• Use model points directly in MPC (no more polyfits), making lateral planning more accurate
• Use model heading prediction for smoother lateral control
• Smarter actuator delay compensation
• Improve qcamera resolution for improved video in explorer and connect
• Adjust maximum engagement speed to better fit the model's training distribution
• New driver monitoring model trained with 3x more diverse data
• Improved face detection with masks
• More predictable DM alerts when visibility is bad
• Rewritten video streaming between openpilot processes
• Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
• Audi A3 2015 and 2017 support thanks to keeleysam!
• Nissan Altima 2020 support thanks to avolmensky!
• Lexus ES Hybrid 2018 support thanks to TheInventorMan!
• Toyota Camry Hybrid 2021 support thanks to alancyau!