diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ff4024930..2ff884418 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -7,11 +7,11 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.6.1
+    rev: v1.8.0
     hooks:
     -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.3
+    rev: v0.1.9
     hooks:
     -   id: ruff
 -   repo: local
diff --git a/car.capnp b/car.capnp
index 7c2c727a8..d31266293 100644
--- a/car.capnp
+++ b/car.capnp
@@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -162,6 +161,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
   }
 }
 
@@ -479,9 +479,9 @@ struct CarParams {
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
   experimentalLongitudinalAvailable @71 :Bool;
-  pcmCruiseSpeed @73 :Bool;  # is openpilot's state tied to the PCM's cruise speed?
-  customStockLongAvailable @74 :Bool;
-  spFlags @75 :UInt32;       # flags for car specific quirks in sunnypilot
+  pcmCruiseSpeed @74 :Bool;  # is openpilot's state tied to the PCM's cruise speed?
+  customStockLongAvailable @75 :Bool;
+  spFlags @76 :UInt32;       # flags for car specific quirks in sunnypilot
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
@@ -533,6 +533,7 @@ struct CarParams {
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   dashcamOnly @41: Bool;
+  passive @73: Bool;   # is openpilot in control?
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
 
diff --git a/log.capnp b/log.capnp
index 27b4420cb..7ffb2698e 100644
--- a/log.capnp
+++ b/log.capnp
@@ -130,8 +130,9 @@ struct InitData {
 
 struct FrameData {
   frameId @0 :UInt32;
-  encodeId @1 :UInt32; # DEPRECATED
   frameIdSensor @25 :UInt32;
+  requestId @28 :UInt32;
+  encodeId @1 :UInt32;
 
   frameType @7 :FrameType;
 
@@ -166,6 +167,7 @@ struct FrameData {
     unknown @0;
     ar0231 @1;
     ox03c10 @2;
+    os04c10 @3;
   }
 
   frameLengthDEPRECATED @3 :Int32;
@@ -297,6 +299,29 @@ struct GpsLocationData {
   }
 }
 
+enum Desire {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+  laneChangeLeft @3;
+  laneChangeRight @4;
+  keepLeft @5;
+  keepRight @6;
+}
+
+enum LaneChangeState {
+  off @0;
+  preLaneChange @1;
+  laneChangeStarting @2;
+  laneChangeFinishing @3;
+}
+
+enum LaneChangeDirection {
+  none @0;
+  left @1;
+  right @2;
+}
+
 struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
@@ -408,7 +433,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
 
 struct PandaState @0xa7649e2575e4591e {
   ignitionLine @2 :Bool;
-  gasInterceptorDetected @4 :Bool;
   rxBufferOverflow @7 :UInt32;
   txBufferOverflow @8 :UInt32;
   gmlanSendErrs @9 :UInt32;
@@ -494,6 +518,7 @@ struct PandaState @0xa7649e2575e4591e {
     redPanda @7;
     redPandaV2 @8;
     tres @9;
+    cuatro @10;
   }
 
   enum HarnessStatus {
@@ -541,6 +566,7 @@ struct PandaState @0xa7649e2575e4591e {
     }
   }
 
+  gasInterceptorDetectedDEPRECATED @4 :Bool;
   startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -666,7 +692,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   aTarget @35 :Float32;
   curvature @37 :Float32;  # path curvature from vehicle model
   desiredCurvature @61 :Float32;  # lag adjusted curvatures used by lateral controllers
-  desiredCurvatureRate @62 :Float32;
   forceDecel @51 :Bool;
 
   # UI alerts
@@ -824,6 +849,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   steerOverrideDEPRECATED @20 :Bool;
   steeringAngleDesiredDegDEPRECATED @29 :Float32;
   canMonoTimesDEPRECATED @21 :List(UInt64);
+  desiredCurvatureRateDEPRECATED @62 :Float32;
 }
 
 # All SI units and in device frame
@@ -875,7 +901,8 @@ struct ModelDataV2 {
   locationMonoTime @24 :UInt64;
 
   # e2e lateral planner
-  lateralPlannerSolution @25: LateralPlannerSolution;
+  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  action @26: Action;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -913,6 +940,9 @@ struct ModelDataV2 {
     desireState @5 :List(Float32);
     disengagePredictions @6 :DisengagePredictions;
     hardBrakePredicted @7 :Bool;
+    laneChangeState @8 :LaneChangeState;
+    laneChangeDirection @9 :LaneChangeDirection;
+
 
     # deprecated
     brakeDisengageProbDEPRECATED @2 :Float32;
@@ -954,6 +984,9 @@ struct ModelDataV2 {
     yawRateStd @7 :List(Float32);
   }
 
+  struct Action {
+    desiredCurvature @0 :Float32;
+  }
 }
 
 struct EncodeIndex {
@@ -2167,6 +2200,8 @@ struct EncodeData {
   data @1 :Data;
   header @2 :Data;
   unixTimestampNanos @3 :UInt64;
+  width @4 :UInt32;
+  height @5 :UInt32;
 }
 
 struct UserFlag {
@@ -2214,7 +2249,6 @@ struct Event {
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     longitudinalPlan @24 :LongitudinalPlan;
-    lateralPlan @64 :LateralPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
@@ -2226,7 +2260,7 @@ struct Event {
     liveTorqueParameters @94 :LiveTorqueParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
-    carEvents @68: List(Car.CarEvent);
+    onroadEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
@@ -2335,5 +2369,6 @@ struct Event {
     pandaStateDEPRECATED @12 :PandaState;
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
+    lateralPlanDEPRECATED @64 :LateralPlan;
   }
 }
diff --git a/messaging/__init__.py b/messaging/__init__.py
index 57675212f..6a4740366 100644
--- a/messaging/__init__.py
+++ b/messaging/__init__.py
@@ -41,10 +41,13 @@ def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
     return msg
 
 
-def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
-  dat = log.Event.new_message()
-  dat.logMonoTime = int(time.monotonic() * 1e9)
-  dat.valid = True
+def new_message(service: Optional[str], size: Optional[int] = None, **kwargs) -> capnp.lib.capnp._DynamicStructBuilder:
+  args = {
+    'valid': False,
+    'logMonoTime': int(time.monotonic() * 1e9),
+    **kwargs
+  }
+  dat = log.Event.new_message(**args)
   if service is not None:
     if size is None:
       dat.init(service)
@@ -154,7 +157,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
 class SubMaster:
   def __init__(self, services: List[str], poll: Optional[List[str]] = None,
                ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               addr: str = "127.0.0.1"):
+               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1"):
     self.frame = -1
     self.updated = {s: False for s in services}
     self.rcv_time = {s: 0. for s in services}
@@ -174,6 +177,7 @@ def __init__(self, services: List[str], poll: Optional[List[str]] = None,
 
     self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
     self.ignore_alive = [] if ignore_alive is None else ignore_alive
+    self.ignore_valid = [] if ignore_valid is None else ignore_valid
     self.simulation = bool(int(os.getenv("SIMULATION", "0")))
 
     for s in services:
@@ -187,9 +191,10 @@ def __init__(self, services: List[str], poll: Optional[List[str]] = None,
       except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
         data = new_message(s, 0) # lists
 
-      self.data[s] = getattr(data, s)
+      self.data[s] = getattr(data.as_reader(), s)
       self.logMonoTime[s] = 0
-      self.valid[s] = data.valid
+      # TODO: this should default to False
+      self.valid[s] = True
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
@@ -266,7 +271,7 @@ def all_freq_ok(self, service_list=None) -> bool:
   def all_valid(self, service_list=None) -> bool:
     if service_list is None:  # check all
       service_list = self.valid.keys()
-    return all(self.valid[s] for s in service_list)
+    return all(self.valid[s] for s in service_list if s not in self.ignore_valid)
 
   def all_checks(self, service_list=None) -> bool:
     if service_list is None:  # check all
diff --git a/messaging/tests/test_messaging.py b/messaging/tests/test_messaging.py
index f9c85e0dc..ee1344de7 100755
--- a/messaging/tests/test_messaging.py
+++ b/messaging/tests/test_messaging.py
@@ -123,7 +123,7 @@ def test_new_message(self, evt):
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
     self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
-    self.assertTrue(msg.valid)
+    self.assertFalse(msg.valid)
     self.assertEqual(evt, msg.which())
 
   @parameterized.expand(events)
diff --git a/services.py b/services.py
index fc195d305..657f2e95f 100755
--- a/services.py
+++ b/services.py
@@ -58,9 +58,8 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
-  "carEvents": (True, 1., 1),
+  "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
diff --git a/visionipc/visionipc_client.cc b/visionipc/visionipc_client.cc
index 169afbb36..e3c6d0d1c 100644
--- a/visionipc/visionipc_client.cc
+++ b/visionipc/visionipc_client.cc
@@ -3,24 +3,19 @@
 #include <iostream>
 #include <thread>
 
+#include <unistd.h>
 #include "cereal/visionipc/ipc.h"
 #include "cereal/visionipc/visionipc_client.h"
 #include "cereal/visionipc/visionipc_server.h"
 #include "cereal/logger/logger.h"
 
 static int connect_to_vipc_server(const std::string &name, bool blocking) {
-  char* prefix = std::getenv("OPENPILOT_PREFIX");
-  std::string path = "/tmp/";
-  if (prefix) {
-    path = path + std::string(prefix) + "_";
-  }
-  path = path + "visionipc_" + name;
-
-  int socket_fd = ipc_connect(path.c_str());
+  const std::string ipc_path = get_ipc_path(name);
+  int socket_fd = ipc_connect(ipc_path.c_str());
   while (socket_fd < 0 && blocking) {
     std::cout << "VisionIpcClient connecting" << std::endl;
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    socket_fd = ipc_connect(path.c_str());
+    socket_fd = ipc_connect(ipc_path.c_str());
   }
   return socket_fd;
 }
diff --git a/visionipc/visionipc_client.h b/visionipc/visionipc_client.h
index d67734d32..970bac3a7 100644
--- a/visionipc/visionipc_client.h
+++ b/visionipc/visionipc_client.h
@@ -2,11 +2,8 @@
 
 #include <set>
 #include <string>
-#include <vector>
-#include <unistd.h>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionbuf.h"
 
 class VisionIpcClient {
diff --git a/visionipc/visionipc_server.cc b/visionipc/visionipc_server.cc
index c51e13ea1..da9d11f91 100644
--- a/visionipc/visionipc_server.cc
+++ b/visionipc/visionipc_server.cc
@@ -22,6 +22,14 @@ std::string get_endpoint_name(std::string name, VisionStreamType type){
   }
 }
 
+std::string get_ipc_path(const std::string& name) {
+  std::string path = "/tmp/";
+  if (char* prefix = std::getenv("OPENPILOT_PREFIX")) {
+    path += std::string(prefix) + "_";
+  }
+  return path + "visionipc_" + name;
+}
+
 VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
   msg_ctx = Context::create();
 
@@ -83,14 +91,8 @@ void VisionIpcServer::start_listener(){
 void VisionIpcServer::listener(){
   std::cout << "Starting listener for: " << name << std::endl;
 
-  char* prefix = std::getenv("OPENPILOT_PREFIX");
-  std::string path = "/tmp/";
-  if (prefix) {
-    path = path + std::string(prefix) + "_";
-  }
-  path = path + "visionipc_" + name;
-
-  int sock = ipc_bind(path.c_str());
+  const std::string ipc_path = get_ipc_path(name);
+  int sock = ipc_bind(ipc_path.c_str());
   assert(sock >= 0);
 
   while (!should_exit){
@@ -160,7 +162,7 @@ void VisionIpcServer::listener(){
 
   std::cout << "Stopping listener for: " << name << std::endl;
   close(sock);
-  unlink(path.c_str());
+  unlink(ipc_path.c_str());
 }
 
 
diff --git a/visionipc/visionipc_server.h b/visionipc/visionipc_server.h
index 6ad86f146..c494b1fcf 100644
--- a/visionipc/visionipc_server.h
+++ b/visionipc/visionipc_server.h
@@ -6,10 +6,10 @@
 #include <map>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionbuf.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type);
+std::string get_ipc_path(const std::string &name);
 
 class VisionIpcServer {
  private: