- Revamp lateral and longitudinal planners
- Refactor planner output API to be more readable and verbose
- Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
- Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
- Remove "CHECK DRIVER FACE VISIBILITY" warning
- Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
- Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
- Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
- Kia Niro Hybrid 2019 support thanks to jyoung8607!
- Škoda Octavia RS 2016 support thanks to jyoung8607!
- Toyota Alphard 2020 support thanks to belm0!
- Volkswagen Golf SportWagen 2015 support thanks to jona96!
- Volkswagen Touran 2017 support thanks to jyoung8607!