs.CarParams.FingerprintSource.can
  CarInterface.get_params_iq(cp, candidate, gen_empty_fingerprint(), [], False, True, False)
-  assert not cp.dashcamOnly
+
+  assert cp.dashcamOnly


 def test_smart_dsu_clears_disable_radar_on_radar_acc_toyota():
--- a/iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py
@@ -14,16 +14,10 @@ from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.common.numpy_fast import clip, interp
 from iqdbc.car.interfaces import CarControllerBase
 from iqdbc.car.volkswagen import mlbcan, mqbcan, pqcan, mebcan
-from iqdbc.car.volkswagen.pq_radar_handler import PQRadarHandler
-from iqdbc.car.volkswagen.values import (
-  CanBus, CarControllerParams, MQB_A0_CARS, VolkswagenFlags, VolkswagenFlagsIQ, apply_pq_stopping_accel,
-)
+from iqdbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags, VolkswagenFlagsIQ
 from iqdbc.car.volkswagen.mebutils import LongControlJerk, LongControlLimit, LatControlCurvature
 from iqdbc.car.vehicle_model import VehicleModel
-from openpilot.system.proprietary_runtime._verified_import import import_verified_module
-
-iq_lvbs_alc = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.alc")
-iq_lvbs_commander = import_verified_module("iqpilot_commander_private", "iqpilot_private.konn3kt.iqlvbs.iqlvbs_commander")
+from openpilot.iqpilot.konn3kt.iqlvbs import alc as iq_lvbs_alc

 iqpilot_path = os.path.join(os.path.dirname(__file__), '..', '..', '..')
 sys.path.insert(0, iqpilot_path)
@@ -33,19 +27,9 @@ except ImportError:
  pass

 VisualAlert = structs.CarControl.HUDControl.VisualAlert
-AudibleAlert = structs.CarControl.HUDControl.AudibleAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState


-def dVisual(CCS, CS):
-  if CCS == mqbcan:
-    decelV = CS.tsk_verzoeg_anf
-  elif CCS == pqcan:
-    decelV = CS.br8_acc_anf
-  else:
-    decelV = False
-  return decelV
-
 class MQBStandstillManager:
  BRAKE_TORQUE_RAMP_RATE = 2000.0     # Nm/s
  ASSUMED_WHEEL_RADIUS = 0.328        # m, typical tire rolling radius
@@ -192,6 +176,7 @@ class MQBStandstillManager:
    self.prev_accel = accel
    return long_active, accel, stopping, starting, esp_starting_override, esp_stopping_override

+
 class CarController(CarControllerBase):
  def __init__(self, dbc_names, CP, CP_IQ):
    super().__init__(dbc_names, CP, CP_IQ)
@@ -200,11 +185,8 @@ class CarController(CarControllerBase):
    self.CAN = CanBus(CP)
    self.packer_pt = CANPacker(dbc_names[Bus.pt])

-    self._pt_tx_bus = self.CAN.pt
    if CP.flags & VolkswagenFlags.PQ:
      self.CCS = pqcan
-      if CP.flags & VolkswagenFlagsIQ.IQ_PQ_LOWLINE:
-        self._pt_tx_bus = self.CAN.aux
    elif CP.flags & VolkswagenFlags.MLB:
      self.CCS = mlbcan
    elif CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
@@ -229,16 +211,13 @@ class CarController(CarControllerBase):
    self.long_jerk_control = LongControlJerk(dt=(DT_CTRL * self.CCP.ACC_CONTROL_STEP)) if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO) else None
    self.long_limit_control = LongControlLimit(dt=(DT_CTRL * self.CCP.ACC_CONTROL_STEP)) if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO) else None
    self.gra_acc_counter_last = None
-    self.motor3_frame_last = None
-    self.motor3_was_stopping = False
-    self.motor3_resuming = False
-    self.sng_handoff_active = False
    self.acc_counter_seeded = False
    self.klr_counter_last = None
    self.eps_timer_soft_disable_alert = False
    self.hca_frame_timer_running = 0
    self.hca_frame_same_torque = 0
    self.accel_last = 0
+    self.accel_diff = 0
    self.long_deviation = 0
    self.long_jerklimit = 0
    self.HCA_Status = 3
@@ -252,43 +231,19 @@ class CarController(CarControllerBase):
    self.radar_disabled_warning_timer = 0
    # Check once at init whether the DBC includes MEB_AWV_01 (AEB HUD for radar-disabled camera harness cars)
    self._has_aeb_hud_msg = "MEB_AWV_01" in self.packer_pt.dbc.name_to_msg
-    self.eps_timer_workaround = bool(CP.flags & (VolkswagenFlags.MLB | VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB))
-    self._pq_patch_checked = not bool(CP.flags & VolkswagenFlags.PQ) or self.eps_timer_workaround
+    self.eps_timer_workaround = bool(CP.flags & VolkswagenFlags.MLB)
    self.hca_frame_timer_resetting = 0
    self.hca_frame_low_torque = 0
    self.long_override_counter = 0
    self.long_disabled_counter = 0
    self.standstill_manager = MQBStandstillManager(CP.mass, self.CCP.ACCEL_MIN) if self.CCS == mqbcan else None
-    self.radar_handler = PQRadarHandler(self.CAN) if self.CCS is pqcan else None
-    self.blend_stock_radar = False
-    self.unavailable = False
-    self.unavailable_hold = 0
    self.VM = VehicleModel(CP)
-    self.is_mqb_a0 = self._is_mqb_a0_car(CP.carFingerprint)
    self.LateralController = (
      LatControlCurvature(self.CCP.CURVATURE_PID, self.CCP.CURVATURE_LIMITS.CURVATURE_MAX, 1 / (DT_CTRL * self.CCP.STEER_STEP))
      if (CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO))
      else None
    )

-  @staticmethod
-  def _is_mqb_a0_car(candidate) -> bool:
-    return candidate in MQB_A0_CARS
-
-  def _get_mqb_steering_torque_scale(self, v_ego: float, enabled: bool) -> float:
-    if enabled and self.CCS == mqbcan:
-      return float(np.interp(v_ego, [0.4, 3.5, 4.0], [0.8, 0.95, 1.0]))
-    return 1.0
-
-  def _should_spam_mqb_a0_resume(self, CS, enabled: bool) -> bool:
-    return bool(
-      enabled and
-      self.is_mqb_a0 and
-      self.CCS == mqbcan and
-      CS.out.standstill and
-      self.frame % 50 < 15
-    )
-
  def update(self, CC, CC_IQ, CS, now_nanos):
    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -297,23 +252,10 @@ class CarController(CarControllerBase):
    apply_torque = 0
    pqhca5or7Toggle = self._params.get_bool("pqhca5or7Toggle")
    eBrakeActive = self._params.get_bool("eBrakeActive")
-    iq_mqb_steering_lockout = self._params.get_bool("iqMqbSteeringLockout")
-    iq_mqb_acc_resume = self._params.get_bool("iqMqbAccResume")
-    self.blend_stock_radar = self._params.get_bool("IQDynamicBlendStockRadar")
-    if not self._pq_patch_checked:
-      self._pq_patch_checked = True
-      self.eps_timer_workaround = not self._params.get_bool("VwPqEpsPatched")
-    blend_active = bool(self.blend_stock_radar and self.radar_handler is not None and self.CP.openpilotLongitudinalControl)
    AngleLateralControl = iq_lvbs_alc.angle_lateral_control_enabled(self, CS)
    self.entering = CS.vw_iq_lvbs_alc_entering
    self.active = CS.vw_iq_lvbs_alc_active

-    if hud_control.audibleAlert == AudibleAlert.refuse:
-      self.unavailable_hold = self.CCP.IQ_PQ_UNAVAILABLE_HUD_FRAMES
-    else:
-      self.unavailable_hold = max(0, self.unavailable_hold - 1)
-    self.unavailable = self.unavailable_hold > 0
-
    CS.force_rhd_for_bsm = getattr(CC, "forceRHDForBSM", False)
    CS.enable_predicative_speed_limit = getattr(CC.cruiseControl, "speedLimitPredicative", False)
    CS.enable_pred_react_to_speed_limits = getattr(CC.cruiseControl, "speedLimitPredReactToSL", False)
@@ -354,8 +296,7 @@ class CarController(CarControllerBase):
        self.steering_power_last = steering_power
      else:
        if CC.latActive and not AngleLateralControl:
-          torque_scale = self._get_mqb_steering_torque_scale(CS.out.vEgo, iq_mqb_steering_lockout)
-          new_torque = int(round(actuators.torque * self.CCP.STEER_MAX * torque_scale))
+          new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
          apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
          self.hca_frame_timer_running += self.CCP.STEER_STEP
          if self.apply_torque_last == apply_torque:
@@ -400,10 +341,10 @@ class CarController(CarControllerBase):

        self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
        self.apply_torque_last = apply_torque
-        if not (AngleLateralControl and self.CCS in (mqbcan, pqcan, mlbcan)):
-          can_sends.append(self.CCS.create_hca_steering_control(self.packer_pt, self._pt_tx_bus, output_torque, self.HCA_Status))
+        if not (AngleLateralControl and self.CCS in (mqbcan, pqcan)):
+          can_sends.append(self.CCS.create_hca_steering_control(self.packer_pt, self.CAN.pt, output_torque, self.HCA_Status))

-      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT and self.CCS == mqbcan:
+      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
        ea_simulated_torque = float(np.clip(apply_torque * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX))
        if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
          ea_simulated_torque = CS.out.steeringTorque
@@ -438,7 +379,7 @@ class CarController(CarControllerBase):
    if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl and not CS.out.radarDisableFailed:
      stopping = actuators.longControlState == LongCtrlState.stopping
      if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
-        starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < 0.25)
+        starting = actuators.longControlState == LongCtrlState.starting and CS.out.vEgo <= self.CP.vEgoStarting
        accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.enabled else 0)

        long_override = CC.cruiseControl.override or CS.out.gasPressed
@@ -468,7 +409,7 @@ class CarController(CarControllerBase):
        self.accel_last = accel
      else:
        stopping = actuators.longControlState == LongCtrlState.stopping
-        starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < 0.25)
+        starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
        long_active = CC.longActive
        accel = actuators.accel
        esp_starting_override = None
@@ -483,16 +424,10 @@ class CarController(CarControllerBase):

        acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, long_active, CC.cruiseControl.override, CS.out.accFaulted)
        accel = float(np.clip(accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if (long_active or CC.cruiseControl.override) else 0)
-        self.long_jerklimit = float(interp(accel, [-1.5, -0.3, 0.05], [2.0, 0.52, 0.30]))
-        self.long_deviation = float(interp(accel, [-0.3, 0.1], [0.0, 0.20]))
+        self.accel_diff = (0.0019 * (accel - self.accel_last)) + (1 - 0.0019) * self.accel_diff
+        self.long_jerklimit = 3.0 # AendGrad (0.01 * (np.clip(abs(accel), 0.7, 2))) + (1 - 0.01) * self.long_jerklimit
+        self.long_deviation = 0.2 # RegelAbw np.interp(abs(accel - self.accel_diff), [0, 0.3, 1.0], [0.02, 0.04, 0.08])
        self.accel_last = accel
-
-        if blend_active and getattr(CC_IQ, "useRadarAccel", False) and CS.acc_radar_sta_adr == 1 and not self.radar_handler.failed:
-          accel = float(np.clip(CS.acc_radar_sollbeschl, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX))
-          self.long_jerklimit = CS.acc_radar_aendgrad
-          self.long_deviation = CS.acc_radar_regelabw
-          self.accel_last = accel
-
        if self.CCS == mqbcan:
          can_sends.extend(self.CCS.create_acc_accel_control(
            self.packer_pt, self.CAN.pt, CS.acc_type, accel, acc_control, stopping, starting, CS.esp_hold_confirmation,
@@ -500,19 +435,10 @@ class CarController(CarControllerBase):
            esp_starting_override=esp_starting_override, esp_stopping_override=esp_stopping_override,
          ))
        else:
-          accel = apply_pq_stopping_accel(self.CP.carFingerprint, accel, stopping)
-
-          sng_ecd_enabled = bool(self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_SNG_ECD)
-          low_speed = CS.out.vEgo <= self.CCP.SNG_HANDOFF_SPEED
-          if sng_ecd_enabled and long_active and low_speed and accel <= 0.05 and not starting:
-            self.sng_handoff_active = True
-          else:
-            self.sng_handoff_active = False
-          sng_decel_req = float(np.clip(accel, self.CCP.ACCEL_MIN, self.CCP.SNG_HOLD_DECEL_MAX)) if self.sng_handoff_active else 0.0
-
-          can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, accel, acc_control, stopping and not self.motor3_resuming, starting, CS.esp_hold_confirmation, self.long_deviation, self.long_jerklimit, eBrakeActive, sng_active=self.sng_handoff_active))
-          if sng_ecd_enabled:
-            can_sends.append(self.CCS.create_sng_handoff_control(self.packer_pt, self.CAN.aux, self.sng_handoff_active, sng_decel_req))
+          can_sends.extend(self.CCS.create_acc_accel_control(
+            self.packer_pt, self.CAN.pt, CS.acc_type, accel, acc_control, stopping, starting, CS.esp_hold_confirmation,
+            self.long_deviation, self.long_jerklimit, eBrakeActive,
+          ))

    if (self.CP.flags & VolkswagenFlags.DISABLE_RADAR) and self.CP.openpilotLongitudinalControl and not CS.out.radarDisableFailed:
      if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
@@ -542,16 +468,15 @@ class CarController(CarControllerBase):
        can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive, CS.out.steeringPressed,
                                                         hud_alert, hud_control, sound_alert))
      else:
-        can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self._pt_tx_bus, CS.ldw_stock_values, CC.latActive, steering_pressed_hud,
+        can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive, steering_pressed_hud,
                                                         hud_alert, hud_control, self.entering, self.CCS is pqcan and AngleLateralControl, self.active))

    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
      self.distance_bar_frame = self.frame

    if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
-      fcw_alert = hud_control.visualAlert == VisualAlert.fcw
-      d_unresponsive = hud_control.driverUnresponsive
      if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
+        fcw_alert = hud_control.visualAlert == VisualAlert.fcw
        show_distance_bars = self.frame - self.distance_bar_frame < 400
        gap = max(8, CS.out.vEgo * hud_control.leadFollowTime)
        distance = max(8, hud_control.leadDistance) if hud_control.leadDistance != 0 else 0
@@ -573,29 +498,23 @@ class CarController(CarControllerBase):
                                                         CS.esp_hold_confirmation, distance, gap, fcw_alert, acc_hud_event, speed_limit))
      else:
        leadDistance = min(8, hud_control.leadDistance) if hud_control.leadDistance != 0 else 0
+        fcw_alert = hud_control.visualAlert == VisualAlert.fcw
        self.leadDistanceBars = min(3, hud_control.leadDistanceBars)
        acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
        set_speed = hud_control.setSpeed * CV.MS_TO_KPH
-        decel = dVisual(self.CCS, CS)
-        can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed, leadDistance, self.leadDistanceBars, fcw_alert, hud_control.leadVisible, self.unavailable, decel, d_unresponsive))
+        can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
+                                                         leadDistance, self.leadDistanceBars, fcw_alert, hud_control.leadVisible))

    if self.CP.flags & VolkswagenFlags.PQ:
-      iq_lvbs_commander.update_turn_signals(self, CC, CS, can_sends)
+      if self.frame % 2 == 0:
+        self.blinkerActive = CS.leftBlinkerUpdate or CS.rightBlinkerUpdate
+        leftBlinker = CC.leftBlinker if not self.blinkerActive else False
+        rightBlinker = CC.rightBlinker if not self.blinkerActive else False
+        can_sends.append(self.CCS.create_blinker_control(self.packer_pt, self.CAN.pt, leftBlinker, rightBlinker))

    if self.CP.openpilotLongitudinalControl and (self.CP.flags & VolkswagenFlags.PQ):
-      if blend_active:
-        can_sends.extend(self.radar_handler.update(
-          self.packer_pt, self.frame, CS,
-          blend_active=True,
-          engage_req=getattr(CC_IQ, "radarEngageReq", False),
-          cancel_req=getattr(CC_IQ, "radarCancelReq", False),
-          set_speed_kph=getattr(CC_IQ, "radarSetSpeedKph", 0.0),
-          gap_bars=getattr(CC_IQ, "radarGapBars", 0),
-          v_ego=CS.out.vEgo,
-        ))
-      elif self.frame % 2 == 0:
+      if self.frame % 2 == 0:
        can_sends.append(self.CCS.filter_motor2(self.packer_pt, self.CAN.ext, CS.motor2_stock))
-        can_sends.append(self.CCS.filter_motor5(self.packer_pt, self.CAN.ext, CS.motor5_stock))

    gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
    if self.CP.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
@@ -607,25 +526,15 @@ class CarController(CarControllerBase):
      stock_cancel_pressed = bool(CS.gra_stock_values["GRA_Abbrechen"])

    cancel_cmd = stock_cancel_pressed or CC.cruiseControl.cancel
-    resume_cmd = CC.cruiseControl.resume or self._should_spam_mqb_a0_resume(CS, iq_mqb_acc_resume)
-    if gra_send_ready and (cancel_cmd or resume_cmd):
+    if gra_send_ready and (cancel_cmd or CC.cruiseControl.resume):
      bus_send = self.CAN.aux if self.CP.flags & VolkswagenFlags.PQ else self.CAN.ext
      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, bus_send, CS.gra_stock_values,
-                                                           cancel=cancel_cmd, resume=resume_cmd))
+                                                           cancel=cancel_cmd, resume=CC.cruiseControl.resume))

-    if self.CP.openpilotLongitudinalControl and self.CCS == pqcan and not blend_active:
+    if self.CP.openpilotLongitudinalControl and self.CCS == pqcan:
      if self.frame % 3:
        can_sends.append(self.CCS.create_gra_neu(self.packer_pt, self.CAN.ext, CS.gra_stock_values, CC.longActive))

-    if self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
-      is_stopping = actuators.longControlState == LongCtrlState.stopping
-      if CS.out.vEgo > 0.5 or not CC.longActive:
-        self.motor3_resuming = False
-      elif (self.motor3_was_stopping and not is_stopping and self.CP.openpilotLongitudinalControl and CC.longActive):
-        self.motor3_resuming = True
-      if self.motor3_resuming and CS.motor3_stock:
-        can_sends.append(self.CCS.create_motor3_resume(self.packer_pt, self.CAN.aux, CS.motor1_stock, CS.motor3_stock, resume=True))
-      self.motor3_was_stopping = is_stopping

    new_actuators = actuators.as_builder()
    new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
@@ -638,6 +547,5 @@ class CarController(CarControllerBase):

    self.lead_distance_bars_last = hud_control.leadDistanceBars
    self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
-    self.motor3_frame_last = CS.motor3_frame
    self.frame += 1
    return new_actuators, can_sends
--- a/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
@@ -12,10 +12,7 @@ from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car.volkswagen.values import CAR, DBC, CanBus, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType, GearShifter, \
                                                      CarControllerParams, VolkswagenFlags, VolkswagenFlagsIQ
 from iqdbc.car.volkswagen.speed_limit_manager import SpeedLimitManager
-from openpilot.system.proprietary_runtime._verified_import import import_verified_module
-
-iq_lvbs_alc = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.alc")
-vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
+from openpilot.iqpilot.konn3kt.iqlvbs import alc as iq_lvbs_alc

 iqpilot_path = os.path.join(os.path.dirname(__file__), '..', '..', '..')
 sys.path.insert(0, iqpilot_path)
@@ -48,14 +45,6 @@ class CarState(CarStateBase):
    self.ea_hud_stock_values = {}
    self.ea_control_stock_values = {}
    self.acc_type = 0
-    self.acc_radar_sollbeschl = 0.0
-    self.acc_radar_regelabw = 0.0
-    self.acc_radar_aendgrad = 0.0
-    self.acc_radar_sta_adr = 0
-    self.acc_radar_fehler = False
-    self.acc_radar_v_wunsch = 0.0
-    self.acc_radar_sta_acc = 0
-    self.epb_freigabe_ver = False
    self.acc_stock_counters: dict[str, int] = {}
    self.esp_stopping = False
    self.tsk_brake_torque = 0.0
@@ -96,20 +85,7 @@ class CarState(CarStateBase):
    self.PQ_ALC_Status_raw = 0
    self.alcOverrideAlert = False
    self.bremse8_stock = None
-    self.br8_acc_anf = False
-    self.tsk_verzoeg_anf = False
    self.cruise_main_switch = False
-    self.motor3_stock = {}
-    self.motor1_stock = {}
-    self.motor3_frame = 0
-    self.motor1_frame = 0
-    self._odometer_store = vehicle_state.VehicleOdometerStore(CP, self._params)
-
-  def _update_odometer(self, ret: structs.CarState, raw_km: float) -> None:
-    """Publish the cluster value while proprietary Konn3kt code owns persistence."""
-    odometer_km = self._odometer_store.record(raw_km)
-    if odometer_km is not None:
-      ret.odometer = odometer_km

  def _apply_iq_private_flags(self, ret_iq: structs.IQCarState) -> None:
    ret_iq.alcOverrideAlert = bool(self.alcOverrideAlert)
@@ -141,9 +117,6 @@ class CarState(CarStateBase):
  def _update_mqb_iq_alc_state(self, pt_cp):
    iq_lvbs_alc.update_mqb_carstate_alc_state(self, pt_cp)

-  def _update_mlb_iq_alc_state(self, pt_cp):
-    iq_lvbs_alc.update_mlb_carstate_alc_state(self, pt_cp)
-
  def _update_pq_iq_alc_state(self, pt_cp):
    iq_lvbs_alc.update_pq_carstate_alc_state(self, pt_cp)

@@ -153,8 +126,7 @@ class CarState(CarStateBase):
    ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp

    if self.CP.flags & VolkswagenFlags.PQ:
-      aux_cp = can_parsers.get(Bus.aux)
-      return self.update_pq(pt_cp, cam_cp, ext_cp, aux_cp)
+      return self.update_pq(pt_cp, cam_cp, ext_cp)
    elif self.CP.flags & VolkswagenFlags.MLB:
      br_cp = can_parsers[Bus.aux]
      return self.update_mlb(pt_cp, br_cp, cam_cp, ext_cp)
@@ -246,7 +218,6 @@ class CarState(CarStateBase):
      self.grade = pt_cp.vl["Motor_16"]["TSK_Steigung"]
      acc_limiter_mode = False if cc_only else ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
      speed_limiter_mode = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
-      self.tsk_verzoeg_anf = bool(pt_cp.vl["TSK_06"]["TSK_Freig_Verzoeg_Anf"])

      self._update_mqb_iq_alc_state(pt_cp)

@@ -285,15 +256,12 @@ class CarState(CarStateBase):
    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)

    ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
-    allow_lat_only = self._params.get_bool("AllowLateralWhenLongUnavailable") and self._params.get_bool("AolEnabled")
-    cruise_main_switch = bool(self.gra_stock_values["GRA_Hauptschalter"])
-    ret.cruiseFaultLateralMode = allow_lat_only and ret.accFaulted and cruise_main_switch
-    ret.lateralAvailable = ret.cruiseState.available or ret.cruiseFaultLateralMode
-    ret.blockPcmEnable = ret.cruiseFaultLateralMode
+    ret.cruiseFaultLateralMode = False
+    ret.lateralAvailable = ret.cruiseState.available
+    ret.blockPcmEnable = False

    ret.fuelGauge = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
    ret.fuelTankLevelL = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"]  # raw liters for konn3kt
-    self._update_odometer(ret, aux_cp.vl["Kombi_02"]["KBI_Kilometerstand"])

    self.cruise_faulted = ret.accFaulted
    self._apply_iq_private_flags(ret_iq)
@@ -409,7 +377,6 @@ class CarState(CarStateBase):
    psd_06_values = main_cp.vl["PSD_06"] if self.CP.flags & VolkswagenFlags.STOCK_PSD_PRESENT else {}
    psd_06_values = pt_cp.vl["PSD_06"] if not psd_06_values and self.CP.flags & VolkswagenFlags.STOCK_PSD_06_PRESENT else psd_06_values
    diagnose_01_values = pt_cp.vl["Diagnose_01"] if self.CP.flags & VolkswagenFlags.STOCK_DIAGNOSE_01_PRESENT else {}
-    self._update_odometer(ret, pt_cp.vl["Diagnose_01"]["KBI_Kilometerstand"])

    if self.enable_speed_limit_predicative and not self.enable_predicative_speed_limit:
      self.enable_predicative_speed_limit = True
@@ -434,8 +401,10 @@ class CarState(CarStateBase):
    ret.espDisabled = bool(pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"])
    ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])

-    allow_lat_only = self._params.get_bool("AllowLateralWhenLongUnavailable") and self._params.get_bool("AolEnabled")
-    cruise_fault_candidate = allow_lat_only and ret.accFaulted and bool(pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"])
+    allow_lat_only = self._params.get_bool("AllowLateralWhenLongUnavailable")
+    cruise_main_switch = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"])
+    cruise_fault_candidate = allow_lat_only and ret.accFaulted and cruise_main_switch
+
    if cruise_fault_candidate:
      self.cruise_faulted_frames += 1
      self.cruise_fault_clear_frames = 0
@@ -449,10 +418,12 @@ class CarState(CarStateBase):
          self.cruise_fault_lateral_active = False
      else:
        self.cruise_fault_clear_frames = 0
+
    if not allow_lat_only:
      self.cruise_fault_lateral_active = False
      self.cruise_faulted_frames = 0
      self.cruise_fault_clear_frames = 0
+
    ret.cruiseFaultLateralMode = self.cruise_fault_lateral_active
    ret.lateralAvailable = ret.cruiseState.available or ret.cruiseFaultLateralMode
    ret.blockPcmEnable = ret.cruiseFaultLateralMode
@@ -482,10 +453,9 @@ class CarState(CarStateBase):
    self._apply_iq_private_flags(ret_iq)
    return ret, ret_iq

-  def update_pq(self, pt_cp, cam_cp, ext_cp, aux_cp=None) -> tuple[structs.CarState, structs.IQCarState]:
+  def update_pq(self, pt_cp, cam_cp, ext_cp) -> tuple[structs.CarState, structs.IQCarState]:
    ret = structs.CarState()
    ret_iq = structs.IQCarState()
-    sng_ecd_enabled = bool(self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_SNG_ECD)

    # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
    ret.vEgoRaw = pt_cp.vl["Bremse_1"]["BR1_Rad_kmh"] * CV.KPH_TO_MS
@@ -498,13 +468,13 @@ class CarState(CarStateBase):
    ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
    ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
    hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
-    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, ready_confirms_init=False)
+    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)

    # Update gas, brakes, and gearshift.
    ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0
    ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
    ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
-    ret.parkingBrake = False # bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
+    ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])

    # Update gear and/or clutch position data.
    if self.CP.transmissionType == TransmissionType.automatic:
@@ -533,11 +503,8 @@ class CarState(CarStateBase):
    # Consume blind-spot monitoring info/warning LED states, if available.
    # Infostufe: BSM LED on, Warnung: BSM LED flashing
    if self.CP.enableBsm:
-      blindspot_li = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
-      blindspot_re = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
-      force_rhd = self.force_rhd_for_bsm or self._params.get_bool("ForceRHDForBSM")
-      ret.leftBlindspot = blindspot_re if force_rhd else blindspot_li
-      ret.rightBlindspot = blindspot_li if force_rhd else blindspot_re
+      ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
+      ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])

    # Consume factory LDW data relevant for factory SWA (Lane Change Assist)
    # and capture it for forwarding to the blind spot radar controller
@@ -557,18 +524,16 @@ class CarState(CarStateBase):
    # Update ACC radar status.
    self.acc_type = 0 if cc_only else ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
    cruise_main_switch = bool(pt_cp.vl["Motor_5"]["MO5_GRA_Hauptsch"])
-    self.cruise_main_switch = cruise_main_switch
+    cruise_tsk_status = bool(pt_cp.vl["Motor_2"]["MO2_Status_TSK"])
+    self.cruise_main_switch = cruise_main_switch or cruise_tsk_status
    MO2_StaGRA = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] in (1, 2)
    ACS_StaADR = False if cc_only else ext_cp.vl["ACC_System"]["ACS_Sta_ADR"] == 1
    cruiseActive = MO2_StaGRA or ACS_StaADR
-    self.epb_freigabe_ver = bool(aux_cp.vl["EPB_1"]["EP1_Freigabe_Ver"]) if sng_ecd_enabled and not cc_only else False
-    sng_holding = sng_ecd_enabled and self.epb_freigabe_ver
-    if cruiseActive or sng_holding:
+    if cruiseActive:
      self.last_cruiseActive = True
-    elif not MO2_StaGRA and not ACS_StaADR and not sng_holding:
+    elif not MO2_StaGRA and not ACS_StaADR:
      self.last_cruiseActive = False
    ret.cruiseState.enabled = self.last_cruiseActive
-    self.br8_acc_anf = bool(pt_cp.vl["Bremse_8"]["BR8_Sta_ACC_Anf"]) if not cc_only else False

    if self.CP.pcmCruise:
      if cc_only:
@@ -579,9 +544,9 @@ class CarState(CarStateBase):
      cruise_faulted = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] == 3

    ret.accFaulted = cruise_faulted
-    ret.cruiseState.available = cruise_main_switch and not cruise_faulted
+    ret.cruiseState.available = (cruise_main_switch or cruise_tsk_status) and not cruise_faulted
    allow_lat_only = self._params.get_bool("AllowLateralWhenLongUnavailable") and self._params.get_bool("AolEnabled")
-    cruise_main_available = cruise_main_switch
+    cruise_main_available = cruise_main_switch or cruise_tsk_status
    ret.cruiseFaultLateralMode = allow_lat_only and cruise_faulted and cruise_main_available
    ret.lateralAvailable = ret.cruiseState.available or ret.cruiseFaultLateralMode
    ret.blockPcmEnable = ret.cruiseFaultLateralMode
@@ -598,33 +563,6 @@ class CarState(CarStateBase):
      ret.cruiseState.speed = 0

    self.motor2_stock = pt_cp.vl["Motor_2"]
-    self.motor5_stock = pt_cp.vl["Motor_5"]
-
-    if self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
-      self.motor3_stock = aux_cp.vl["Motor_3"]
-      self.motor1_stock = aux_cp.vl["Motor_1"]
-    self.motor3_frame += 1
-    self.motor1_frame += 1
-
-    if cc_only:
-      self.acc_radar_sollbeschl = 0.0
-      self.acc_radar_regelabw = 0.0
-      self.acc_radar_aendgrad = 0.0
-      self.acc_radar_sta_adr = 0
-      self.acc_radar_fehler = False
-      self.acc_radar_v_wunsch = 0.0
-      self.acc_radar_sta_acc = 0
-    else:
-      self.acc_radar_sollbeschl = ext_cp.vl["ACC_System"]["ACS_Sollbeschl"]
-      self.acc_radar_regelabw = ext_cp.vl["ACC_System"]["ACS_zul_Regelabw"]
-      self.acc_radar_aendgrad = ext_cp.vl["ACC_System"]["ACS_max_AendGrad"]
-      self.acc_radar_sta_adr = int(ext_cp.vl["ACC_System"]["ACS_Sta_ADR"])
-      self.acc_radar_fehler = bool(ext_cp.vl["ACC_System"]["ACS_Fehler"])
-      self.acc_radar_v_wunsch = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"]
-      self.acc_radar_sta_acc = int(ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"])
-
-    ret_iq.accRadarStaAdr = self.acc_radar_sta_adr
-    ret_iq.accRadarFehler = self.acc_radar_fehler

    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
@@ -639,15 +577,8 @@ class CarState(CarStateBase):

    ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)

-    ret.fuelGauge = 0 # pt_cp.vl["Kombi_1"]["Tankinhalt"] / 55.0
-    ret.fuelTankLevelL = 0 # pt_cp.vl["Kombi_1"]["Tankinhalt"]  # raw liters for konn3kt
-    if aux_cp is not None:
-      self._update_odometer(ret, aux_cp.vl["Kombi_3"]["Kilometerstand"])
-
-    if self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
-      ret.cruiseState.standstill = self.CP.pcmCruise and bool(pt_cp.vl["Bremse_5"]["BR5_Stillstand"]) and ret.cruiseState.enabled
-    elif sng_ecd_enabled:
-      ret.cruiseState.standstill = sng_holding and ret.standstill
+    ret.fuelGauge = pt_cp.vl["Kombi_1"]["Tankinhalt"] / 55.0
+    ret.fuelTankLevelL = pt_cp.vl["Kombi_1"]["Tankinhalt"]  # raw liters for konn3kt

    self.cruise_faulted = ret.accFaulted
    self.frame += 1
@@ -684,7 +615,6 @@ class CarState(CarStateBase):
      ret.accFaulted = pt_cp.vl["TSK_02"]["TSK_Status"] in (3,)

    self.parse_mlb_mqb_steering_state(ret, pt_cp)
-    self._update_mlb_iq_alc_state(pt_cp)

    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0
    brake_pedal_pressed = bool(pt_cp.vl["Motor_03"]["MO_Fahrer_bremst"])
@@ -718,7 +648,6 @@ class CarState(CarStateBase):

    ret.fuelGauge = br_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
    ret.fuelTankLevelL = br_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"]  # raw liters for konn3kt
-    self._update_odometer(ret, br_cp.vl["Kombi_02"]["KBI_Kilometerstand"])

    ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)

@@ -751,11 +680,10 @@ class CarState(CarStateBase):
    ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
    return

-  def update_hca_state(self, hca_status, drive_mode=True, ready_confirms_init=True):
+  def update_hca_state(self, hca_status, drive_mode=True):
    # Treat FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
    # DISABLED means the EPS hasn't been configured to support Lane Assist
-    init_statuses = ("DISABLED", "READY", "ACTIVE") if ready_confirms_init else ("DISABLED", "ACTIVE")
-    self.eps_init_complete = self.eps_init_complete or hca_status in init_statuses or self.frame > 1000
+    self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
    perm_fault = drive_mode and hca_status == "DISABLED" or (self.eps_init_complete and hca_status == "FAULT")
    temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
    return temp_fault, perm_fault
@@ -807,11 +735,8 @@ class CarState(CarStateBase):
      ]
    if CP.flags & VolkswagenFlags.MLB:
      pt_messages += [
-        ("Blinkmodi_01", math.nan),  # From J519 BCM (is inactive when no lights active, 50Hz when active)
-        ("Kombi_02", math.nan),  # Auxiliary-bus cluster odometer
+        ("Blinkmodi_01", math.nan)  # From J519 BCM (is inactive when no lights active, 50Hz when active)
      ]
-    else:
-      pt_messages += [("Kombi_02", math.nan)]  # Auxiliary-bus cluster odometer
    if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
      cam_messages += [
        ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
@@ -825,12 +750,8 @@ class CarState(CarStateBase):

  @staticmethod
  def get_can_parsers_pq(CP):
-    aux_messages = [("Kombi_3", math.nan)]  # Bus 1 cluster odometer
-    if CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
-      aux_messages.append(("Motor_3", 0))
    return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).powertrain),
-      Bus.aux: CANParser(DBC[CP.carFingerprint][Bus.pt], aux_messages, CanBus(CP).aux),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).cam),
    }

@@ -842,7 +763,6 @@ class CarState(CarStateBase):
      # TA_01 lives on bus 0 (car ECU / OP-generated when long is active).
      # math.nan → ignore_alive=True so it never contributes to can_valid.
      ("TA_01", math.nan),
-      ("Diagnose_01", math.nan),  # Bus 0 cluster odometer
    ]
    if CP.networkLocation == NetworkLocation.fwdCamera:
      pt_messages.append(("AWV_03", 1))
--- a/iqdbc_repo/iqdbc/car/volkswagen/fingerprints.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/fingerprints.py
@@ -681,14 +681,6 @@ FW_VERSIONS = {
      b'\xf1\x873QF907572A \xf1\x890132',
    ],
  },
-  CAR.VOLKSWAGEN_PASSAT_B7: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8703L906018RE\xf1\x899979',
-    ],
-    (Ecu.fwdCamera, 0x74f, None): [
-      b'\xf1\x873AA980654D \xf1\x890300\xf1\x82\x0143',
-    ],
-  },
  CAR.VOLKSWAGEN_POLO_MK6: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704C906025H \xf1\x895177',
@@ -724,17 +716,6 @@ FW_VERSIONS = {
      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
    ],
  },
-  CAR.SEAT_ALHAMBRA_MK1: {
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x8704L906016HE\xf1\x894635',
-    ],
-    (Ecu.srs, 0x715, None): [
-      b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--',
-    ],
-    (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
-    ],
-  },
  CAR.VOLKSWAGEN_TAOS_MK1: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704E906025CK\xf1\x892228',
--- a/iqdbc_repo/iqdbc/car/volkswagen/interface.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/interface.py
@@ -1,16 +1,15 @@
 import time

+from iqdbc.car.common.conversions import Conversions as CV
 from iqdbc.car import get_safety_config, structs, uds
 from iqdbc.car.carlog import carlog
 from iqdbc.car.interfaces import CarInterfaceBase
 from iqdbc.car.isotp_parallel_query import IsoTpParallelQuery
 from iqdbc.car.volkswagen.carcontroller import CarController
 from iqdbc.car.volkswagen.carstate import CarState
-from iqdbc.car.volkswagen.values import (
-  CAR, CanBus, DashcamOnlyReason, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
-  VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ, get_longitudinal_stopping_speed_override,
-)
+from iqdbc.car.volkswagen.values import CanBus, CAR, DashcamOnlyReason, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType, VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ
 from iqdbc.car.volkswagen.radar_interface import RadarInterface
+from iqdbc.car.common.conversions import Conversions as CV
 import sys
 import os
 iqpilot_path = os.path.join(os.path.dirname(__file__), '..', '..', '..')
@@ -20,11 +19,6 @@ try:
 except ImportError:
  pass

-try:
-  from openpilot.system.proprietary_runtime._verified_import import import_verified_module
-except Exception:
-  import_verified_module = None
-

 class CarInterface(CarInterfaceBase):
  CarState = CarState
@@ -45,16 +39,9 @@ class CarInterface(CarInterfaceBase):
    if ret.flags & VolkswagenFlags.PQ:
      # Set global PQ35/PQ46/NMS parameters
      safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
-      if candidate == CAR.SEAT_ALHAMBRA_MK1:
-        ret.flags |= VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB.value
-      if not (ret.flags & VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB) and _params.get_bool("VwPqEpsPatched"):
-        ret.minSteerSpeed = 0
      if angle_lat_enabled:
        ret.flags |= VolkswagenFlagsIQ.IQ_LVBS_ALC_MODULE.value
        safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_ALC_MODULE.value
-        if alpha_long:
-          ret.flags |= VolkswagenFlagsIQ.IQ_PQ_SNG_ECD.value
-          safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_SNG_ECD.value
      ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1

      if 0x440 in fingerprint[0] or docs:  # Getriebe_1
@@ -72,13 +59,6 @@ class CarInterface(CarInterfaceBase):
        else:
          ret.flags |= VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR.value

-      cc_only_flags = VolkswagenFlagsIQ.IQ_CC_ONLY | VolkswagenFlagsIQ.IQ_CC_ONLY_NO_RADAR
-      if ret.flags & cc_only_flags:
-        safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_NO_CAM_BUS.value
-      if (ret.flags & cc_only_flags) and not fingerprint[0]:
-        ret.flags |= VolkswagenFlagsIQ.IQ_PQ_LOWLINE.value
-        safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_LOWLINE.value
-
      if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
        ret.networkLocation = NetworkLocation.gateway
      else:
@@ -184,20 +164,19 @@ class CarInterface(CarInterfaceBase):
        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif ret.flags & VolkswagenFlags.MLB:
      ret.steerActuatorDelay = 0.2
-      if angle_lat_enabled:
-        ret.steerControlType = structs.CarParams.SteerControlType.angle
-        ret.steerAtStandstill = bool(joystick_mode)
-      else:
-        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
      ret.steerActuatorDelay = 0.3
    else:
      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.pid.kpBP = [0.]
+      ret.lateralTuning.pid.kiBP = [0.]
+      ret.lateralTuning.pid.kf = 0.00006
+      ret.lateralTuning.pid.kpV = [0.6]
+      ret.lateralTuning.pid.kiV = [0.2]
      if angle_lat_enabled:
        ret.steerControlType = structs.CarParams.SteerControlType.angle
        ret.steerAtStandstill = bool(joystick_mode)
-      else:
-        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    # Global longitudinal tuning defaults, can be overridden per-vehicle

@@ -221,12 +200,17 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.PORSCHE_MACAN_MK1:
      ret.steerActuatorDelay = 0.07

-    if candidate == CAR.VOLKSWAGEN_PASSAT_B7 or CAR.SEAT_ALHAMBRA_MK1:
-      ret.flags |= VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB.value
-      safety_configs[0].safetyParam |= VolkswagenSafetyFlags.PQ_ACC_FTS_EPB.value
-
    ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.stopAccel = -0.55
+    if ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
+      ret.startingState = True
+      ret.startAccel = 0.8
+      ret.vEgoStarting = 0.5
+      ret.vEgoStopping = 0.1
+      ret.stopAccel = -0.55
+    else:
+      ret.stopAccel = -0.55
+      ret.vEgoStarting = 0.1
+      ret.vEgoStopping = 1.5 * CV.KPH_TO_MS if ret.flags & VolkswagenFlags.PQ else 0.1
    ret.autoResumeSng = ret.minEnableSpeed == -1
    CAN = CanBus(fingerprint=fingerprint)
    if CAN.pt >= 4:
@@ -237,18 +221,10 @@ class CarInterface(CarInterfaceBase):

  @staticmethod
  def pre_init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv, can_send):
-    if not (CP.flags & VolkswagenFlags.PQ) or (CP.flags & VolkswagenFlagsIQ.IQ_PQ_TIMEBOMB) or import_verified_module is None:
-      return
-    try:
-      params = Params()
-      if params.get_bool("VwPqEpsPatched"):
-        return
-      flasher = import_verified_module("iqpilot_hephaestusd_private", "iqpilot_private.konn3kt.hephaestus.vw_pq_flasher")
-      status = flasher.check_eps_patch_status(1, can_recv, can_send)
-    except Exception:
-      return
-    if status == "patched":
-      params.put_bool("VwPqEpsPatched", True)
+    # Engine-on check moved to init(): if radar can't be disabled, radarDisableFailed=True
+    # gates only long control (carcontroller line ~308) while lateral still works.
+    # Full dashcam mode here was too aggressive — lateral doesn't need radar disabled.
+    pass

  @staticmethod
  def init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv, can_send):
@@ -345,5 +321,4 @@ class CarInterface(CarInterfaceBase):

  @staticmethod
  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
-    ret.longitudinalStoppingSpeedOverride = get_longitudinal_stopping_speed_override(candidate, stock_cp.flags)
    return ret
--- a/iqdbc_repo/iqdbc/car/volkswagen/mebcan.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/mebcan.py
@@ -28,7 +28,7 @@ def create_steering_control(packer, bus, apply_curvature, lkas_enabled, power):
  values = {
    "Curvature": abs(apply_curvature), # in rad/m
    "Curvature_VZ": 1 if apply_curvature > 0 and lkas_enabled else 0,
-    "Power": power if lkas_enabled else 0,
+    "Power": 100 if lkas_enabled else 0,  # TEST: hard 100%, no ramp
    "RequestStatus": 4 if lkas_enabled else 2,
    "HighSendRate": lkas_enabled,
  }
--- a/iqdbc_repo/iqdbc/car/volkswagen/mebutils.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/mebutils.py
@@ -270,5 +270,5 @@ class LatControlCurvature():
    error                  = desired_curvature - actual_curvature
    freeze_integrator      = CC.steerLimited or CS.vEgo < 5
    output_curvature       = self.pid.update(error, feedforward=desired_curvature_corr, speed=CS.vEgo,
-                                             freeze_integrator=freeze_integrator, override=CS.steeringPressed)
+                                             freeze_integrator=freeze_integrator, override=False)
    return output_curvature
--- a/iqdbc_repo/iqdbc/car/volkswagen/mlbcan.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/mlbcan.py
@@ -45,7 +45,7 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
  return [packer.make_can_msg("ACC_05", bus, values)]


-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible, unavailable, decel, d_unresponsive):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible):
  values = {}
  return packer.make_can_msg("ACC_02", bus, values)

--- a/iqdbc_repo/iqdbc/car/volkswagen/mqbcan.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/mqbcan.py
@@ -114,10 +114,10 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
    "ACC_Status_ACC": acc_control,
    "ACC_StartStopp_Info": acc_enabled,
    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
-    "ACC_zul_Regelabw_unten": 0.2,
-    "ACC_zul_Regelabw_oben": 0.2,
-    "ACC_neg_Sollbeschl_Grad_02": 3.0 if acc_enabled else 0,
-    "ACC_pos_Sollbeschl_Grad_02": 3.0 if acc_enabled else 0,
+    "ACC_zul_Regelabw_unten": comfortBand if acc_enabled else 0.2,
+    "ACC_zul_Regelabw_oben": comfortBand if acc_enabled else 0.2,
+    "ACC_neg_Sollbeschl_Grad_02": jerkLimit if acc_enabled else 0,
+    "ACC_pos_Sollbeschl_Grad_02": jerkLimit if acc_enabled else 0,
    "ACC_Anfahren": starting if acc_enabled else False,
    "ACC_Anhalten": stopping if acc_enabled else False,
  }
@@ -149,16 +149,12 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
  return commands


-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible, unavailable, decel, d_unresponsive):
-  priodisp = 0 if fcw_alert else 1 if (acc_hud_status == 4 or decel or leadVisible) else 2 if (acc_hud_status in (3, 2)) else 0
-  leadDistanceBars = distanceBars + 1 if distanceBars in (1, 2, 3) else 2
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible):
  values = {
    "ACC_Status_Anzeige": acc_hud_status,
    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
-    "ACC_Gesetzte_Zeitluecke": leadDistanceBars,
-    "ACC_Optischer_Fahrerhinweis": 1 if fcw_alert else 0,
-    "ACC_Display_Prio": priodisp,
-    "ACC_Relevantes_Objekt": leadDistanceBars,
+    "ACC_Gesetzte_Zeitluecke": distanceBars,
+    "ACC_Display_Prio": 3,
    "ACC_Abstandsindex": leadDistance if leadVisible else 0,
    "ACC_Akustik_02": fcw_alert,
  }
--- a/iqdbc_repo/iqdbc/car/volkswagen/pq_radar_handler.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/pq_radar_handler.py
@@ -1,106 +0,0 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
-"""
-from iqdbc.car.common.conversions import Conversions as CV
-from iqdbc.car.volkswagen import pqcan
-
-
-class PQRadarHandler:
-  GRA_STEP = 3                            # GRA_Neu cadence (~33 Hz), matches stock stalk module
-  SPOOF_STEP = 2                         # Motor_2 / Motor_5 spoof cadence (50 Hz)
-
-  ENGAGE_FLOOR = 1.0 * CV.KPH_TO_MS      # never SET at/below 1 kph
-  REENGAGE_FLOOR = 2.0 * CV.KPH_TO_MS    # hysteresis: only (re)engage above 2 kph
-
-  SETSPEED_TOL_KPH = 1.0                 # don't chase set-speed within this band
-  SHORT_STEP_KPH = 1.0 * CV.MPH_TO_KPH   # GRA_*_kurz ~= 1 mph
-  LONG_STEP_KPH = 5.0 * CV.MPH_TO_KPH    # GRA_*_lang ~= 5 mph
-  TAP_RELEASE_CYCLES = 2                 # GRA cycles to release between set-speed taps
-
-  def __init__(self, CAN):
-    self.bus = CAN.ext                   # radar lives on bus 2 (ext/cam)
-    self.counter = 0
-    self.failed = False                  # ACS_Fehler / irrev_Fehler -> radar dead for the drive
-    self.want_engaged = False            # our belief the radar cruise should be on
-    self._press_phase = 0                # alternate press/release for SET/cancel discrete edges
-    self._tap_cooldown = 0               # set-speed tap rate limiter
-
-  def reset(self):
-    self.want_engaged = False
-    self._press_phase = 0
-    self._tap_cooldown = 0
-
-  @staticmethod
-  def _map_gap_bars(gap_bars):
-    if not gap_bars:
-      return None
-    return int(min(3, max(1, gap_bars)))
-
-  def update(self, packer, frame, CS, *, blend_active, engage_req, cancel_req,
-             set_speed_kph, gap_bars, v_ego):
-    can_sends = []
-
-    if not blend_active:
-      self.reset()
-      return can_sends
-
-    if CS.acc_radar_fehler or CS.acc_radar_sta_adr == 3:
-      self.failed = True
-
-    radar_active = (CS.acc_radar_sta_adr == 1) and not self.failed
-
-    if self.failed:
-      self.want_engaged = False
-    elif cancel_req:
-      self.want_engaged = False
-    elif engage_req and v_ego > self.REENGAGE_FLOOR:
-      self.want_engaged = True
-
-    if (frame % self.SPOOF_STEP) == 0:
-      # Mirror the stock engage handshake ORDER: the radar leads (SET -> ADR active) and only THEN
-      # does the engine report GRA regulating. Asserting MO2_Sta_GRA=1 before the radar's ADR is
-      # active presents an impossible state ("engine regulating but ADR didn't initiate it") and the
-      # radar latches an irreversible fault. So only assert cruise-active once ADR is actually active;
-      # relay Motor_5 (main switch) as verbatim OEM passthrough throughout.
-      hold_engaged = self.want_engaged and radar_active
-      can_sends.append(pqcan.filter_motor2(packer, self.bus, CS.motor2_stock, gra_active=hold_engaged))
-      can_sends.append(pqcan.filter_motor5(packer, self.bus, CS.motor5_stock, gra_active=False))
-
-    if (frame % self.GRA_STEP) == 0:
-      set_btn = resume_btn = cancel = up_s = down_s = up_l = down_l = False
-      self._press_phase ^= 1
-      pressing = self._press_phase == 0
-
-      if self.failed:
-        pass
-      elif cancel_req:
-        # Only actually press cancel when the radar is engaged (or overdriven) -- otherwise it's a
-        # no-op against a passive/off radar and just spams GRA_Abbrechen at ~16 Hz. Fires while
-        # active and stops once the radar leaves the active state.
-        cancel = pressing and radar_active
-      elif self.want_engaged and not radar_active and v_ego > self.ENGAGE_FLOOR:
-        # Engage with RESUME (GRA_Recall), not SET. Ground-truth from an OEM ACC engage (radar leads:
-        # RESUME -> ACS_Sta_ADR 2->1 in ~90ms -> engine MO2_Sta_GRA 0->1 ~80ms later) shows this radar
-        # engages from passive on GRA_Recall; it ignores GRA_Neu_Setzen from that state.
-        resume_btn = pressing
-      elif self.want_engaged and radar_active:
-        if self._tap_cooldown > 0:
-          self._tap_cooldown -= 1
-        elif set_speed_kph > 0:
-          delta = set_speed_kph - CS.acc_radar_v_wunsch
-          if abs(delta) >= self.SETSPEED_TOL_KPH:
-            big = abs(delta) >= self.LONG_STEP_KPH
-            if delta > 0:
-              up_l, up_s = big, not big
-            else:
-              down_l, down_s = big, not big
-            self._tap_cooldown = self.TAP_RELEASE_CYCLES
-
-      self.counter = (self.counter + 1) % 16
-      can_sends.append(pqcan.create_radar_gra(
-        packer, self.bus, CS.gra_stock_values, self.counter,
-        set_btn=set_btn, resume=resume_btn, cancel=cancel, up_short=up_s, down_short=down_s,
-        up_long=up_l, down_long=down_l, zeitluecke=self._map_gap_bars(gap_bars),
-      ))
-
-    return can_sends
--- a/iqdbc_repo/iqdbc/car/volkswagen/pqcan.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/pqcan.py
@@ -1,7 +1,3 @@
-"""
-Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
-"""
-
 def create_hca_steering_control(packer, bus, apply_torque, HCA_Status):
  values = {
    "LM_Offset": abs(apply_torque),
@@ -99,20 +95,20 @@ def acc_hud_status_value(main_switch_on, acc_faulted, longActive, longOverride):
  return hud_status


-def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping, starting, esp_hold, comfortBand, jerkLimit, eBrakeActive, sng_active=False):
+def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping, starting, esp_hold, comfortBand, jerkLimit, eBrakeActive):
  commands = []
-  acc_enabled = acc_control == 1 and not sng_active
+  acc_enabled = acc_control == 1

  values = {
-    "ACS_Sta_ADR": 0 if sng_active else acc_control,
+    "ACS_Sta_ADR": acc_control,
    "ACS_StSt_Info": acc_enabled,
    "ACS_Typ_ACC": acc_type,
-    "ACS_Anhaltewunsch": (acc_type == 1 and stopping or eBrakeActive) or sng_active,
+    "ACS_Anhaltewunsch": acc_type == 1 and stopping or eBrakeActive,
    "ACS_FreigSollB": acc_enabled,
    "ACS_Sollbeschl": accel if acc_enabled else 3.01,
    "ACS_zul_Regelabw": comfortBand if acc_enabled else 1.27,
    "ACS_max_AendGrad": jerkLimit if acc_enabled else 5.08,
-    "ACS_Schubabsch": 0,
+    "ACS_Schubabsch": 1 if acc_enabled and (accel > 0.05) else 0,
    "ACS_MomEingriff": 0,
    "ACS_ADR_Schub": 0,
  }
@@ -122,14 +118,6 @@ def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping
  return commands


-def create_sng_handoff_control(packer, bus, handoff_active, decel_req):
-  values = {
-    "SNG_HandoffActive": handoff_active,
-    "SNG_DecelReq": decel_req if handoff_active else 0.0,
-  }
-  return packer.make_can_msg("SNG_1", bus, values)
-
-
 def create_blinker_control(packer, bus, leftBlinker, rightBlinker):
  values = {
    "BM_rechts": rightBlinker,
@@ -138,71 +126,29 @@ def create_blinker_control(packer, bus, leftBlinker, rightBlinker):
  return packer.make_can_msg("Blinkmodi_02", bus, values)


-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible, unavailable, decel, d_unresponsive):
-  priodisp = 0 if fcw_alert else 1 if (acc_hud_status == 4 or decel or leadVisible) else 2 if (acc_hud_status in (3, 2)) else 0
-  leadDistanceBars = distanceBars + 1 if distanceBars in (1, 2, 3) else 2
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible):
+  if distanceBars == 1:
+    leadDistanceBars = 2
+  elif distanceBars == 2:
+    leadDistanceBars = 3
+  elif distanceBars == 3:
+    leadDistanceBars = 4
+  else:
+    leadDistanceBars = 2
  values = {
    "ACA_StaACC": acc_hud_status,
-    "ACA_AnzDisplay": 1 if acc_hud_status in (3, 4) else 0,
    "ACA_Zeitluecke": leadDistanceBars,
    "ACA_V_Wunsch": set_speed,
    "ACA_gemZeitl": min(15, max(1, int(round(leadDistance)))) if leadVisible else 0,
-    "ACA_PrioDisp": priodisp,
-    "ACA_Akustik1": d_unresponsive,
-    # "ACA_Fahrerhinw": unavailable,
+    "ACA_PrioDisp": 3,
    "ACA_Akustik2": fcw_alert,
-    "ACA_ACC_Verz": decel,
  }

  return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)

-def filter_motor2(packer, bus, motor2_stock, gra_active=False):
-  values = dict(motor2_stock)
-  if gra_active:
-    values.update({
-      "MO2_Sta_GRA": 1,
-      "MO2_Status_TSK": 1,
-    })
-  else:
-    values.update({
-      "MO2_Sta_GRA": 0,
-    })
-  return packer.make_can_msg("Motor_2", bus, values)
-
-
-def filter_motor5(packer, bus, motor5_stock, gra_active=False):
-  values = dict(motor5_stock)
-  if gra_active:
-    values["MO5_GRA_Hauptsch"] = 1
-  return packer.make_can_msg("Motor_5", bus, values)
-
-
-def create_motor3_resume(packer, bus, motor1_stock, motor3_stock, resume=False):
-  values = dict(motor3_stock)
-  values_motor1 = dict(motor1_stock)
-  if resume:
-    values["MO3_Pedalwert"] = values_motor1["MO1_Pedalwert"]
-  return packer.make_can_msg("Motor_3", bus, values)
-
-
-def create_radar_gra(packer, bus, gra_stock, counter, set_btn=False, cancel=False, resume=False,
-                     up_short=False, down_short=False, up_long=False, down_long=False, zeitluecke=None):
-  values = {s: gra_stock[s] for s in [
-    "GRA_Hauptschalt",      # ACC main switch passthrough
-    "GRA_Typ_Hauptschalt",  # momentary vs latching
-    "GRA_Kodierinfo",       # configuration
-    "GRA_Sender",           # CAN originator
-  ]}
+def filter_motor2(packer, bus, motor2_stock):
+  values = motor2_stock
  values.update({
-    "COUNTER": counter % 16,
-    "GRA_Neu_Setzen": 1 if set_btn else 0,
-    "GRA_Abbrechen": 1 if cancel else 0,
-    "GRA_Recall": 1 if resume else 0,
-    "GRA_Up_kurz": 1 if up_short else 0,
-    "GRA_Down_kurz": 1 if down_short else 0,
-    "GRA_Up_lang": 1 if up_long else 0,
-    "GRA_Down_lang": 1 if down_long else 0,
+    "MO2_Sta_GRA": 0,
  })
-  if zeitluecke is not None:
-    values["GRA_Zeitluecke"] = zeitluecke
-  return packer.make_can_msg("GRA_Neu", bus, values)
+  return packer.make_can_msg("Motor_2", bus, values)
--- a/iqdbc_repo/iqdbc/car/volkswagen/tests/test_iqpilot_vw_toggles.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/tests/test_iqpilot_vw_toggles.py
@@ -1,49 +0,0 @@
-from types import SimpleNamespace
-
-from iqdbc.car.volkswagen import mqbcan, pqcan
-from iqdbc.car.volkswagen.carcontroller import CarController
-from iqdbc.car.volkswagen.values import CAR, MQB_A0_CARS
-
-
-def test_is_mqb_a0_car_matches_expected_platforms():
-  assert CAR.VOLKSWAGEN_POLO_MK6 in MQB_A0_CARS
-  assert CAR.VOLKSWAGEN_TCROSS_MK1 in MQB_A0_CARS
-  assert CAR.SKODA_FABIA_MK4 in MQB_A0_CARS
-  assert CAR.SKODA_KAMIQ_MK1 in MQB_A0_CARS
-  assert CarController._is_mqb_a0_car(CAR.VOLKSWAGEN_POLO_MK6)
-  assert CarController._is_mqb_a0_car(CAR.VOLKSWAGEN_TCROSS_MK1)
-  assert CarController._is_mqb_a0_car(CAR.SKODA_FABIA_MK4)
-  assert CarController._is_mqb_a0_car(CAR.SKODA_KAMIQ_MK1)
-  assert not CarController._is_mqb_a0_car(CAR.VOLKSWAGEN_GOLF_MK7)
-
-
-def test_mqb_steering_torque_scale_only_changes_when_toggle_enabled():
-  controller = object.__new__(CarController)
-  controller.CCS = mqbcan
-  assert controller._get_mqb_steering_torque_scale(0.4, False) == 1.0
-
-  assert controller._get_mqb_steering_torque_scale(0.4, True) == 0.8
-  assert controller._get_mqb_steering_torque_scale(4.0, True) == 1.0
-
-  controller.CCS = pqcan
-  assert controller._get_mqb_steering_torque_scale(0.4, True) == 1.0
-
-
-def test_mqb_a0_resume_spam_requires_toggle_platform_and_window():
-  controller = object.__new__(CarController)
-  controller.CCS = mqbcan
-  controller.is_mqb_a0 = True
-  controller.frame = 10
-  cs = SimpleNamespace(out=SimpleNamespace(standstill=True))
-
-  assert controller._should_spam_mqb_a0_resume(cs, True)
-
-  controller.frame = 20
-  assert not controller._should_spam_mqb_a0_resume(cs, True)
-
-  controller.frame = 10
-  controller.is_mqb_a0 = False
-  assert not controller._should_spam_mqb_a0_resume(cs, True)
-
-  controller.is_mqb_a0 = True
-  assert not controller._should_spam_mqb_a0_resume(cs, False)
--- a/iqdbc_repo/iqdbc/car/volkswagen/tests/test_pq_can_valid.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/tests/test_pq_can_valid.py
@@ -1,186 +0,0 @@
-"""
-Regression guard for the class of bug fixed in carstate.py's Diagnose_1 (cluster clock,
-removed) and EPB_1 (stop-and-go hold, now gated on PQ_SNG_ECD): reading a CAN message via
-`some_cp.vl["MsgName"]["Signal"]` without declaring it in get_can_parsers_pq() lazily adds
-it via VLDict.__getitem__ -> CANParser._add_message(key, freq=None), which is NOT the same
-as ignore-alive (that's what math.nan is for -- see
-iqdbc/can/tests/test_packer_parser.py::test_lazy_add_not_ignore_alive). An undeclared
-message defaults to "assume ~1Hz, must be seen within ~10s", so if the real car never sends
-it, CarState.canValid gets stuck False forever.
-
-Rather than fuzzing every VolkswagenFlagsIQ combination (most are unreachable through
-interface.py's real detection logic), each fixture below is the CarParams captured from a
-real konn3kt route for a real car of that variant. We run CarState.update() once (no CAN
-data needs to be fed -- .vl[...] lazily adds and returns default-zero values regardless of
-whether the parser has ever seen a real frame) while recording every message name accessed,
-then assert that set is a subset of what that real car actually transmits (per its captured
-CAN fingerprint). A message accessed but not in the real fingerprint is exactly the bug
-class this guards against.
-"""
-from iqdbc.can.parser import VLDict
-from iqdbc.car import structs
-from iqdbc.car.volkswagen.carstate import CarState
-from iqdbc.car.volkswagen.values import CAR, Bus
-
-
-class _RecordingVLDict(VLDict):
-  """Records every message name read via .vl[...], including ones lazily added for
-  messages never declared in get_can_parsers_pq's message list. Applied by reclassing
-  a live CANParser.vl instance in place (rather than replacing it with a fresh object)
-  so any messages already registered at CANParser construction time, and the parser
-  back-reference _add_message needs, are preserved."""
-  accessed: set[str]
-
-  def __getitem__(self, key):
-    if isinstance(key, str):
-      self.accessed.add(key)
-    return super().__getitem__(key)
-
-
-def _make_car_params(car_fingerprint, flags, network_location, transmission_type, enable_bsm, pcm_cruise):
-  CP = structs.CarParams.new_message()
-  CP.carFingerprint = car_fingerprint
-  CP.flags = flags
-  CP.radarUnavailable = True
-  CP.networkLocation = network_location
-  CP.transmissionType = transmission_type
-  CP.enableBsm = enable_bsm
-  CP.pcmCruise = pcm_cruise
-  CP.minSteerSpeed = 0.0
-  CP_IQ = structs.IQCarParams()
-  return CP, CP_IQ
-
-
-# Real per-variant CarParams captured from konn3kt routes (not hand-derived), so each
-# fixture reflects an actual car rather than a guess at which flag combos are reachable.
-# known_bus1/known_bus2 are the exact message names present in that car's real CAN
-# fingerprint. Bus.pt and Bus.aux both listen on physical bus 1 for PQ (CanBus.powertrain
-# == CanBus.aux == 1); Bus.cam listens on physical bus 2 (CanBus.cam == 2) -- see CanBus in
-# iqdbc/car/volkswagen/values.py. UNK_* (unrecognized DBC addresses) are dropped.
-FIXTURES = [
-  dict(
-    name="jetta_mk6_base",
-    route="a0d99b85ff06857b|0000003a--135c88414f",
-    car_fingerprint=CAR.VOLKSWAGEN_JETTA_MK6,
-    flags=2,
-    network_location="gateway",
-    transmission_type="automatic",
-    enable_bsm=False,
-    pcm_cruise=True,
-    known_bus1={
-      'ACC_GRA_Anzeige', 'ACC_System', 'AWV', 'Airbag_1', 'Airbag_2', 'BSG_Last', 'Bremse_1',
-      'Bremse_10', 'Bremse_11', 'Bremse_2', 'Bremse_3', 'Bremse_4', 'Bremse_5', 'Bremse_8',
-      'Bremse_9', 'Diagnose_1', 'Einheiten_1', 'GRA_Neu', 'Gate_Komf_1', 'Gate_Komf_2',
-      'Getriebe_1', 'Getriebe_2', 'Getriebe_4', 'Ident', 'Klima_1', 'Kombi_1', 'Kombi_2',
-      'Kombi_3', 'Lenkhilfe_1', 'Lenkhilfe_2', 'Lenkhilfe_3', 'Lenkwinkel_1', 'Motor_1',
-      'Motor_10', 'Motor_12', 'Motor_2', 'Motor_3', 'Motor_5', 'Motor_6', 'Motor_7', 'Motor_8',
-      'Motor_Bremse', 'Motor_Flexia', 'Soll_Verbauliste_neu', 'Systeminfo_1', 'Waehlhebel_1',
-    },
-    known_bus2={
-      'ACC_GRA_Anzeige', 'ACC_System', 'AWV', 'Airbag_1', 'BSG_Last', 'Bremse_1', 'Bremse_10',
-      'Bremse_11', 'Bremse_2', 'Bremse_3', 'Bremse_5', 'Bremse_8', 'Diagnose_1', 'Einheiten_1',
-      'GRA_Neu', 'Gate_Komf_1', 'Gate_Komf_2', 'Getriebe_1', 'Ident', 'Kombi_1', 'Kombi_2',
-      'Kombi_3', 'Lenkhilfe_2', 'Lenkhilfe_3', 'Lenkwinkel_1', 'Motor_1', 'Motor_10', 'Motor_2',
-      'Motor_3', 'Motor_5', 'Motor_Flexia', 'Soll_Verbauliste_neu', 'Systeminfo_1',
-    },
-  ),
-  dict(
-    name="passat_nms_sng_ecd",
-    route="0f53129ed44f6920|00000031--0c1aea511e",
-    car_fingerprint=CAR.VOLKSWAGEN_PASSAT_NMS,
-    flags=524418,  # PQ | IQ_LVBS_ALC_MODULE | IQ_PQ_SNG_ECD
-    network_location="gateway",
-    transmission_type="automatic",
-    enable_bsm=False,
-    pcm_cruise=False,
-    known_bus1={
-      'ACC_GRA_Anzeige', 'ACC_System', 'AWV', 'Airbag_1', 'Airbag_2', 'BSG_Last', 'Bremse_1',
-      'Bremse_10', 'Bremse_11', 'Bremse_2', 'Bremse_3', 'Bremse_4', 'Bremse_5', 'Bremse_8',
-      'Bremse_9', 'Diagnose_1', 'EPB_1', 'EPB_2', 'Einheiten_1', 'GRA_Neu', 'Gate_Komf_1',
-      'Gate_Komf_2', 'Getriebe_1', 'Getriebe_2', 'Ident', 'Klima_1', 'Kombi_1', 'Kombi_2',
-      'Kombi_3', 'Lenkhilfe_1', 'Lenkhilfe_2', 'Lenkhilfe_3', 'Lenkwinkel_1', 'Motor_1',
-      'Motor_10', 'Motor_12', 'Motor_13', 'Motor_2', 'Motor_3', 'Motor_5', 'Motor_6', 'Motor_7',
-      'Motor_8', 'Motor_Bremse', 'Motor_Flexia', 'Soll_Verbauliste_neu', 'Systeminfo_1',
-    },
-    known_bus2={
-      'ACC_GRA_Anzeige', 'ACC_System', 'AWV', 'Airbag_1', 'BSG_Last', 'Bremse_1', 'Bremse_10',
-      'Bremse_11', 'Bremse_2', 'Bremse_3', 'Bremse_5', 'Bremse_8', 'Diagnose_1', 'EPB_1',
-      'Einheiten_1', 'GRA_Neu', 'Gate_Komf_1', 'Gate_Komf_2', 'Getriebe_1', 'Ident', 'Kombi_1',
-      'Kombi_2', 'Kombi_3', 'Lenkhilfe_2', 'Lenkhilfe_3', 'Lenkwinkel_1', 'Motor_1', 'Motor_10',
-      'Motor_2', 'Motor_3', 'Motor_5', 'Motor_Flexia', 'Soll_Verbauliste_neu', 'Systeminfo_1',
-    },
-  ),
-  dict(
-    name="passat_b7_acc_fts_epb",
-    route="20e3cd4f0d5f39d1|0000008e--274d762bac",
-    car_fingerprint=CAR.VOLKSWAGEN_PASSAT_B7,
-    flags=262146,  # PQ | IQ_PQ_ACC_FTS_EPB
-    network_location="gateway",
-    transmission_type="automatic",
-    enable_bsm=True,
-    pcm_cruise=False,
-    known_bus1={
-      'ACC_GRA_Anzeige', 'ACC_System', 'AWV', 'Airbag_1', 'Airbag_2', 'BSG_Last', 'Bremse_1',
-      'Bremse_10', 'Bremse_11', 'Bremse_2', 'Bremse_3', 'Bremse_4', 'Bremse_5', 'Bremse_8',
-      'Bremse_9', 'Daempfer_1', 'Diagnose_1', 'EPB_1', 'Einheiten_1', 'GRA_Neu', 'Gate_Komf_1',
-      'Gate_Komf_2', 'Getriebe_1', 'Getriebe_2', 'Getriebe_4', 'HCA_1', 'Ident', 'Klima_1',
-      'Kombi_1', 'Kombi_2', 'Kombi_3', 'Lenkhilfe_1', 'Lenkhilfe_2', 'Lenkhilfe_3',
-      'Lenkwinkel_1', 'Motor_1', 'Motor_10', 'Motor_12', 'Motor_2', 'Motor_3', 'Motor_5',
-      'Motor_6', 'Motor_7', 'Motor_8', 'Motor_Bremse', 'Motor_Flexia', 'Parkhilfe_01',
-      'Soll_Verbauliste_neu', 'Systeminfo_1', 'Waehlhebel_1',
-    },
-    known_bus2={
-      'ACC_GRA_Anzeige', 'ACC_System', 'AWV', 'Airbag_1', 'BSG_Last', 'Bremse_1', 'Bremse_10',
-      'Bremse_11', 'Bremse_2', 'Bremse_3', 'Bremse_5', 'Bremse_8', 'Diagnose_1', 'EPB_1',
-      'Einheiten_1', 'GRA_Neu', 'Gate_Komf_1', 'Gate_Komf_2', 'Getriebe_1', 'HCA_1', 'Ident',
-      'Kombi_1', 'Kombi_2', 'Kombi_3', 'LDW_Status', 'Lenkhilfe_2', 'Lenkhilfe_3',
-      'Lenkwinkel_1', 'Motor_1', 'Motor_10', 'Motor_2', 'Motor_3', 'Motor_5', 'Motor_Flexia',
-      'Parkhilfe_01', 'RDK_Status', 'SWA_1', 'Soll_Verbauliste_neu', 'Systeminfo_1',
-    },
-  ),
-]
-
-
-class TestVolkswagenPqCanValid:
-  def test_only_reads_messages_the_real_car_sends(self, subtests):
-    for fixture in FIXTURES:
-      with subtests.test(car=fixture["name"]):
-        CP, CP_IQ = _make_car_params(
-          fixture["car_fingerprint"], fixture["flags"], fixture["network_location"],
-          fixture["transmission_type"], fixture["enable_bsm"], fixture["pcm_cruise"],
-        )
-
-        CS = CarState(CP, CP_IQ)
-        can_parsers = CS.get_can_parsers(CP, CP_IQ)
-
-        recorders = {}
-        for bus, parser in can_parsers.items():
-          if parser is None:
-            continue
-          parser.vl.__class__ = _RecordingVLDict
-          parser.vl.accessed = set()
-          recorders[bus] = parser.vl
-
-        # no CAN data is fed: .vl[...] lazily adds and returns default-zero values
-        # regardless of whether the parser has ever seen a real frame, so this alone
-        # is enough to harvest every message name update_pq() touches for this variant
-        CS.update(can_parsers)
-
-        accessed_bus1 = recorders[Bus.pt].accessed | recorders[Bus.aux].accessed
-        accessed_bus2 = recorders[Bus.cam].accessed
-
-        extra_bus1 = accessed_bus1 - fixture["known_bus1"]
-        extra_bus2 = accessed_bus2 - fixture["known_bus2"]
-
-        assert not extra_bus1, (
-          f"{fixture['name']}: code reads {sorted(extra_bus1)} on bus 1 (pt/aux) but the "
-          f"real car (route {fixture['route']}) never transmits it -- this needs to be "
-          f"gated behind whatever flag makes it optional, or declared with math.nan if it's "
-          f"genuinely on-demand/rare, not read unconditionally"
-        )
-        assert not extra_bus2, (
-          f"{fixture['name']}: code reads {sorted(extra_bus2)} on bus 2 (cam) but the "
-          f"real car (route {fixture['route']}) never transmits it -- this needs to be "
-          f"gated behind whatever flag makes it optional, or declared with math.nan if it's "
-          f"genuinely on-demand/rare, not read unconditionally"
-        )
--- a/iqdbc_repo/iqdbc/car/volkswagen/tests/test_stopping.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/tests/test_stopping.py
@@ -1,22 +0,0 @@
-import pytest
-
-from iqdbc.car.volkswagen.values import (
-  CAR, PASSAT_B7_STOP_ACCEL, PASSAT_B7_STOPPING_SPEED, PQ_STOPPING_SPEED,
-  VolkswagenFlags, apply_pq_stopping_accel, get_longitudinal_stopping_speed_override,
-)
-
-
-@pytest.mark.parametrize("candidate, flags, expected", [
-  (CAR.VOLKSWAGEN_PASSAT_B7, VolkswagenFlags.PQ, PASSAT_B7_STOPPING_SPEED),
-  (CAR.VOLKSWAGEN_JETTA_MK6, VolkswagenFlags.PQ, PQ_STOPPING_SPEED),
-  (CAR.VOLKSWAGEN_GOLF_MK7, 0, 0.0),
-  (CAR.VOLKSWAGEN_ID4_MK1, VolkswagenFlags.MEB, 0.0),
-])
-def test_stopping_speed_override(candidate, flags, expected):
-  assert get_longitudinal_stopping_speed_override(candidate, flags) == expected
-
-
-def test_passat_b7_stop_accel_is_exact():
-  assert apply_pq_stopping_accel(CAR.VOLKSWAGEN_PASSAT_B7, -0.2, True) == PASSAT_B7_STOP_ACCEL == -0.55
-  assert apply_pq_stopping_accel(CAR.VOLKSWAGEN_PASSAT_B7, -0.2, False) == -0.2
-  assert apply_pq_stopping_accel(CAR.VOLKSWAGEN_JETTA_MK6, -0.2, True) == -0.2
--- a/iqdbc_repo/iqdbc/car/volkswagen/tests/test_volkswagen.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/tests/test_volkswagen.py
@@ -43,10 +43,6 @@ class TestVolkswagenPlatformConfigs:
          if len(shared_chassis_codes) == 0:
            continue

-          # A shared chassis code is unambiguous when the VIN WMI separates the candidates.
-          if platform.config.wmis.isdisjoint(comp.config.wmis):
-            continue
-
          platform_model_years = getattr(platform.config, "model_years", set())
          comp_model_years = getattr(comp.config, "model_years", set())
          if platform_model_years and comp_model_years and platform_model_years.isdisjoint(comp_model_years):
@@ -55,13 +51,10 @@ class TestVolkswagenPlatformConfigs:
          assert set() == shared_chassis_codes, f"Shared chassis codes: {comp}"

  def test_custom_fuzzy_fingerprinting(self, subtests):
-    all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus.get((Ecu.fwdRadar, 0x757, None), [])})
+    all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]})

    for platform in CAR:
      with subtests.test(platform=platform.name):
-        # Fuzzy matching keys off the radar ECU (CHECK_FUZZY_ECUS), so a platform that
-        # declares no radar ECU can never be VIN-matched and should never be expected to match.
-        platform_has_radar = (Ecu.fwdRadar, 0x757, None) in FW_VERSIONS.get(platform, {})
        for wmi in WMI:
          for chassis_code in platform.config.chassis_codes | {"00"}:
            platform_model_years = getattr(platform.config, "model_years", set())
@@ -77,7 +70,7 @@ class TestVolkswagenPlatformConfigs:
              for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']:
                model_year_match = len(platform_model_years) == 0 or model_year in platform_model_years
                should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes and model_year_match) and
-                                radar_fw in all_radar_fw and platform_has_radar)
+                                radar_fw in all_radar_fw)

                live_fws = {(0x757, None): [radar_fw]}
                matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS)
@@ -113,17 +106,3 @@ def test_button_enable_recovers_once_cruise_fault_clears():
  )]

  assert state.update_button_enable(button_events)
-
-
-def test_pq_hca_ready_does_not_complete_eps_initialization():
-  state = object.__new__(CarState)
-  state.eps_init_complete = False
-
-  state.frame = 0
-  assert state.update_hca_state("READY", ready_confirms_init=False) == (True, False)
-
-  state.frame = 317
-  assert state.update_hca_state("FAULT", ready_confirms_init=False) == (True, False)
-
-  state.frame = 1001
-  assert state.update_hca_state("FAULT", ready_confirms_init=False) == (False, True)
--- a/iqdbc_repo/iqdbc/car/volkswagen/values.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/values.py
@@ -35,10 +35,6 @@ class CanBus(CanBusBase):
    # NetworkLocation.gateway: powertrain CAN
    return 1

-  @property
-  def powertrain(self) -> int:
-    return 1
-
  @property
  def main(self) -> int:
    return 1
@@ -53,11 +49,17 @@ class CanBus(CanBusBase):
    # ADAS / Extended CAN, side of the relay with the ACC radar
    return 2

+  @property
+  def eps(self) -> int:
+    return 4
+
+  @property
+  def car(self) -> int:
+    return 6
+
+
 # Extra Tolerances For Road Variance
 AVERAGE_ROAD_ROLL = 0.06
-PQ_STOPPING_SPEED = 1.5 * CV.KPH_TO_MS
-PASSAT_B7_STOPPING_SPEED = 0.55 * CV.KPH_TO_MS
-PASSAT_B7_STOP_ACCEL = -0.55


 class CarControllerParams:
@@ -82,8 +84,6 @@ class CarControllerParams:
  AEB_CONTROL_STEP = 2                     # ACC_10 frequency 50Hz
  AEB_HUD_STEP = 20                        # ACC_15 frequency 5Hz
  VW_LOW_SPEED_STATE_SPEED = 0.5           # m/s; below this, always force starting or stopping in MQB legacy long
-  SNG_HANDOFF_SPEED = 5.0 * CV.KPH_TO_MS
-  SNG_HOLD_DECEL_MAX = -0.1

  # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
  # MQB vs PQ maximums are shared, but rate-of-change limited differently
@@ -99,8 +99,7 @@ class CarControllerParams:
  STEER_LOW_TORQUE = int(STEER_MAX * 0.20) # Steer timer mitigation performed when torque output under 20%
  STEER_TIME_LOW_TORQUE = 0.5              # Wait for this duration of STEER_LOW_TORQUE to begin mitigation
  STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
-  STEER_TIME_RESET = 1.1                   # Duration of HCA disable needed for effective EPS timer reset'
-  IQ_PQ_UNAVAILABLE_HUD_FRAMES = 25
+  STEER_TIME_RESET = 1.1                   # Duration of HCA disable needed for effective EPS timer reset

  DEFAULT_MIN_STEER_SPEED = 0.4            # m/s, newer EPS racks fault below this speed, don't show a low speed alert

@@ -116,8 +115,8 @@ class CarControllerParams:
      self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
      self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
-      self.STEER_DELTA_UP = 150            # Max HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
-      self.STEER_DELTA_DOWN = 300          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
+      self.STEER_DELTA_UP = 10            # Max HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
+      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))

      if CP.transmissionType == TransmissionType.automatic:
        self.shifter_values = can_define.dv["Getriebe_1"]["GE1_Wahl_Pos"]
@@ -285,10 +284,6 @@ class VolkswagenSafetyFlags(IntFlag):
  ALLOW_LONG_ACCEL_WITH_GAS_PRESSED = 8
  DISABLE_RADAR = 16
  PQ_ALC_MODULE = 32
-  PQ_LOWLINE = 64
-  PQ_NO_CAM_BUS = 128
-  PQ_ACC_FTS_EPB = 256
-  PQ_SNG_ECD = 512


 class VolkswagenFlags(IntFlag):
@@ -316,10 +311,6 @@ class VolkswagenFlagsIQ(IntFlag):
  IQ_CC_ONLY = 1 << 5              # CC only mode with radar (has AEB)
  IQ_CC_ONLY_NO_RADAR = 1 << 6     # CC only mode without radar
  IQ_LVBS_ALC_MODULE = 1 << 7      # IQ.Lvbs VW ALC hardware module present / intended active path
-  IQ_PQ_LOWLINE = 1 << 17          # Non-ECAN lateral-only PQ: bus 0 dead, TX on bus 1 (ptCAN)
-  IQ_PQ_ACC_FTS_EPB = 1 << 18      # B7 TRW450: ACC FtS + EPB hold, Motor_1 resume spoof on bus 1
-  IQ_PQ_SNG_ECD = 1 << 19
-  IQ_PQ_TIMEBOMB = 1 << 20


 RADAR_DISABLE_STATE = {"error": False}
@@ -342,7 +333,6 @@ class VolkswagenMQBPlatformConfig(PlatformConfig):
  # on camera-integrated cars, as we lose too many ECUs to reliably identify the vehicle
  chassis_codes: set[str] = field(default_factory=set)
  wmis: set[WMI] = field(default_factory=set)
-  model_years: set[str] = field(default_factory=set)


@dataclass
@@ -552,35 +542,24 @@ class CAR(Platforms):
    VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
    chassis_codes={"3C", "3G"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
-    model_years={"F", "G", "H", "J", "K", "L", "M", "N"},  # 2015-2022
  )
  VOLKSWAGEN_PASSAT_MK7 = VolkswagenPQPlatformConfig(
    [VWCarDocs("Volkswagen Passat 2.0 TDI 2014")],
    VolkswagenCarSpecs(mass=1836, wheelbase=2.70, steerRatio=13.0, minSteerSpeed=31 * CV.KPH_TO_MS),
    chassis_codes={"3C"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
-    model_years={"E"},  # 2014
  )
  VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig(
    [VWCarDocs("Volkswagen Passat NMS 2015-17")],
    VolkswagenCarSpecs(mass=1503, wheelbase=2.80),
    chassis_codes={"A3"},
    wmis={WMI.VOLKSWAGEN_USA_CAR},
-    # NMS and NMS+ share chassis code A3; disambiguate by model year
-    model_years={"F", "G", "H"},  # 2015-2017
  )
  VOLKSWAGEN_PASSAT_NMS_PLUS = VolkswagenPQPlatformConfig(
    [VWCarDocs("Volkswagen Passat NMS 2018-22")],
    VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minEnableSpeed=20 * CV.KPH_TO_MS),
    chassis_codes={"A3"},
    wmis={WMI.VOLKSWAGEN_USA_CAR},
-    model_years={"J", "K", "L", "M", "N"},  # 2018-2022
-  )
-  VOLKSWAGEN_PASSAT_B7 = VolkswagenPQPlatformConfig(
-    [VWCarDocs("Volkswagen Passat B7 2008-2011")],
-    VolkswagenCarSpecs(mass=1503, wheelbase=2.712, steerRatio=16.4, minSteerSpeed=0),
-    chassis_codes={"A3"},
-    wmis={WMI.VOLKSWAGEN_USA_CAR},
  )
  VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig(
    [
@@ -594,19 +573,12 @@ class CAR(Platforms):
  VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig(
    [
      VWCarDocs("Volkswagen Sharan 2018-22"),
+      VWCarDocs("SEAT Alhambra 2018-20"),
    ],
    VolkswagenCarSpecs(mass=1639, wheelbase=2.92),
    chassis_codes={"7N"},
    wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
  )
-  SEAT_ALHAMBRA_MK1 = VolkswagenPQPlatformConfig(
-    [
-      VWCarDocs("SEAT Alhambra 2018-20"),
-    ],
-    VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50 * CV.KPH_TO_MS),
-    chassis_codes={"7N"},
-    wmis={WMI.SEAT},
-  )
  VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig(
    [VWCarDocs("Volkswagen Taos 2022-24")],
    VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
@@ -908,24 +880,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )

-MQB_A0_CARS = {
-  CAR.VOLKSWAGEN_POLO_MK6,
-  CAR.VOLKSWAGEN_TCROSS_MK1,
-  CAR.SKODA_FABIA_MK4,
-  CAR.SKODA_KAMIQ_MK1,
-}
-
-
-def get_longitudinal_stopping_speed_override(candidate: CAR, flags: int) -> float:
-  if candidate == CAR.VOLKSWAGEN_PASSAT_B7:
-    return PASSAT_B7_STOPPING_SPEED
-  if flags & VolkswagenFlags.PQ:
-    return PQ_STOPPING_SPEED
-  return 0.0
-
-
-def apply_pq_stopping_accel(candidate: CAR, accel: float, stopping: bool) -> float:
-  return PASSAT_B7_STOP_ACCEL if candidate == CAR.VOLKSWAGEN_PASSAT_B7 and stopping else accel
-
-
 DBC = CAR.create_dbc_map()